Welcome to my GitHub profile! I am Qilong (Jerry) Cheng, a Mechanical Engineering graduate with a minor in Robotics and Mechatronics, and Engineering Business from the University of Toronto. I am passionate about robotics, autonomous systems, and machine learning.

University of Toronto, Toronto, ON, Canada
Mechanical Engineering, Minor in Robotics and Mechatronics, and Engineering Business in Rotman Commerce
August 2017 – April 2023 (Expected)
Last year GPA: 3.92/4.0

• Programming Languages: C, C++, Python, MATLAB, Simulink, Simscape, Linux
• Frameworks and Tools: ROS (Robot Operating System), TensorFlow, PyTorch, Numpy, Panda
• Design and Simulation Software: SolidWorks, Altium Designer, KiCAD, Eagle, Fusion 360, AutoCAD, LTspice, Ansys, Rviz, Gazebo

Research Assistant (Sep 2021 - Current)
Developed novel state estimation algorithms for 2D-mm-wave radar pairs and 3D-radar-to-camera extrinsic calibrations for autonomous vehicle development and onboard sensor calibration. Improved algorithm accuracy by 2-3 times compared to state-of-the-art methods.

Software Engineer Intern (May 2021 - July 2021)
Developed and trained two CNN neural networks using TensorFlow and PyTorch to distinguish pedestrian features. Enhanced overall accuracy from 64% to 89% by doubling the usable data for machine training through web crawlers.

Mechanical Engineer Intern (Sep 2020 - April 2021)
Assisted in designing the HVAC system layout for a 12-deck cruise ship. Designed and patented a high-pressure spray nozzle and associated fire pipeline system, achieving significant water and time savings in CFD simulations.

Student Ambassador (Sep 2019 - June 2020)
Founded the Fusion Design Association Club, trained over 30 students on generative design tools, and organized a 3D-printed glider competition.

• Autonomous Rover Student Team - ROS Team Lead
  Developed a SLAM algorithm for an autonomous rover using stereo cameras and lidars. Led a team of over 10 people to integrate mechanical, embedded, and CV aspects for global competition.

• Turtlebot2 Localization, Mapping, Navigation, and Image Recognition Algorithm on ROS - Leader
  Implemented Frontier Exploration and PID controller for robot exploration and path-following. Designed the control architecture using Gmapping, AMCL, OpenCV, and simulated on Gazebo, visualized on Rviz.

• KUKA Manipulator’s Inverse Kinematic, Path Planning, and Control - Lab Member
  Programmed inverse kinematics and path planning optimization algorithms for PUMA and KUKA robots. Achieved obstacle avoidance, end-effector calibrations, and path planning.

• Unicycle Robot’s Design and Control
  Developed a novel lightweight chassis design for a 2DOF unicycle robot using generative design. Customized the controller board with STM32 and completed real-life control system testing on ROS Gazebo and Simulink.

1. Extrinsic Calibration of 2D Radar Pairs Using Ego-Velocity Estimates - 2023 IEEE/ASME AIM 2023, first author
2. Spatiotemporal Calibration of 3D mm-Wavelength Radar-Camera Pairs - 2022 IEEE Transactions on Robotics, second author
3. Generative Design for Self-balancing Unicycle Robot in Additive Manufacturing - ACAIB 2022, first author
4. Weakly Supervised Semantic and Attentive Data Mixing Augmentation for Fine-Grained Visual Categorization - IEEE Access, vol. 10, 2022, second author

• LinkedIn: Jerry Qilong Cheng
• Email: [email protected]
• GitHub: thejerrycheng

Feel free to explore my repositories and reach out if you have any questions or collaboration ideas!