Lin Zhao (赵林)

I am a PhD candidate at Deartment of Ocean Engineering, the University of Rhode Island. I am working on Marine Robotics in the Smart Ocean System Lab and supervised by Dr. Mingxi Zhou. I am interested in multi-sensor fusion (e.g., SLAM) for autonomous robotics in the harsh environment (e.g., under-ice).

Before that, I was working in several robotics startups in Hangzhou, China. I got my Master degree of Mechanical Engineering from University of Nevada, Las Vegas. I was working on obstacle avoidance for the drones supervised by Dr. Woosoon Yim.

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Research

Tightly-coupled Visual-DVL-Inertial Odometry for Robot-based Ice-water Boundary Exploration

We use Doppler Velocity Log (DVL) non-uniform sparse point clouds to aid feature estimation and improve the under-ice localization.

Towards Under-ice Sensing using a Portable ROV

System integration (i.e., hardware time synchronization) for Alaska under-ice data collection and Dead-Reckoning (i.e., DVL and Pressure update the IMU model).

Working toward the development of a generic marine vehicle framework: ROS-MVP

The ROS-MVP framework provides three sub-modules: a low-level controller, plugin-based behavior interface, and a mission planner.

Towards seafloor mapping using an affordable micro-UUV

Riptide Micro-UUV and Bathyswath interferometric side-scan sonar integration. Sonar data processing for sub-map mapping.

Modifying an Affordable ROV for Under-ice Sensing

Freshwater ice data collection with multi-sensors (e.g., IMU, DVL, Stereo, FLS).

Towards the Development of an Online Coverage Path Planner for UUV-based Seafloor Survey using an Interferometric Sonar

We propose a new online CPP algorithm for a UUV equipped with an interferometric sonar for seafloor mapping.

Unmanned Aerial System for First Responders

A 3D vector mesh (VM) obstacle avoidance algorithm extented from 2D Vector Field Histogram.