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Projects 11
01 Backport Bot Works out which supported release branches a security fix still needs to reach, then cherry-picks it there and opens one pull request per branch. A deterministic git-history pass settles most branches; an AI pass takes only the ones it can't. Every ambiguous call resolves to affected, so a needed backport is never silently dropped. 02 pkr.img Reads a pile of poker chips from one photo and settles the game for up to eight players. A segmentation mask per chip, then a minimal transaction graph for who owes whom. 03 AR Recyclable Detection Real-time object contours for recycling-facility sorters, overlaid through AR glasses. YOLO-World finds it, MobileSAM outlines it, at 8 ms a frame instead of 500. 04 SLAM & Localization MBot that maps a maze it has never seen, picks frontiers to explore, and escapes through a wall removed mid-run. 05 ytianyi.com This site. A drafting-sheet aesthetic with a detection motif running through it: an SVG instrument measures the real ink of a heading and draws a box around it, so the labels land on the text rather than near it. Hand-written CSS, no component library. 06 Ball-Balancing Bot A robot that stays upright while balancing on a single basketball. It reads an IMU and drives three omniwheels through interacting PID loops, holding its pose, recovering from a shove, and driving in any direction. Chassis modeled in Fusion 360. 07 Microscopic Ore Rover A teleoperated rover that drives to a sample, then collects and characterizes microscopic particles under an onboard microscope, with an FPV camera for driving and ESP32 color tracking to find its target. I designed the camera holder in Fusion 360 and ran the magnification testing. 08 Building the LC-2K Four cumulative projects that build the whole path for a small ISA: an assembler and behavioral simulator, then a linker, then a five-stage pipelined simulator with forwarding and load-use stalls, then a set-associative write-back cache with LRU. All in C. 09 Sequential Calculator A signed four-function calculator built in hardware on an FPGA, with no processor under it. A datapath of adders and shifters sequenced by a hand-designed controller FSM, using Booth's algorithm for multiply and subtract-and-count for divide.
10 Team 610 FRC High school FIRST Robotics team. Mechanical design and CAD for the competition robot, in Fusion 360 and Solidworks.
11 Inverse Kinematics ROS-based inverse kinematics and motion planning for a robot arm.