Ying Lu

Ph.D. candidate, Research Assistant
The CS Robotics Lab at RPI
Department of Computer Science
Rensselaer Polytechnic Institute (RPI)
Email: rosebudflyaway +at+ gmail.com
Address: MRC 332, 110 8th Street, Troy, NY 12180
My Resume
I am Ying Lu, a fifth year Ph.D. student at Department of Computer Science at RPI. I joined the CS Robotics Lab in 2012, under the supervision of Professor Jeff Trinkle. I am working on development and comparison of algorithms to solve the complementarity problems in multibody dynamics.
Research Interests

Robotics, Multibody Dynamics, Complementarity Problems, Optimization, Parallel Computing
  • Algorithm development and analysis for Complementarity problems in multibody dynamics
  • Standard interface for solver comparison with collection of benchmarking problems based on HDF5
  • Nonlinear optimization with application in the Complementarity problems
  • High performance simulation using parallel computing with both CPU and GPU
Here is a survey of multibody dynamics software that I have maintained: Survey of Multibody Dynamics Software

  • Y. Lu, J.C.Trinkle, Comparison of Multibody Dynamics Solver Performance: Synthetic Versus Realistic Data, ASME International Design and Engineering Technical Conferences and Computers and Information in Engineering (IDETC/CIE), Boston, 2015
  • S. Peters, J. Hsu, Y. Lu, Simple benchmarks for speed and accuracy of rigid body dynamic simulators, ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, 2015
  • C. Lacoursiere, M. Linde, Y. Lu, J. Trinkle, A framework for data exchange and benchmarking of frictional contact solvers in multibody dynamics, ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, 2015
  • J. William, Y. Lu, J. Trinkle, PEG: A geometrically accurate contact model for polytopes in multibody simulation, Journal of Computational and Nonlinear Dynamics, submitted, 2015
  • Y. Lu, J.C.Trinkle, On the Convergence of Fixed-point Iteration in Solving Complementarity Problems Arising in Robot Locomotion and Manipulation, IEEE International Conference on Intelligent Robots and Systems (IROS), Chicago, 2014
  • Y. Lu, J.William, C. Lacoursiere and J.C.Trinkle, A framework for problem standardization and algorithm comparison in multibody system. ASME International Design and Engineering Technical Conferences and Computers and Information in Engineering (IDETC/CIE), Buffalo, NY, 2014
  • J.William, Y. Lu and J.C.Trinkle, A complementarity based contact model for geometrically accurate treatment of polytopes in simulation. ASME International Design and Engineering Technical Conferences and Computers and Information in Engineering (IDETC/CIE), Buffalo, NY, 2014
  • J.William, Y. Lu, S. Niebe, M. Andersen, K. Erleben and J.C.Trinkle, RPI-MATLAB-Simulator: A tool for efficient research and practical teaching in multibody dynamics, Workshop on Virtual Reality Interaction and Physical Simulation (VRIPHYS), Lille, France, 2013
  • Y. Lu, C. Lacoursiere, J. Williams, and J.C. Trinkle. Standard interface for data analysis of solvers in multibody dynamics, 4th Canadian Conference on Nonlinear Solid Mechanics (CanCNSM ), Montreal, Canada, 2013
  • J. William, Y. Lu, J.C.Trinkle, RPI-MATLAB-Simulator, extended abstract accepted at ECCOMAS Multibody Conference in Zagreb, Croatia, but withdrawn, 2013
Posters and Conferences Participated
Selected Graduate-level Courses
  • Machine Learning; Robotics 2; Computer Graphics
  • Computer Algorithms; Complexity and Computability; Parallel Computing
  • Nonlinear Optimization; Computational Linear Algebra
  • Computer Operating System
  • Introduction to Algorithms, Fall, 2012, instructor: David E. Goldschmidt
  • Engineering Graphics and Computer Aided Design, Fall, 2011, coordinator: Jeff Morris
  • Thermal & Fluids Engineering 2, Fall, 2011, instructor: Diana Borca
  • IEEE RAS Robotics History Project, Mar. 2015
  • Volunteer for Exploring Engineering Day (EED), Feb. 2013
  • Member and initializer of Women in CS club at RPI, Oct. 2013
  • Volunteer for technology week for high school student, Oct. 2009
  • Volunteer to support education in poor areas in China, 2009-2010
  • President for Love Club at USTC, 2009-2010
Honors & Awards
  • Grace Hopper Scholarship 2015
  • Grace Hopper Scholarship 2014
  • Cyrus Tang Scholarship 2007-2011
  • Outstanding Student Scholarship (Grade 1) 2010
  • Goodwill Scholarship for Excellent Student 2010
  • Silver Medal in TRANSCOSMOS Contest 2009
  • Outstanding Leadership Award 2009
  • Work Address: MRC 332, 110, 8th Street, Troy, NY 12180
  • Home Address: 2408 21st Street, Apt. 6, Troy, NY 12180
  • Email: rosebudflyaway +at+ gmail.com

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