- Optimized and enhanced the AV planning and control.- Designed and implemented a multi-layers cost structure for flexible routing.- Designed and implemented a new mechanism to avoid obstacle during graph search.

- Led the development of 2nd version of outdoor last-mile delivery robot and the indoor portable disinfection device.- Led the development of a new outdoor robot base with 4x load, 5x battery life of the previous base.- Integrated lidar, RGBD camera and sonar.- Designed and implemented the planning & control, state machine, diagnostic, firmware and electrical system of multiple robots.- Mentored 4 robotics software engineer trainees.

- Optimized and enhanced ROS navigation stack to improve performance in tight space.- Built robot diagnostic system for analysis, troubleshooting and logging.- Integrated face recognition neural network for smart concierge.

- Developed a proprietary LIN auto-addressing procedure capable of reliably automatically assigning addresses to theoretically maximum number of nodes that a LIN system can support and succesfully deployed it for our customer.- Developed embedded software for ultrasonic parking assist system capable of working both with and without ECU, in a 8KB flash.- Developed a desktop app for addressing, displaying result, tuning, calibrating of ultrasonic parking sensors.- Developed embeded software for automotive wired, wireless charging and LED control applications.

- Embedded software for sensors for detecting empty parking lot.

- Embedded software for food 3D printer- Windows GUI on Qt framework

- Interfaced the Doppler Velocity Logger (DVL), IMU, main hull status sensors in ROS.- Fused data from the DVL and IMU to localize the AUV underwater using Kalman filter.- Used triangulation and cross-correlation to locate underwater acoustic pingers (simulating blackboxs).