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UID:363@escience.washington.edu
DTSTART;TZID=America/Los_Angeles:20260422T163000
DTEND;TZID=America/Los_Angeles:20260422T172000
DTSTAMP:20260421T184435Z
URL:https://escience.washington.edu/events/uw-data-science-seminar-hanquan
 -john-wang/
SUMMARY:UW Data Science Seminar: Hanquan "John" Wang
DESCRIPTION:Please join us for a UW Data Science Seminar featuring UW Mecha
 nical Engineering Master's student Hanquan "John" Wang on Wednesday\, Apri
 l 22nd from 4:30 to 5:20 p.m. PT. The seminar will be held in IEB G109.\n"
 DirectHop: Data-Driven Control and Predictable Locomotion in a 1.0g Direct
 -Drive Jumping Robot"\nAbstract: Insect-scale jumping robots have traditio
 nally relied on "store-and-release" spring mechanisms to overcome power de
 nsity limits. While effective for raw power\, these systems are inherently
  all-or-none and lack the precision required for complex navigation. This 
 talk introduces DirectHop\, a 1.0g robot that utilizes a direct-drive arch
 itecture to achieve full closed-loop authority and variable jump heights. 
 We will focus on the data science and control workflows that enable this p
 erformance at the sub-gram scale. Key technical highlights include the imp
 lementation of a 1 kHz control loop and an Exponential Moving Average (EMA
 ) filter (α=0.1) to handle high-frequency switching noise from the motor 
 driver. I will detail our parallel feedforward-feedback control algorithm\
 , which utilizes Ohm’s Law to compensate for terminal resistance\, achie
 ving a 20ms rise time critical for millisecond-scale launches. Experimenta
 l results demonstrate a highly predictable linear relationship (R^2 ≈ 0.
 982) between commanded coil current and jump height\, a level of controlla
 bility previously unseen in microrobotics. We will also examine the valida
 tion of our active self-righting system\, which maintains a 90% success ra
 te through dynamic Center of Mass (CoM) modulation. Finally\, we will disc
 uss modeling for autonomous operation.\n\nSpeaker Bio: Hanquan is currentl
 y a Master's student in the Autonomous Insect Robotics Lab in Mechanical E
 ngineering. He's interested in design\, fabrication\, and control of new m
 icrorobotic platforms\, locomotion\, and power-constrained autonomy.\n\n\
 nThe 2025-2026 seminars will be held in person\, and are free and open to 
 the public.\n\n
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