AI-Glasses Embedded with Agentic AI System
Building AI-Glasses embedded with an agentic AI system to enhance user interaction and experience through advanced perception and decision-making capabilities.
Research
Work and publications
My research focuses on visual SLAM, robotic manipulation, and explainable AI systems. Below are my current projects and recent publications.
Research Projects
Robotic Arm Motion Planning Avoiding Singularity
Developed motion planning algorithms for robotic arms to avoid singularity issues, enhancing stability and precision in complex tasks. Implemented solutions leveraging advanced kinematics and real-time obstacle detection.
Stainless Steel International Standards AI Assistant System
An AWS-based intelligent system designed to assist technical personnel at Walsin Lihwa Corporation with questions related to international standards for stainless steel. The system leverages AI technologies to provide professional standard queries, standard comparisons, and document analysis services, automatically adjusting response complexity based on user expertise.
Explainable System for Inverse Kinematics
Proposed explainable IK framework integrating SHAP and InterpretML. Designed Improved IKNet and Focused IKNet with balanced feature attribution and enhanced obstacle-avoidance stability.
iKnet Model Improvements for Low Computing Resource Environments
Rebuild iKnet models to optimize performance in environments with limited computing resources, focusing on efficiency and accuracy improvements.
GGCNN Model Improvements for Low Computing Resource Environments
Rebuild GGCNN models to optimize performance in environments with limited computing resources, focusing on efficiency and accuracy improvements.
Enhanced ORB-SLAM3 with Point-Cloud Refinement
Integrated YOLOv8-based dynamic filtering and CUDA-accelerated point cloud refinement. Achieved 25.9% reduction in ATE RMSE and 30.4% improvement in trajectory accuracy on KITTI dataset.
Golf Swing Phenomena Analysis
Developed computer vision system for club and posture tracking using OpenCV, YOLO, and MediaPipe. Applied Lagrangian mechanics to model swing dynamics.
Omni-bearing Autonomous Mobile Manipulator
Built autonomous mobile robot integrating LiDAR, depth camera, and robotic arm under ROS2. Implemented SLAM navigation and vision-based elevator control.
Selected Publications
Journal Papers (Submitted/Under Review)
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arXiv
Explainable Neural Inverse Kinematics for Obstacle-Aware Robotic Manipulation: A Comparative Analysis of IKNet Variants
S.K. Chen, Y.L Tsai, C.C Chang, Y.C. Chen, P.C. Lin
Autonomous Robots (Submitted)
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arXiv
PCR-ORB: Enhanced ORB-SLAM3 with Point Cloud Refinement Using Deep Learning-Based Dynamic Object Filtering
S.K. Chen, J.Y. Chao, J.Y Chang, P.L. Wu, P.C Lin
Autonomous Robots (Submitted)
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Addressing Cognitive Load and Achievement Gaps in Introductory Computer Science: A Novel 5C-Loop Framework Integrating Layered Learning and Scaffolding
S.K. Chen, Y.D Liu, P.C Lin
IEEE Transactions on Education (Submitted)
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Learning-by-Doing and Scaffolding Strategies for Improving Learning Outcomes in EMI Internet of Things Courses
P.C Lin, S.K. Chen
IEEE Transactions on Education (Submitted)
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Layered Learning and Adaptive Progression: A Novel Framework for Enhancing Robotics Education Outcomes
S.K. Chen, P.C Lin
IEEE Transactions on Education (Submitted)
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Machine-Learning Empowered Propagation Measurement and Modeling for an Amphitheater
S.Y. Lim, C.R. Ong, J.S. Chow, K. Lee, Q.P. Soo, J.H. Deng, J.K. Huang, S.K. Chen, Y.D. Liu, Y.C. Liu, H.C. Hsien
IEEE Access (Under Review)
Conference Papers
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IEEE
Inverse Kinematics Neural Network Models for Improving Inference Efficiency and Memory Usage
S.K. Chen, Y.L Tsai, C.C Chang, Y.C. Chen, P.C. Lin
IEEE International Conference on Consumer Electronics-Taiwan (ICCE-TW) 2025
Kaohsiung, Taiwan
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Efficient Grasp Detection via Knowledge Distillation: A Lightweight Generative Grasping Convolutional Neural Network Framework
S.K. Chen, J.Y. Chao, J.Y Chang, P.L. Wu, P.C Lin
International Conference on Control and Robotics (ICCR) 2025
Kyoto, Japan
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arXiv
An Intelligent AI Glasses System with Multi-Agent Architecture for Real-Time Voice Processing and Task Execution
S.K. Chen, J.H. Wu, C.Y. Lin, Y.T. Lin
National Computer Symposium (NCS) 2025
Yilan, Taiwan
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arXiv
Intelligent Singularity Avoidance in UR10 Robotic Arm Path Planning Using Hybrid Fuzzy Logic and Reinforcement Learning
S.K. Chen, J.H. Wu
Taiwan Academic Network Conference (TANET) 2025
Yilan, Taiwan
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IEEE
Analysis of Physical Phenomena in Golf Swing
S.K. Chen, T.Y. Liu, Y.D. Liu, H.C. Shih
IEEE International Conference on Multimedia and Expo Workshops (ICMEW) 2023
Brisbane, Australia