Fujun Ruan

I am a research assistant at the CMU Biorobotics Lab. From 2021 to now, I studied at Carnegie Mellon University as a Master of Science in Mechanical Engineering student. My research advisor is Howie Choset.

I'm interested in Robotic, Smart Addtive Manufacturing, product development.

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News

Research

In-situ multimodal inspection technique for Robotic Wire Arc Additive Manufacturing (rWAAM)

This project aim to add the sensing system to a Robotic Wire Arc Additive Manufacturing (rWAAM) robot and do the real time motion adjustment base on the sensor feedback.

• Design a real-time closed-loop control solution for arc metal 3D printing to improve metal printing quality and printing consumable costs
• Design a high-speed extrusion 3D printing system based on UR5e to simulate metal printing extrusion

Boeing Addtive Manufacturing

This project aim to design a system that combine advanced sense capability and plan to conventional manufacturing techniques.

• Develop a multi-mechanical system with additive, subtractive processing and laser scanner end-effector for aircraft inspection and maintenance
• Based on multi-mechanical platforms, develop a 3D copying and repair system for intelligent pipeline welding and hybrid machining solutions
• Construct a dual-arm system simulation environment to implement path coverage planning and real-time visual feedback applied to aircraft (Boeing 787) painting
• Build a self-developed robotic arm 3D scanner calibration tool system for fast and labor-saving hand-eye, camera extrinsic calibration and laser calibration

Self-Reactive Marine Energy Converter to Power Ocean Aquaculture

This project aimed to design a system that generates electricity by using ocean wave energy for an intelligent fish farm.

• Design the electricity generating system with ocean wave energy to power the intelligent fish farm.
• Design the Power Take-Off System for the fish farm and Built the Power Take-Off System scale down version for prototype.

In-Space Robotic Assembly Infrastructure Development

This project aimed to designed and build the Stewart Platform — the parallel robots capable of high-precision manipulation to assemble the structure automatically in uncertain environments (e.g. the lunar or Martian surface) by collaborative robotic agents.

• Designed the Stewart Platform — the parallel robots capable of high-precision manipulation.
• Build a closed-loop control system for position calibration using vision sensors.

Balto and Togo, Four-Legged Robot Locomotion Project

This project aimed to design and build a quadruped dog shape robot to complete rescue missions in dangerous environments.

• Added swerve drive modules at the joints of the Legged robot to improve the mobility of the robot
• Design the experimental environment and assist in completing the robot test

Project

Pointcloud demo video generator

The project aims to help researchers output and display video of point cloud data based on user-defined paths. The input point cloud is processed in the following ways:

• Color processing, such as rendering the color according to the specified axis as pseudo-color or setting the color according to user needs
• Coordinate transformation of the input point cloud to position it at the center
• Downsampling of the input point cloud to make the loading faster

Auto Calibration Toolbox

The project aims to build a camera calibration toolbox based on robotic arm control. The goals of the project include:

• Building a toolbox that improves calibration efficiency and accuracy
• Using a robotic arm to plan calibration paths according to the type of calibration in order to provide high-quality calibration samples
• Providing a validation method for completed calibration processes to enable rapid verification
• Types of calibrations include: camera intrinsic calibration, hand-eye calibration, and laser extrinsic calibration.

Internships & Work Experience

Robotics Competition Founding

• The solution helped to increase the business scale by 35 times in two years (the third in the world in business), the company’s largest revenue growth point, with an annual sale of 50 million.
• Design competition topic base on students’ level and needs, and design the robots to verify the topic
• Speaking as an advisor about American robot competitions, such as: team management, community building, competition management

Tech Education Startup Company

• Develop the education products for high school students’ competition
• Build the only 3D modeling sharing website based on the FRC robot competition in China
• Self-made 3D modeling courses for Chinese high school students
• Self-made and republic more than 500 technical teaching videos for teams

Design and source code from Leonid Keselman's website