Voronoi-based Robot Navigation

 

artifact (Credit: Lisa)

Theme park (credit Black Hunter)

Voronoi navigation, share

Motor Works (Credit: Lisa)

HW#7 Voromoi-based Navigation

  課堂練習 

Deadline:  Saturday at 23:59 (one more week)

Send all the share links to  me chang212@gmail.com by email with subject HW#7 [your id, your name]

1. 設計一個能閃避靜止障礙物的3D Voronoi尋徑系統（以下場景可擇一，或使用有版權的照片）

（加分題，可不做）2. 設計一個能閃避行人與靜止障礙物的機器人導引系統，系統必須經過以下真實情境的壓力測試。

行人移動模式 SocNavBench 2021 source https://arxiv.org/pdf/2103.00047​

3. Design a 3D Voronoi Navigation (機器人取瓶中物，太空船穿越隕石帶，機器臂組裝汽車...)

Hint: 3d Voronoi

參考界面

HW#6 3D Navigation

 課堂練習 

Deadline:  Saturday at 23:59 (one more week)

Send all the share links to  me chang212@gmail.com by email with subject HW#6 [your id, your name]

第一題與第二題是二選一即可

第三題必做

1. 

製作以下場景的3D導航，然後完成以下二個任務

share

artifact (share) *non-Voronoi

task 1: make an entrance/exit. make the auto-navigation route deliberately exit through this gate (e.g., a waypoint placed just outside on the brick path) and go to central woods as destination.

task 2: set FPV (first-person view) and maintain horizontal view angle

2. 設計一個能閃避靜止障礙物的3D尋徑系統（以下場景可擇一）

參考介面

3. 設計一個具有導航安全性的行走機器人，首先建立一個公共場所（公園，校園，百貨公司，圖書館...)，然後進行以下三個設計

a. 如何有效增加機器人與行人的最小距離（淨距離）？

b. 給予完整地圖或建構視線內地圖何者可以增加淨距離？

c. 如果機器人每一刻都知道場上所有行人的位置，對增加淨距離有幫助嗎? 如果有，量化幫助有多少？

HW#5 P&R for OP 741.

 課堂練習 

Deadline: This Saturday at 23:59

Send all the share links to  me chang212@gmail.com by email with your subject line to show HW#5  [your id, your name]

P&R for OP 741.

schematic 

「用 Claude 做類比 IC 設計」系列頁面12345678910111213141516171819模型：NPN β 200、V_A 100 V；橫向 PNP β 50、V_A 50 V、τ_F 30 ns；V_T 25.85 mV、V_BE 0.65 V回到部落格文章

---

Handout: Analog IC Design (OP741, diff pair, Placement & Routing)

1. Place and route the IC OP741

   Layout targets

   These targets apply only to the bonus phases. They are measured on the extended netlist from Phase 2 and averaged over the same 10 seeds. Phase 1 is graded on reproduction and ablation alone. "Phase 1 baseline" means your own reproduction of the handout on that netlist before any change.

   Metric	Target	Handout baseline
   Routing convergence	10/10 seeds with 0 shared cells	10/10 (core only)
   PathFinder rounds	mean ≤ 4	2–4
   Input path-length match	mean ≥ 95%, worst seed ≥ 90%	95.0% (seed 137)
   Input-net resistance mismatch, vias included	≤ 2%	—
   Coupling, each input net to VOUT	≤ 2 fF, and Vin+ within 10% of Vin−	—
   Output-stage centroid	within 1 cell of x = 40	—
   Output stage to input quad	≥ 40% of die height apart	—
   Thermal offset estimate (2 °C/mm model)	≤ 50 µV	—
   Wirelength + vias	≤ 1.15× Phase 1 baseline	434 + 24 (seed 137)
   Runtime per seed	≤ 2× Phase 1 baseline	—

   A team that misses a target but explains the trade-off with data can still earn most of the credit.

   Project tasks

   1. Run the handout's engine on the single-stage diff pair and the two-stage core. Reproduce every row of the handout's Table 1 and the two-stage result.
   2. Remove one part at a time and measure the effect on convergence, rounds, match, wirelength and vias:
      • SimPL-style anchors off
      • RUDY congestion stage off (λ = 0)
      • halo m = 0, 1 and 2
      • nets routed as trees vs split into two-pin connections
      • one layer vs three layers
   3. Record runtime per seed. This is the Phase 1 baseline used in the targets.

   Checkpoint: a reproduction table next to the handout's numbers, plus one ablation table. Explain any number that differs from the handout by more than 10%.

   
   
   
   Placer & Router for OP 741 (sample)
   
   

   2.  Experiment with 10 seeds for the circuit in Problem 1

   Measure success, congestion, wirelength, overlap pairs (before/after), Vin length match. 
   
   
   
   

   
   

   

   benchmark

   
   

HW#4 From Schematic to PCB

 課堂練習 

Deadline: This Saturday at 23:59

Send all the share links to  me chang212@gmail.com by email with your subject line to show HW#4  [your id, your name]

1. Optimize trace routing on PCB given the schematic of Differential Pair Circuit  

schematic 

sample trace routing, share (schematic)

Steps

Do trace routing ( 參考 share, share 2, share 3)

2. 續上題，使用鑽孔路徑演算法進行PCB 鑽孔

3. Depict 3D PCB

(Bonus) 4. 接上題，Run spice simulation using NGSpice 4.6, LTSpice, or HSpice ...

結果必須包含 log、版本資訊、結果輸出

(Bonus) 5. Build a MP4 for the process of a PCB Design (materials for your production)

HW#3

   建議工具

使用 Claude Sonnet 5.0 (有免費版，額度很低，推理能力弱。付費版建議使用 Opus 5 或以上)

使用 ChatGPT 5 (有免費版，額度很低，推理能力弱。付費版建議使用 ChatGPT 5.5 或以上)

使用 Gemini 3 Pro （沒有免費額度，必須付費訂閱才能使用）

Content share policy

• share only link, pure text, markdown (md)
• no attachments accepted, no html, screen dump, or png
• non-compliant homework will be rejected and returned to you

 課堂練習 

Deadline: This Saturday at 23:59

Send all the share links to  me chang212@gmail.com by email with your subject line to show HW#3  [your id, your name]

To share your work, refer to the following.

How to publish a Claude artifact

How to share a ChatGPT link

How to share Gemini Link

從以下任選2題，自選1題，總共三題

1 Animate Blue LED in lattice, PECVD fabrication, photon emission, or quantum mechanics

PECVD Fabrication

InGaN QW (Opus 5.5 Medium)

lattice  share 1, share 2

QW in lattice, share

2. 生物呼吸中的量子效應互動模擬

3. Design cat color calculator 

genetics

 Fable 5.1, artifact  artifact 2 share 2

 

4. 科學模擬 3d 化(使用 three.js 模擬 3d )

黑洞撞擊

黑洞與恆星雙星系統

artifact

 artifact 2

7. 蛋白質折疊 share 

8. MOF 在 CO2 捕捉的運用 (share) Gemini 3 pro, artifact by Claude, Gemini 3 pro

9. 金子如何形成?

neotron star merger

artifact, gold journey to the earth

10. 把光停住

artifact

11 鯨豚越大型為何背鰭越小

mp4

HW#2

  建議工具

使用 Claude Sonnet 5.0 (有免費版，額度很低，推理能力弱。付費版建議使用 Opus 5 或以上)

使用 ChatGPT 5 (有免費版，額度很低，推理能力弱。付費版建議使用 ChatGPT 5.5 或以上)

使用 Gemini 3 Pro （沒有免費額度，必須付費訂閱才能使用）

Content share policy

• share only link, pure text, markdown (md)
• no attachments accepted, no html, screen dump, or png
• non-compliant homework will be rejected and returned to you

 課堂練習 

Deadline: This Saturday at 23:59

Send all the share links to  me chang212@gmail.com by email with your subject line to show HW#2  [your id, your name]

To share your work, refer to the following.

How to publish a Claude artifact

How to share a ChatGPT link

How to share Gemini Link

1.

2. Comparing LLMs: Claude 4.6以上, Gemini 3.0 Pro以上, ChatGPT 5.0以上 (三選二) for the following task.

Animate in 3d (in three.js) Yagi-Uda AntennaThe animation must be scientifically accurate. 

3.

source

4. 申論題 進入作業

HW#1

Use Claude cowork Opus 5Max or ChatGPT-6 Astra

 課堂練習 

Deadline: This Saturday at 23:59

Send all the share links to  me chang212@gmail.com by email with subject HW#1  [your id, your name]

How to share a link

conduct a research given drone research directions

literature survey

SOTA

methods

coding

Stats

benchmark with SOTA apples-to-apples

Write a Paper with figs/tabs (or simply a proposal)

場域應用與服務設計 Syllabus 2026 Fall

張耀仁教授

課程規定

1. 所有主題皆以 AI 輔助，不需自行撰寫底層程式。
2. 為了教學與示範、便於助教支援、確保功能與介面一致、評分與範例可重現，本課程限定使用 Claude AI。有特殊原因必須使用其他 AI 者，需在選課前與老師商量。

課程進度

日期	主題
9/15	Introduction
9/22	Introduction
9/29	Prompts
10/6	Visualization
10/13	Analog IC Design
10/20	Robot: 3D Models
10/27、11/3	Robot: Navigation for Robots and BLV (Blind and Low Vision)
11/10	期中考，暫停上課
11/17	Robot: 環境安全檢測與評估視覺化
11/24、12/1	RL
12/8、12/15、12/22	World Model for AGI

各週教材

9/15 Introduction

• AI 導論

9/22 Introduction

• AI is the new development and prototyping environment
• IEEE AI Policy
• Use AI Professionally (Yagi Uda Antenna)
• Prompt in English (中文版)

9/29 Prompts

• Negative testing and mutation testing
• Prompts for scientific accuracy
• Science (optional)

10/6 Visualization

• Results-to-LaTeX Macros
• AI for PCB Design

10/13 Analog IC Design

• AI Approach to OP741 Design
• Analog IC Design (OP741, diff pair, Placement & Routing)

10/20 Robot: 3D Models

• 3D Models (images of places)
• 3D Models of Navigation

10/27   Robot: Navigation for Robots and BLV 

• Voronoi-based Navigation

11/3 Robot: 環境安全檢測與評估視覺化

• 經典應用
• Hazard detection cycu (環境危害偵測) 
• 校園意外事件預測與模擬 Korean
• Home Hazard chain identification and animation (居家危害鏈偵測與危害視覺化)
• Start a research (AI assisted) https://ieeexplore.ieee.org/document/11745951

11/10 期中考，暫停上課一次

11/17 Prediction of Motion

• scenarios

• JEPA

• JEPA-based maze solver
• JEPA-based navigation

11/24 Machine Learning for Asset Management

• Financial analysis 1 （correction）
• Back Test (correction), revised
• Roles
• Financial Skills (correction), revised

12/1 Reinforcement Learning

• RL
• RL 2

12/8, 12/15, 12/22 World Model for Artificial General Intelligence (AGI)

• Outline
• Case Example
• JEPA Bionic Arm
• JEPA Navigator Robot
• World Models vs. LLM/VLM

End of Class

---

Backup 閱讀

• Programming in the AI era (ppt)
• AI Architecture and Challenges (ppt)
• 合成物件

VS Code/ Antigravity 資安

 

Comparing LLMs in Scientific Visualization

Yagi-Uda Antenna

Gemini 3.0 Pro

Opus 4.6 Extended

Gemini 3.0 Pro

ChatGPT 5.0

AI 管道檢修機器人系統

Sonnet 4.5 extended HA

Opus 4.6 extended HA

Gemini 3.0 Pro

IC Fab Line

Process 2d

 Line up 3d (share)

Line up with Machinery (share)

學生回饋意見

  (稍微改寫去可辨視化)

• 這門課不錯！
• 老師上課很認真，整學期下來覺得學到蠻多東西的，推薦修這門課。
• 可以感受到老師對教學很有熱情。
• 每次交作業都會收到很詳細的回饋，老師會認真說明哪裡可以改進，有問題問他也都很願意幫忙，很推！
• 老師上課蠻認真的。
• 老師給的建議都很用心，感覺有認真看我們的作業。

AI 戰爭模擬

使用對局理論（game theory) 模擬台海衝突

原始版 

3D 強化版

• 海上封鎖
• 兩棲  
• 不對稱作戰 

share

台海衝突賽局理論分析模擬器 (連結)

• 多方參與者：中國、台灣、美國、日本
• 情境模擬：封鎖、入侵、灰色地帶、導彈打擊
• 策略互動與升級風險分析

台灣AI防禦戰略模擬 (連結)

• 敵方導彈攻擊與攔截系統
• 升級機制：無人機部署→雷達啟動→導彈發射

俄羅斯無人機攻擊 vs 烏克蘭防空模擬 (連結)

• 3D整合空戰防禦模擬系統
• 攻擊與防禦系統的動態互動

漁船包圍反制

Financial Analysis 5: Monte Carlo, DCF, Regime Adaptive

 compare

HW#14

Devise an RL agent for solving a problem.

write an agent for portfolio management

PCB Layout Optimization  using RL

Advanced with stopping criteria, optimized 

F1 Racing by Mr. Chung

F1 Yas Marina by Lucas daylight, twilight

Pipeline by Mr. Hunter