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<!DOCTYPE html>
<html class="no-js" lang="en">
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>My Portfolio</title>
<link rel="shortcut icon" href="favicon.ico" type="image/x-icon">
<link rel="icon" href="favicon.ico" type="image/x-icon">
<link href="https://fonts.googleapis.com/css?family=Lato:300,400,700,900" rel="stylesheet">
<link rel="stylesheet" href="libs/font-awesome/css/font-awesome.min.css">
<link href="css/bootstrap.min.css" rel="stylesheet">
<link href="css/styles.css" rel="stylesheet">
</head>
<body>
<div id="mobile-menu-open" class="shadow-large">
<i class="fa fa-bars" aria-hidden="true"></i>
</div>
<!-- End #mobile-menu-toggle -->
<header>
<div id="mobile-menu-close">
<span>Close</span> <i class="fa fa-times" aria-hidden="true"></i>
</div>
<ul id="menu" class="shadow">
<li>
<a href="#about">About</a>
</li>
<li>
<a href="#experience">Experience</a>
</li>
<li>
<a href="#education">Education</a>
</li>
<li>
<a href="#projects">Projects</a>
</li>
<li>
<a href="#publication">Publications</a>
</li>
<li>
<a href="#skills">Skills</a>
</li>
<li>
<a href="#contact">Contact</a>
</li>
</ul>
</header>
<!-- End header -->
<div id="lead">
<div id="lead-content">
<h1>Haoying(Jack) Zhou</h1>
<h2>Researcher, Robotics and Software Engineer</h2>
<a href="assets/Resume_HaoyingZhou_2024.pdf" class="btn-rounded-white">Download Resume</a>
<!-- where to update your Resume files-->
</div>
<!-- End #lead-content -->
<div id="lead-overlay"></div>
<div id="lead-down">
<span>
<i class="fa fa-chevron-down" aria-hidden="true"></i>
</span>
</div>
<!-- End #lead-down -->
</div>
<!-- End #lead -->
<div id="about" class="background">
<h2 class="heading">About Me</h2>
<div class="container">
<div class="row">
<!-- <div class="col-md-4">-->
<!-- <h2 class="heading">About Me</h2>-->
<!-- </div>-->
<div class="col-md-4">
<img class="portrait" src="images/profile_photo.jpg" alt="portrait image" width="50%">
<!-- height="200" width="133"-->
</div>
<div class="col-md-8">
<p>
I' m a fourth-year Robotics Engineering Ph.D.student working in AIM Lab at Worcester Polytechnic Institute.
I have worked with dVRK (da Vinci Research Kit) closely.
<br>
My concentration is robotics, system control and learning from demonstration.
My research mainly focus on exoskeleton and surgical robot control system simulation, optimization and automation.
I also have various experience on medical imaging, such as GUI construction using PyQt and data analysis on DICOM datasets.
I am currently working on imitation learning with da Vinci surgical system.
<br>
I'm seeking for summer 2024 Intern.
<br>
</p>
<!-- <p style="color:red;"> To be updated </p>-->
</div>
</div>
</div>
</div>
<!-- End #about -->
<div id="experience" class="background-alt">
<h2 class="heading">Experience</h2>
<div id="experience-timeline">
<div data-date="June 2023 – Present">
<h3>Laboratory for Computational Sensing and Robotics, Johns Hopkins University </h3>
<h4>Visiting Graduate Scholar</h4>
<p>
- Construct research on suturing tasks automation based on skills learned from demonstrations in simulation
<br>
- Develop the software infrastructure of the 2021-2022 & 2023-2024 AccelNet
<a href="https://surgical-robotics-ai.github.io/surgical-robotics-challenge-2023/challenge-2023.html">
Surgical Robotics Challenge
</a>.
<br>
- Build and test the whole robot system model for daVinci Si surgical system in ROS.
<br>
- Generate a synthetic 6D pose estimation dataset using multi-threading programming in simulation and train deep learning model on the dataset.
<br>
- Construct novel phantom & needle meshes for the simulation using Blender.
<br>
- Leverage Magic Leap 1 as an alternative stereo viewer and enable eye focus tracking
</p>
</div>
<div data-date="May 2022 – August 2022">
<h3>Philips Research North America</h3>
<h4>Image-Guided Therapy Robotics Intern</h4>
<p>
- Design a synthetic motion simulator with GUI in Python using 3D DICOM data as the only input.
<br>
- Implement phantom feature extraction, volume rendering and 3D volume visualization with VTK, ITK and VMTK.
<br>
- Construct data auto-generator based on the synthetic motion simulator with flexible configuration inputs.
<br>
- Integrate the simulator with Xbox controller as motion control input.
<br>
- Improve the refreshing rate of the simulator from 0.15 fps to 5 fps.
<br>
- Implement analytical analysis on the generated data.
</p>
</div>
<div data-date="May 2021 – Present">
<h3>Automation and Interventional Medicine Robotics Research Laboratory, Worcester Polytechnic Institute</h3>
<h4>Research Assistant</h4>
<p>
- Manage and lead all da Vinci Research Kit(dVRK) related projects, including suturing automation,
dynamic identification, customized controller teleoperation, kinematic & dynamic controller design
and customized tool integration.
<br>
- Reactivate a full da Vinci surgical system with dVRK software framework; actively repair, maintenance
and improve both hardware and software infrastructures.
<br>
- Integrate probe for photoacoustic scanning on dVRK PSM (patient side manipulator) with auto-scanning enabled.
<br>
- Lead and manage user study for collecting human motion patterns on the physical dVRK.
<br>
- Implement suturing subtask automation with learning from demonstrations in simulation.
</p>
</div>
<div data-date="Sep 2020 – May 2021">
<h3>Worcester Polytechnic Institute</h3>
<h4>Teaching Assistant</h4>
<p>
- TA for Control Engineering, Introduction to Dynamic Systems, Design of Machine Elements
<br>
- Design and Construct lab documents and GitHub repository for Control Engineering course
<br>
- Lead conference lectures for undergraduate courses
<br>
- Hold TA session to answer students' questions about homework assignments, labs and lectures
</p>
</div>
</div>
</div>
<!-- End #experience -->
<div id="education" class="background">
<h2 class="heading">Education</h2>
<div class="education-block">
<h3>Worcester Polytechnic Institute</h3>
<span class="education-date">Sep 2020 - Present</span>
<h4>Doctor of Philosophy in Robotics Engineering</h4>
<h4>GPA: 3.95/4.00</h4>
<ul>
<li>
WPI AIM Lab
</li>
<li>
da Vinci Research Kit(dVRK) and da Vinci Surgical System(dVSS)
</li>
</ul>
</div>
<!-- End .education-block -->
<div class="education-block">
<h3>Boston University</h3>
<span class="education-date">Sep 2018 - May 2020</span>
<h4>Master of Science in Mechanical Engineering</h4>
<h4>GPA: 3.78/4.00</h4>
<ul>
<li>
BU Robotics Lab
</li>
<li>
Master's thesis: <a href="https://open.bu.edu/handle/2144/40948">
Imitation Learning with Dynamic Movement Primitives
</a>.
</li>
</ul>
</div>
<div class="education-block">
<h3>University of California, Berkeley</h3>
<span class="education-date">Sep 2017 - May 2018</span>
<h4>Bachelor of Science in Mechanical Engineering</h4>
<h4>GPA: 3.95/4.00</h4>
<ul>
<li>
Senior-year Exchange Program
</li>
<li>
Berkeley Autonomous Racing Car(BARC) Controller Design
</li>
</ul>
</div>
<div class="education-block">
<h3>Beijing Institute of Technology</h3>
<span class="education-date">Sep 2014 - May 2018</span>
<h4>Bachelor of Science in Mechanical Engineering</h4>
<h4>Ranked: 10/33</h4>
<p>
Senior year exchanged to University of California, Berkeley
</p>
</div>
<!-- End .education-block -->
</div>
<!-- End #education -->
<div id="projects" class="background-alt">
<h2 class="heading">Research Projects</h2>
<div class="container">
<div class="project shadow-large">
<div class="project-image">
<img src="images/simulation_3dmed.png" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Suturing Automation based on Imitation Learning</h3>
<h4>WPI AIM Lab & JHU LCSR</h4>
<!-- , Sep 2022 - Present-->
<p>
- Construct user study for collecting human demonstration in both simulation and physical dVRK
<br>
- Implement learning from demonstrations with dynamic movement primitives(DMP) for suturing automation
<br>
- Achieve high generality for suturing automation, on the order of 91.5%, from experienced human subjects' demonstrations
</p>
</div>
<!-- End .project-info -->
</div>
<!-- End .project -->
<div class="project shadow-large">
<div class="project-image">
<img src="images/suture_needle_est_example_old.png" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Suture Needle Pose Estimation in Simulation</h3>
<h4>WPI AIM Lab & JHU LCSR</h4>
<!-- , Sep 2022 - Mar 2023-->
<p>
- Implement suturing needle 6D pose estimation algorithm using keypoint-based method and deep learning(fast RCNN)
<br>
- Achieve estimated position errors less than 1mm and orientation errors around 2 degrees
<br>
- Win second prize on 2021 AccelNet Surgical Robotics Challenge
<br>
- Generate a synthetic segmented 6D pose estimation dataset in simulation and train deep learning models on the dataset
<br>
- Related publication: <a href="#publication">Publication 3</a>
</p>
</div>
<!-- End .project-info -->
</div>
<div class="project shadow-large">
<div class="project-image">
<img src="images/point_cloud_examples.png" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Point Cloud Completion</h3>
<h4>WPI VISLab</h4>
<!-- , May 2023 - Nov 2023-->
<p>
- Purpose a novel chamfer distance loss function for point cloud completion task using Landau distribution
<br>
- Achieve new state-of-the-art results on some benchmark datasets
</p>
</div>
<!-- End .project-info -->
</div>
<div class="project shadow-large">
<div class="project-image">
<img src="images/PA_scan_examples.jpg" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>dVRK Customized Photoacoustic Scanning Instrument Integration and Automation</h3>
<h4>WPI AIM Lab & WPI FUSION Lab</h4>
<!-- , Feb 2022 - May 2023-->
<p>
- Integrate a customized surgical instrument using ultrasound probe with dVRK for photoacoustic scanning
<br>
- Utilize April Tag and computer vision technique to find the transformation between the probe and the endoscope
<br>
- Construct kinematic model for the customized instrument
<br>
- Build a ROS network to enable scanning automation
<br>
- Related publication: <a href="#publication">Publication 1 & 2</a>
</p>
</div>
<!-- End .project-info -->
</div>
<div class="project shadow-large">
<div class="project-image">
<img src="images/sEMG_example.jpg" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>dVRK PSM Teleoperation using sEMG Proportional Control</h3>
<h4>WPI AIM Lab</h4>
<!-- , Dec 2021 - Mar 2023-->
<p>
- Utilize sEMG bio-signal differences on muscles to control the surgical instrument grippers open or close
<br>
- Leverage the trackers of a motion capture system to implement dVRK PSM teleoperation for human subjects
<br>
- Related publication: <a href="#publication">Publication 4</a>
</p>
</div>
<!-- End .project-info -->
</div>
<div class="project shadow-large">
<div class="project-image">
<img src="images/exoskeletion_example.png" width="300" height="350"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Lower Limb Exoskeleton Automation based on Learning from Demonstration</h3>
<h4>WPI AIM Lab</h4>
<!-- , Sep 2020 - Mar 2021-->
<p>
- Construct and optimize an algorithm on imitation learning with Task-Parameterized Gaussian Mixture Model (TPGMM) applied to human walking strategies for lower-limb exoskeleton
<br>
- Collect data using motion capture technique with real-life human motion
<br>
- Leverage AMBF for simulating the exoskeleton and human lower limb movements
<br>
- Design and implement iLQR controller to above algorithm and managed to find the optimal weight matrix
<br>
- Related publication: <a href="#publication">Publication 5</a>
</p>
</div>
<!-- End .project-info -->
</div>
<div class="project shadow-large">
<div class="project-image">
<img src="images/bu_IL_example.png" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Reach-to-Grasp Imitation Learning</h3>
<h4>BU Robotics Lab</h4>
<!-- , Nov 2018 - May 2020-->
<p>
-Implement generalized research-to-grasp automation using imitation learning with dynamic movement primitives(DMP) in Python
<br>
-Leverage VREP for simulating robot arm motions
<br>
-Collect human demonstration data using joystick controller
<br>
-Accomplish 6D pose imitation learning for the end-effector of Baxter Robot
<br>
-Write and defend my Master’s Thesis based the research project
</p>
<a href="https://open.bu.edu/handle/2144/40948">View Project</a>
</div>
<!-- End .project-info -->
</div>
<!-- End .project -->
</div>
<h2 class="heading">Technical Projects</h2>
<div class="container">
<div class="project shadow-large">
<div class="project-image">
<img src="images/dVSS.jpeg" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Physical dVRK Reactivation</h3>
<h4>Worcester Polytechnic Institute</h4>
<!-- , Apr 2021 - Feb 2022-->
<p>
-Deploy both hardware and software infrastructures of <a href="https://research.intusurg.com/index.php/Main_Page">dVRK</a>
<br>
-Resolve multiple mechanical failures for components of the da Vinci Surgical System, including broken joint encoders and joint brakes
<br>
-Upgrade the stereo viewer of the da Vinci Surgical System
<br>
-Implement full dVRK system teleoperation using MTM and dVRK control boxes
<br>
-Enable Geomagic Touch device and Razer Hydra controller as alternative teleoperation options for dVRK
<br>
-Implement dynamic identification on dVRK PSM
</p>
<!-- <a href="#">View Project</a>-->
</div>
<!-- End .project-info -->
</div>
<!-- End .project -->
<div class="project shadow-large">
<div class="project-image">
<img src="images/tool_clean_sol.png" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Surgical Instrument Lubrication</h3>
<h4>Worcester Polytechnic Institute</h4>
<!-- , Oct 2021 - Feb 2022-->
<p>
-Develop a practical method to lubricate the surgical instruments of the first generation da Vinci Surgical system
<br>
-Tighten the internal cables of the instruments to enable solid grasping solutions
<br>
-Decrease the mechanical noise due to the instruments by two or three orders of magnitude
</p>
<!-- <a href="#">View Project</a>-->
</div>
<!-- End .project-info -->
</div>
<!-- End .project -->
</div>
<h2 class="heading">Selected Course Projects</h2>
<div class="container">
<!-- <div class="project shadow-large">-->
<!-- <div class="project-image">-->
<!-- <img src="images/barc_example.png" width="300" height="300"/>-->
<!-- </div>-->
<!-- <!– End .project-image –>-->
<!-- <div class="project-info">-->
<!-- <h3>Autonomous Race Car Modelling and Control</h3>-->
<!-- <h4>University of California, Berkeley</h4>-->
<!-- <p>-->
<!-- test-->
<!-- </p>-->
<!-- <a href="#">View Project</a>-->
<!-- </div>-->
<!-- <!– End .project-info –>-->
<!-- </div>-->
<div class="project shadow-large">
<div class="project-image">
<img src="images/UAV_control_example.png" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Adaptive Robustness Control Design for UAV with ROS Gazebo</h3>
<h4>Worcester Polytechnic Institute</h4>
<p>
-Construct dynamic model for Crazyflie 2.0 drone and simulate the drone in ROS Gazebo
<br>
-Implement robustness control algorithm for UAV hovering
<br>
-Design adaptive robustness controller for UAV following specific trajectories
</p>
</div>
<!-- End .project-info -->
</div>
<div class="project shadow-large">
<div class="project-image">
<img src="images/barc_example.png" width="300" height="350"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Autonomous Race Car Modelling and Control</h3>
<h4>University of California, Berkeley</h4>
<p>
-Construct the vehicle model and its tire model under different road conditions for predicting the vehicle movements
<br>
-Utilize MATLAB, Simulink, and ROS Turtlesim to simulate BARC movements under different conditions
<br>
-Remotely connect to the Linux-based vehicle operating system via VNC Viewer and SSH
<br>
-Implement lane keeping, drift parking, and adaptive cruise control on BARC with linear controllers such as PID and LQR
<br>
-Analyze data in MATLAB, including camera calibration and result data analysis utilizing methods such as FFT interpolation and least square method to obtain and discern relationships between variables
</p>
</div>
<!-- End .project-info -->
</div>
<!-- End .project -->
<div class="project shadow-large">
<div class="project-image">
<img src="images/tri_bot_example.png" width="300" height="300"/>
</div>
<!-- End .project-image -->
<div class="project-info">
<h3>Tri-Bot Design and Manufacturing</h3>
<h4>University of California, Berkeley</h4>
<p>
-Utilize MyRio as the microprocessor and program in LabVIEW for target detection and tracking algorithm in the upper camera system
<br>
-Leverage Arduino board as the processor and code in Arduino for lane keeping algorithm in the lower moving system
<br>
-Champion full design and manufacturing of product from conception to delivery
</p>
<a href="https://sites.google.com/berkeley.edu/tri-bot-com/home">View Project</a>
</div>
<!-- End .project-info -->
</div>
<!-- End .project -->
</div>
<h2 class="heading">Other Selected Projects</h2>
<div class="optional-section-block">
<ul>
<li>
Laboratory Animal Surgery, Worcester Polytechnic Institute
</li>
<li>
FaceSwap and 3D Reconstruction(NeRF) Implementation, Worcester Polytechnic Institute
</li>
<li>
Visual Inertial Odometry with Multi-Scale Constraint Kalman Filter, Worcester Polytechnic Institute
</li>
<li>
Hand Gesture Recognition for Numbers, Boston University
</li>
<li>
Bubble Recognition using Matlab, University of California, Berkeley
</li>
</ul>
</div>
</div>
<div id="publication" class="optional-section background">
<h2 class="heading">Academic Publications</h2>
<div class="optional-section-block">
<ol>
<li>
Gao, Shang, Yang Wang, Xihan Ma, <strong>Haoying Zhou</strong>, Yiwei Jiang, Kehan Yang, Liang Lu et al.
<a href="https://opg.optica.org/boe/fulltext.cfm?uri=boe-14-9-4914&id=536903">"Intraoperative laparoscopic
photoacoustic image guidance system in the da Vinci surgical system."</a>
<em>Biomedical optics express</em> 14, no. 9 (2023): 4914-4928.
</li>
<li>
Gao, Shang, Yang Wang, <strong>Haoying Zhou</strong>, Kehan Yang, Yiwei Jiang, Liang Lu, Shiyue Wang et al.
<a href="https://www.spiedigitallibrary.org/conference-proceedings-of-spie/12466/1246609/Laparoscopic-photoacoustic-imaging-system-integrated-with-the-da-Vinci-surgical/10.1117/12.2653967.short?SSO=1">
"Laparoscopic photoacoustic imaging system integrated with the da Vinci surgical system."</a>
In <em>Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling</em>, vol. 12466, pp. 62-70. SPIE, 2023.
</li>
<li>
Jiang, Yiwei, <strong>Haoying Zhou</strong>, and Gregory S. Fischer.
<a href="https://ieeexplore.ieee.org/abstract/document/10130199">"Markerless Suture Needle Tracking From A Robotic Endoscope Based On Deep Learning." </a>
In <em>2023 International Symposium on Medical Robotics (ISMR)</em>, pp. 1-7. IEEE, 2023.
</li>
<li>
Yang, Kehan, Tess B. Meier, <strong>Haoying Zhou</strong>, Gregory S. Fischer, and Christopher J. Nycz.
<a href="https://ieeexplore.ieee.org/abstract/document/9871664">"A sEMG Proportional Control for the Gripper of Patient Side Manipulator in da Vinci Surgical System."</a>
In <em>2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)</em>, pp. 4843-4848. IEEE, 2022.
</li>
<li>
Goldfarb, Nathaniel, <strong>Haoying Zhou</strong>, Charles Bales, and Gregory S. Fischer.
<a href="https://ieeexplore.ieee.org/abstract/document/9630810">"Control of a lower limb exoskeleton
using Learning from Demonstration and an iterative Linear Quadratic Regulator Controller: A simulation study."</a>
In <em>2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)</em>, pp. 4687-4693. IEEE, 2021.
</li>
</ol>
</div>
<p>
** Some publications submitted in 2023 are still under review. The list of publications will be updated when the decisions are made.
</p>
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