Xiao Yuan, Ph.D.
I am a senior robotics engineer at Contour Crafting Corporation. I have 7-years R&D experience and 3-years industrial experience as a team lead at a robotic construction technology company, proficient in robotics control system, hardware development and mechatronics engineering.
Interested in Python/C/C++/Matlab, Linux, ROS, Robotics Control, Motion Planning, Computer Vision, Embedded System, Sensors & Actuators, Design of Experiment, Mechatronics Design, Manufacturing
Education
Ph.D. Thesis: Large-scale Construction Robot in Space Colonization
Industrial and Systems Engineering
University of Southern California
Supervisor: Behrokh Khoshnevis
(Member of National Academy of Engineering)
Master_2 Manufacturing Engineering
University of Southern California
Master_1 Thesis: Pre-stressed Carbon Fiber Winding on Brake Drum
Mechanical Engineering
Tsinghua University
Supervisor: Feng Lin
Bachelor Vehicle Engineering
Wuhan University of Technology
Senior Robotics Engineer
Contour Crafting Corporation, Los Angeles, CA, USA
Jul 2016 ~ present
Only public videos are shown
Led a team in R&D group, developed the major robot to build structures rapidly with substantially less human labor
• Robotic Control System Development
-
Developed a multiple machines robotic control system using Python based on Robot Operation System (ROS) in Linux environment; Programmed embedded micro-controller using C++ for sensors and actuators; Deployed the motion and PLC program on Delta Tau PMAC industrial motion controller; Created a graphic user interface (GUI) to simplify the operation
-
Implemented motion planning, involving trajectory generation, inverse kinematics and idle travel optimization
-
Developed a real time vision-based control system and a vision-based distance sensor using OpenCV; Implemented camera calibration and prospective projection to monitor the material deposition process in real-time; Trained binary classification CNN models on AWS and deployed on embedded computer to monitor the construction material processing
• Robotics Hardware Architecture
-
Developed three sub-controller hardware embedded with Nvidia TX2 and microcontroller from sketch to Beta in the mid of ambiguity, including proof-of-concepts prototypes, parameter specification, schematic capture, PCB layout, troubleshooting; Designed the wiring layout of an industrial motion control enclosure for the Cartesian robotic platform
-
Designed the major construction robot in SolidWorks, involving mechanical structure design, mechanical transmission selection and actuator specification; Fabricated and prototyped the components using 3D printing, lathe machine, milling machine, injection molding, laser cutting, waterjet cutting and CNC
Source and Tools:
Research Assistant (Ph.D. Degree)
University of Southern California, Los Angeles, CA, USA
Aug 2012 ~ Jul 2016
Developed a construction platform based on an articulated robot to verify the feasibility of automated construction in Mars/moon colonization, 2014 Grant Prize of NASA Tech Briefs Create the Future Design Contest
• KUKA Articulated Robot and End-effector Mechatronics Development
-
Modified a KUKA KR150 manipulator as the construction platform and developed an android tablet-based GUI to control the robot and the end-effector; Generated the robot end-effector trajectory from a 3D model and implemented the motion planning for articulated robot and its rover to achieve the planetary construction
-
Created a 2D profile measurement sensor using line laser diode and camera to monitor the material deposition process
-
Executed a special mechatronics nozzle to handle planetary building material from concept to product, including mechanical system development and fabrication, mechatronics system design and implementation, hardware/software integration, schematic capture, PCB layout and troubleshooting; delivered two sets as product to NASA Marshall Space Center in 2016
• Design of Experiment
-
Performed the design of experiment (DOE) on the construction factors and analyzed the result using statistical methods to improve the construction process and applied the Taguchi method to optimize the material mechanical property
Source and Tools:
.png)
Research Assistant (Master Degree)
Tsinghua University, Beijing, China​
Sep 2009 ~ Jul 2012
• Developed a winding machine to apply compressive stress on brake drum to improve its durability performance
-
Invented the new winding technology; designed and built the electro-mechanical equipment using PLC, AC motors, brushless servo motors, IPC and HMI (Patents: US20140301858, CN102491128, CN102606650)
-
Modeled the dynamic stress distribution in the prestressed winding process; Executed the prestressed winding process in finite element analysis to simulant the stress distribution; Carried out the winding experiment and implemented the stress distribution data acquisition using LabView and strain gage to verify the theoretical mechanics and FEA modeling
Pre-stressed Carbon Fiber Winding Machine for Brake Drum
Source and Tools:
An Android Tablet Controlled Chocolate Printer
​
-
Built a Cartesian printing platform by embedded controller and stepper motors
-
Developed an Android app to track the path of finger
-
Locate the bread on the platform by image processing
-
Path data transmitted to printer by Bluetooth communication
-
Printer prints the liquid chocolate according to the path data
An Android Tablet Controlled Chocolate Printer
​
-
Built a Cartesian printing platform by embedded controller and stepper motors
-
Developed an Android app to track the path of finger
-
Locate the bread on the platform by image processing
-
Path data transmitted to printer by Bluetooth communication
-
Printer prints the liquid chocolate according to the path data
A Lane Tracking Model Vehicle
​
-
Developed an autonomous vehicle to track a black line on a white background by camera, photoelectric
-
Programmed and optimized the vehicle dynamic control algorithm, servo DC motor PID control and RC servo motor PD control
-
Optimized the model vehicle dynamic by improving the drivetrain and braking, suspension and steering, mass distribute on and tire performance
An Eco-car for Honda Fuel Consumption Challenge
​
-
Developed an Eco-car to participated in the Honda competition at Shanghai International F1 Circuit
-
Modified the internal combustion engine and developed the entire vehicle from schematic
-
Achieved the fuel consumption of 846miles per gallon
Awards
2016 NSF Student Travel Award for 2016 Solid Freeform Fabrication Symposium
2015 Best Papers for the 2015 Solid Freeform Fabrication Symposium
2014 Grant Price of 2014 NASA Tech Briefs Create the Future Design Contest (This prize was granted to my
supervisor, Dr. Khoshnevis, when I was a core member of Contour Crafting Technology Group)
​
Patents
[1] F Lin, R Zhang, Q Gong, L Zhang, T Zhang,X Yuan, W Yan, “Rotor device, turbine rotor device, and gas
turbine and turbine engine”, US20140301858, WO2013023507, CN102418562A
[2] F Lin, X Yuan, W Yan, “Parallelly-linked tension loading device for wound bundles”, CN102491128
[3] Zhigang Li, Feng Lin, XiaoYuan, Wen Yan, “Brake drum wound with prestressed carbon fibers”,
CN102606650 A
​
Publications
0. Automated Layer Defect Detection Using Deep Learning for Mega-scale 3D Printing
Omid Davtalab, Ali Kazemian, Xiao Yuan, Behrokh Khoshnevis
(Submitted to Automation in Construction Journal)
1. Cementitious materials for construction-scale 3D printing: Laboratory testing of fresh printing mixture
A Kazemian, X Yuan, E Cochran, B Khoshnevis
Construction and Building Materials 145, 639-647
2. Construction by Contour Crafting using sulfur concrete with planetary applications
B Khoshnevis, X Yuan, B Zahiri, J Zhang, B Xia
Rapid Prototyping Journal 22 (5), 848-856
3. Advances in contour crafting technology for extraterrestrial settlement infrastructure buildup
B Khoshnevis, M Thangavelu, X Yuan, J Zhang
AIAA SPACE 2013 Conference and Exposition, 5438
4. Deformation Analysis of Sulfur Concrete Structures Made by Contour Crafting
B Khoshnevis, X YUAN, B Zahiri, J Zhang, B Xia
AIAA SPACE 2015 Conference and Exposition, 4452
5. Construction-scale 3D printing: shape stability of fresh printing concrete
A Kazemian, X Yuan, R Meier, E Cochran, B Khoshnevis
ASME 2017 12th International Manufacturing Science and Engineering Conference collocated with the
JSME/ASME 2017 6th International Conference on Materials and Processing
6. Computer vision for real-time extrusion quality monitoring and control in robotic construction
A Kazemian, X Yuan, O Davtalab, B Khoshnevis
Automation in Construction 101, 92-98
7. A framework for performance-based testing of fresh mixtures for construction-scale 3D printing
A Kazemian, X Yuan, R Meier, B Khoshnevis
RILEM International Conference on Concrete and Digital Fabrication, 39-52
8. A novel design of a high-strength high-temperature graphite die
W Yan, D Jiang, X Yuan, B Zhou, F Lin
Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering
9. Performance-Based Testing of Portland Cement Concrete for Construction-Scale 3D Printing
A Kazemian, X Yuan, R Meier, B Khoshnevis
3D Concrete Printing Technology, 13-35
10. Contour Crafting Construction with Sulfur Concrete (Ph.D. Thesis)
X Yuan
University of Southern California
11. Performance of Sulfur Concrete in Planetary Applications of Contour Crafting
X Yuan, J Zhang, B Zahiri, B Khoshnevis
Solid Freeform Fabrication 2016: Proceedings of the 26th Annual International Solid Freeform Fabrication
Symposium – An Additive Manufacturing Conference
​
CONTACT INFORMATION
Research and Development Group
Contour Crafting Corporation
215 S Douglas Street
Los Angeles, CA, USA