Curriculum Vitae

Curriculum Vitae === ###### tags: `cv` [[中文版]](http://wiki.csie.ncku.edu.tw/User/shengwen?fbclid=IwAR3vpYINjOY1NGjf0B-plgX814UkyTqV2xNn0ZvwJlTfY4MCZ-fAx14MysU) ### Shengwen Cheng **E-mail:** shengwen1997.tw@gmail.com **GitHub:** [github.com/shengwen-tw](https://github.com/shengwen-tw) **Linkedin:** [shengwen-tw](https://www.linkedin.com/in/shengwen-cheng-8aa617249/) ### Education * *M.Sc.Eng, Graduate Degree Program of Robotics*, **National Yang Ming Chiao Tung University** (2019/9/3~2021/11/10) * *B.Eng., major in Computer Science and Information Engineering*, **Providence University** (2015/9/14~2019/6/14) ### Employment *System Software Engineer*, **Nvidia**, Taiwan (2024/2~Now) * Tegra SoC Secure Boot Firmware *Sensor Fusion Engineer*, **GallopWave**, Taiwan (2023/9~2024/2) * Advanced Driver Assistance Systems (ADAS) algorithm validation *Embedded System Engineer*, **Avilon Intelligence**, Taiwan (2018/9~2019/9) * Vision-assisted auto-landing system of UAV * High-performance flight computer design (ARM Cortex-A72 + A53) * Integration of 4G-LTE wireless communication ### Field of Interest 1. Robotics 2. Unmanned Aerial Vehicles (UAV) 3. Embedded System 4. Real-time Operating System (RTOS) 5. Simultaneous Localization and Mapping (SLAM) ### Professional Background **Computer Science** 1. **Harware Architectures:** ARM Cortex-A/M, RISC-V 2. **Real-time Operating System:** FreeRTOS, NuttX. Project owner of an open-source RTOS (Tenok, see below). 3. **Computer vision:** Applications of Unmanned Aerial/Ground Vehicles **Robotics** 1. **Multirotor UAV:** Modeling, Control, Estimation, Simulation and Design 2. **Nonlinear control:** Feedback linearization, Sliding Mode Control, Adaptive Control 3. **Optimal control:** Linear Quadratic Regulator, H∞ Control, Model Predictive Control 4. **State estimation:** Kalman Filter, Numerical Optimization 5. **SLAM:** Visual-SLAM, LiDAR Odometry 6. **BLDC control:** Trapezoidal Control, Field-Oriented Control 7. **Motion planning:** Minimum-snap trajectory generation, Rapidly-Exploring Random Tree (RRT) ### Projects **Main works** 1. Quadrotor flight control system [[video]](https://www.youtube.com/watch?v=hBBe1Kj82B4) 2. Puyuma: a miniature vision-based self-driving system [[code]](https://github.com/Puyuma/puyuma-core) [[report]](https://drive.google.com/file/d/1rKgdAhpr7M2tiiu-zpXKDYbxuNX_QqWz/view) [[slide]](https://drive.google.com/file/d/1D9Cp7_kDHw4EDSdKVgKMuRb3Ri0mA4bN/view) 3. Tenok: an experimental real-time operating system [[code]](https://github.com/shengwen-tw/tenok) [[report]](https://hackmd.io/@shengwen/tenok) [[video]](https://www.youtube.com/watch?v=byWihWcMP00) 4. PU-01: a twin-boom fixed wing aircraft [[slide]](https://drive.google.com/file/d/1hEJ8q8cbePwxY358UeMr3Z0nmIqtdnKo/view?usp=drive_link) [[video]](https://www.youtube.com/watch?v=vZy3Hgsk0nU) **Simulations** 1. Simulation of quadrotor with geometric tracking control (nonlinear control) [[code]](https://github.com/shengwen-tw/qaudrotor_geometry_ctrl_simulator) 2. Simulation of quadrotor with LQR control and fast Riccati equation solver [[code]](https://github.com/shengwen-tw/quadrotor_lqr_simulator) [[report]](https://drive.google.com/file/d/1ekVLVbLHIxYsAgRWRb9C2ptLHOTSt4jU/view) 3. Simulation of quadrotor with H∞ control [[code]](https://github.com/shengwen-tw/quadrotor-h-infty-ctrl-simulator) [[slide]](https://drive.google.com/file/d/1573Td07_vohtVan2gHrCwDmQyY9ihr_w/view) 4. Simulation of BLDC with field-oriented control and square-wave control [[code]](https://github.com/shengwen-tw/bldc-control-simulator) 5. Simulation of minimum-snap trajectory generation [[code]](https://github.com/shengwen-tw/minimum-snap-traj-matlab) 6. Simulation of RRT (Rapidly-Exploring Random Tree) [[code]](https://github.com/shengwen-tw/rrt-matlab) ### Publications 1. <ins>S.-W. Cheng</ins> and H.-A. Hung, "Robust State-Feedback H-infinity Control of Quadrotor," 2022 International Automatic Control Conference (CACS), Taiwan, 2022. [[link]](https://drive.google.com/file/d/1pyCTHr3tJHJxISqiStX4P4KPzDvA_4z1/view?usp=share_link) 2. <ins>S.-W. Cheng</ins>, S.-W. Wang, P.-S. Chen, K.-F. Hsu, C.-Y. He, and C.-C. Huang, "Puyuma: Linux-based RTOS Experimental Platform for Constructing Self-Driving Miniature Vehicles," Workshop on Compiler Techniques and System Software for High- Performance and Embedded Computing (CTHPC), Taiwan, 2017. [[link]](https://drive.google.com/file/d/1Tsl13TjKVyGPcj0bG6tjt6iCVC8NbiQE/view?usp=sharing) ### Presentations 1. Crafting a Vision-Aided Software Stack for UAV, Embedded Open Source Summit (EOSS), Seattle, USA, 2024. [[link]](https://eoss24.sched.com/event/1aBF7) ### Awards and Honors 1. Vision Get Wild Award – Silver Award, 2018 2. Graduation Project Competition of Bachelor – First Prize, 2017 3. Taiwan Summer of Code – First Prize, 2014 ### Language Proficiency 1. **Chinese:** Native 2. **English:** TOEFL 91 3. **Japanese:** JLPT N1 4. **German:** Amateur level