Developing robotic perception technologies, serving as lead vehicle software engineer

We are developing commercial planetary rovers to serve lunar and martian surface exploration in this decade and beyond. I work on robotic software and embedded/platform software. We are building our robotic application stack from the ground up (vehicle body kinematics, pose estimation and control, localization, perception), and we have big dreams for the capabilities our rovers will have in this decade.

Developing novel robotic systems in a very untapped market within agriculture, with a talented multi-disciplinary team.-- Product owner for several calibration technologies, including both infrastructure (scene-placed fiducials, developing a web-based technician user interface for interactive procedures) and analytical solvers (generating a lookup table for a 6DOF pose using a 2D reference signal, implementing thin-plate spline interpolation over this lookup table; wheel radius estimation during odometry calibration; calibrating the 6DOF home pose of the tractor implement with respect to the vehicle body)-- Robotics software owner of the end effector soil depth control problem. Designed and implemented robust and under-actuated feedback control that was power-aware so as to minimize engine load.

Flight Software, Automation TeamDeveloped test automation software used company-wide, from rocket engine tests in Texas to pressurized vehicle checkouts in California.Started in Dragon spacecraft vehicle testing. Designing and building core features of a consolidated test automation framework for SpaceX that is used by F9, Dragon, Avionics Test, and several other test engineering groups.

Designed and implemented algorithms to solve a research problem in sensor processing. Used C++, linear algebra.

Developed software for a custom SMD pick 'n' place machine. Used Python, ROS, SimpleCV, Puppet. Also designed a mechanical feeder system for SMT cut tape sections.

Designed 3d-printed end effectors with embedded electrical circuits. Developed manufacturing methods for embedding sensors within 3d-printed end effectors and executed this work for a paper published with the Harvard Biorobotics Lab (http://www.mdpi.com/1424-8220/14/3/3861/pdf).

- Designed a controls and data acquisition system for mouse behavioral experiment rigs. Used Python, Raspberry Pi, and the Arduino microcontroller.- Wrote real-time image correcting software for custom multiphoton fluorescence microscope. Used C++, MATLAB.

Consultant for graduate and undergraduate students on circuit design fabrication for personal projects and research. Workshop-maker for teaching basic electronics and microcontrollers.

• Built a news aggregating service that algorithmically recommends content to smartphone users.

Designed & implemented a distributable Wi-Fi-based system that analyzes the volume of people-traffic in arbitrary spaces and delivers analytics and crowd trends.

As a summer intern, developed a website to facilitate software release management and worked on a simulator to assess the robustness of trading engines.