Chengnan (Jimmy) Shentu

I am a PhD student with the Department of Computer Science at the University of Toronto, advised by Prof. Jessica Burgner-Kahrs. I hold a B.A.Sc in Engineering Science at the University of Toronto, majoring in Robotics Engineering with a minor in Artificial Intelligence.

In the past, I've been fortunate to collaborate with Xin Yi at Tsinghua University, and Peter Grant at University of Toronto Institute for Aerospace Studies. I have also completed a one-year SerDes Application and Test Internship at Huawei Canada in the industry.

Currently I am working on developing sensing, planning, and control methodologies for continuum robots.

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clean-usnob Ph.D in Computer Science
Department of Computer Science, University of Toronto
Sep 2022 - Aug 2027 | Toronto, ON, Canada

Supervisor: Prof. Jessica Burgner-Kahrs
clean-usnob B.A.Sc in Engineering Science, Robotics
Faculty of Applied Science and Engineering, University of Toronto
Sep 2017 - Apr 2022 | Toronto, ON, Canada

The Engineering Science Research Opportunities Program Scholarship, 2019
Dean's Honour List - 2017-2021

I am interested in bridging concepts from robotics, machine learning, and control theory to build robotic systems capable of safe and efficient interactions with humans and the environment.

clean-usnob MoSS: Monocular Shape Sensing for Continuum Robots
Chengnan Shentu*, Enxu Li*, Chaojun Chen, Puspita Triana Dewi, David B. Lindell, Jessica Burgner-Kahrs
IEEE Robotics and Automation Letters (RA-L), 2023
*Equal contribution
PDF / arXiv / IEEE Xplore / GitHub

We propose a novel monocular shape sensing method for continuum robots, called MoSSNet. It comprises an encoder and three parallel decoders to uncover spatial, length, and contour information from a single RGB image, and then obtains the 3D shape through curve fitting. MoSSNet outperforms existing stereo-vision-based shape sensing methods in terms of real-time capability and has much lower hardware complexity compared to embedded sensing methods.
clean-usnob Open Continuum Robotics - One Actuation Module to Create them All
Reinhard M. Grassmann, Chengnan Shentu, Taqieldin Hamoda, Puspita Triana Dewi, Jessica Burgner-Kahrs
Frontiers in Robotics and AI, 2024
PDF / arXiv(html) / Frontiers / Youtube / OpenCR Project

To democratize continuum robots research, we propose an actuation module to build torque controlled continuum robots and provide open-source software and hardware with our initiative called the Open Continuum Robotics Project.
clean-usnob Proprioceptive Impedance Control of a Planar Tendon-Driven Continuum Robot
Undergraduate Thesis, supervised by Jessica Burgner-Kahrs
Sep 2021 - Apr 2022

In this work, I investigated and implemented an impedance controller for a planar continuum robot in simulation, to achieve variable dynamic behavior for safe interactions with the environment.
clean-usnob Risk of Side Channel Attack on Head Mounted Devices
Supervised by Prof. Xin Yi, Tsinghua University
May - Sep, 2021

This work seeks to investigate the risk of side channel attack on head mounted consumer devices, such as VR headsets and smart-glasses, through inertial measurement unit (IMU) by recovering speech or motion information. I identified several machine learning models that could eavesdrop on device userswithout microphone access and discussed how to defend such attacks effectively.
clean-usnob Mixed Parameter Estimationto of Full Stall Aircraft Model
Supervised by Prof. Peter Grant, University of Toronto Institute for Aerospace Studies
May - Aug, 2019

This project is motivatedby aircraft stall being one of the leading causes of commercial aircraft accidents. The outcome is an improved aircraft flight model suitable for professional simulation training.
Autonomous Vehicle Control
University of Toronto Self-Driving Car Team
1st Place among 8 Universities, AutoDrive Challenge, 2021

Development of velocity scheduler and model predictive controller with dynamic vehicle model using C++ in ROS

University of Toronto Robotics Association

Organized and led weekly meetings with subteam members focusing on the design and implementation of mechatronics for the autonomous robot.


BALL BALL U: An Autonmous Ball Dispensing Prototype

Engineering Design Competition 2nd Place, University of Toronto, Apr 2019
Technical Report / Glance / Competition
Designed, fabricated and programmed a proof-of-concept robot prototype that autonomously detect anddeploy objects to canisters.