π€ Embedded/Robotics System Engineer | AGV Control System Specialist
- π Education: Mechanical Design, Manufacturing and Automation Β· Shandong University
- π Personal Website: https://ts-sound.github.io/
- π§ Email: tonghansen@foxmail.com | tong.han.sen@outlook.com
- πΌ Expertise: Multi-year automation/embedded/robotics development experience, focusing on AGV electrical system design, control software development, and hardware driver development
- ποΈ System Architecture: Proficient in C/C++/Python, familiar with Linux/STM32 development environments, ROS2 framework (scheduler/lifecycle/ros_control)
- π Communication Protocols: CAN/CANopen, EtherCAT (<10ΞΌs jitter), Modbus, RS485/232, SPI, MQTT
- π― Motion Control: Differential/dual-steerable/Ackerman models, PID/MPC control algorithms, Kalman filtering
- π€ Robotics Systems: gomros core module development (thread pool/component startup/version management), SLAM algorithm integration (GTSAM/Cartographer)
- β‘ Real-time Optimization: RT_PREEMPT/Xenomai patches, Linux kernel tuning (CPU isolation/memory lock/direct NIC access)
- π DevOps: Jenkins+Docker+CMake cross-compilation (x64/arm64), component version management and automated deployment
Position: Embedded/Robotics System Engineer
Key Responsibilities:
- AGV Control System Design: Led electrical system design for magnetic navigation, QR code navigation, and SLAM navigation AGVs
- Control Software Development: Developed STM32 control board firmware and Linux IPC software
- Hardware Driver Development: Integrated motor drivers, IMU, barcode readers, magnetic sensors
- Motion Model Development: Implemented and tuned differential and steerable wheel motion control algorithms
- gomros System Development: Designed core modules including thread pool, component startup, and version management
- Device Driver Adaptation: Developed drivers for motors, LiDAR, IMU, RFID based on gomros framework
- Automated Deployment Platform: Built Jenkins+Docker+SVN multi-architecture cross-compilation system
- Linux EtherCAT Integration: Real-time kernel tuning with jitter < 10ΞΌs
- Humanoid Robot Integration: Joint driver adaptation and system module integration
- UAV Integration: PX4 flight control system adaptation and integration
| Project | Duration | Responsibilities |
|---|---|---|
| Huasheng ZT Magnetic Navigation AGV | 2019.06 - 2020.06 | Electrical design, STM32 control, scheduler integration |
| Binhai Piston Plant Magnetic Navigation AGV | 2019.06 - 2020.06 | Electrical design, STM32 control, scheduler integration |
| SANY Heavy Machinery Magnetic Navigation AGV | 2020.06 - 2021.06 | Electrical design, STM32 control, scheduler integration |
| Xinhua Medical QR Code AGV | 2021.04 - 2021.08 | Electrical design, STM32 control, scheduler integration |
Description: Self-developed ROS-like robotics software system supporting component-based development and deployment
Key Contributions:
- Thread Pool Module: Designed high-performance task scheduling with priority queues and dynamic scaling
- Component Startup Module: Implemented component dependency management and lifecycle control
- Component Version Management: Established version compatibility matrix with gray release and rollback support
- Automated Deployment: Jenkins+Docker+SVN multi-architecture cross-compilation (x86/ARM)
- Device Driver Adaptation: Developed drivers for motors, LiDAR, IMU, barcode readers, magnetic sensors, RFID
- Quality Assurance: Core modules in C++ with unit and integration testing
- Documentation: Module documentation and team technical sharing (hosted on personal website)
Description: EtherCAT master system integration based on Nvidia NX/RK3588 platforms
Key Contributions:
- Real-time Kernel Optimization: Ported RT patches, CPU isolation, memory locking, direct NIC access
- Automated Build System: Jenkins+Docker for Linux kernel and EtherCAT master auto-packaging
- Automated Deployment: Python scripts for one-click kernel update and EtherCAT master installation
- Testing: Unit, integration, and stability testing (jitter < 10ΞΌs)
- Documentation: EtherCAT master module documentation and technical sharing
Proficiency: C/C++ (Proficient) > Python (Proficient) > Java/JavaScript/Rust (Familiar)
IDE/Editors: VS Code, Visual Studio, Eclipse, Jupyter
Windows Tools: MobaXterm, WinSCP, Wireshark, VMware, CANtools, Network Assistant, SSCOM
Linux Tools: tmux, htop, iotop, strace, gdb, perf, systemd, CMake, Make
- Industrial Buses: CAN, CANopen, EtherCAT, Modbus RTU/TCP
- Serial Communication: RS485, RS232, SPI, I2C, UART
- Network Protocols: MQTT, TCP/IP, UDP
- Actuators: Servo drives, stepper drivers, BLDC drivers
- Sensors: LiDAR, IMU, encoders, magnetic sensors
- Identification: QR code readers, RFID readers
- Others: Temperature sensors, gas sensors
| Channel | Info |
|---|---|
| π§ Email | tonghansen@foxmail.com / tong.han.sen@outlook.com |
| π Website | https://ts-sound.github.io/ |
| π» GitHub | https://github.com/Ts-sound |