Ancient Towns in Sichuan
Mar 12, 2023
Huanglong Ancient Village, translates to Yellow Chinese Dragon Village, 黄龙古镇, here Chinese Dragon is a symbol for blessing and prosperity. One of the top 10 ancient villages in Sichuan province. It preserves...
Constrained Optimization, Lagrange Multiplier
Mar 6, 2023
Motivation Optimization is used everywhere in engineering. In robotics, formulating problems as optimization problems has shown to be more general than solving them in a pure analytical fashion. In particular, it is...
Sichuan Natural Splendors
Mar 5, 2023
Dadu river, maybe translates to The Big Step Forward river, 大渡河, near the Jinkou valley, 金口大峡谷. A place to remember since it happened here that the Chinese people had milestone victories over...
Robot Singularity Avoidance, Analysis and Comparison
Feb 25, 2023
Motivation Mathematically, singularities happen when robot Jacobian loses rank, resulting robot loses its ability to move its end-effector along certain directions. Or, in other mathematically words, when the Jacobian is singular, it...
Sanya and Xisha
Feb 19, 2023
Sanya, one of the only tropical cities in China. One of my favorite places in winter. Well, it doesn't really have a winter. Sanya Bay, 三亚湾, one of Sanya's landmarks, not far...