At BotBuilt we develop novel technical approaches to building homes and home components. We apply state-of-the-art robotics to help bring affordable housing to the world.

Developed and taught Advanced Robotics, a graduate level course providing a breadth of techniques that are used across the robotics stack.

I develop novel methods for the integration of modern learning with controls and planning, with a focus on arms and humanoid robots. During my time at Duke, I've been awarded two fellowships, one of which is the NDSEG Fellowship, I am grateful to have been awarded this fellowship and to have been able to spend time in the company of the top 200 STEM graduate students from my year. In addition, in 2019 my work on stability, and performance was nominated for best paper at IROS. A full list of my publications is available below.

In order to minimize the wear and tear of industrial arms, some manufacturers enforce jerk limits. Quickly (<10ms) calculating the optimal time parameterization of motion plans while respecting jerk limits is a challenging problem. During my time at Realtime Robotics I developed a novel approach to performing this task, which resulted in a patent application and improved robot performance.

Working with the Home Robotics team to support the goal of aging in place.

Developing point cloud processing software to detect grasp points for Robonaut 2's station legs. This will be vital to R2's operations on the International Space Station.

Design, develop, and test mechatronics prototypes.

Designed, developed, and operated perception system for NASA JSC Project Valkyrie for the DARPA Robotics Challenge. Post December 2013, I have been developing a novel compression algorithm for 3D data. Responsibilities: • Researched and developed filters and calibration methods for Time Of Flight cameras • Developed drivers for Microstrain IMUs • Implemented and tested Extended Kalman Filter on humanoid robot • Implemented visual odometry using 3D data • Implemented 3D composite using multiple sensors and Octomap • Operated the perception system of the robot at DARPA Robotics Challenge Trials 2013 • Conceived and implemented novel point cloud compression algorithm

Research and Development of novel consumer robotics

Designed, developed, and operated perception system for NASA JSC Project Valkyrie for the DARPA Robotics Challenge. Responsibilities:• Designed coherent system for analyzing and leveraging perception data on humanoid robot.• Selected sensors for outdoor operation• Unit tested sensors for outdoor operation • Developed grasp point identifier using 3D sensors and semi-definite convex optimization • Maintained software for operating robot in Gazebo simulation environment• Developed Primitive Shape Decomposition compact representation of 3D data

Continued development of a small pneumatically launched Unmanned Aerial System for anti-piracy operations Responsibilities:• Re-evaluation of the flightworthiness of the airframe • Change of launch procedure based on re-evaluation • Development of mechanical spring system for extending tail fins • Extensive testing of airframe and launch procedure

Ruby on Rails development for corporate social media Responsibilities:• Debugged front-end issues• Worked in an Agile Environment • Worked with CSS, HTML, and Ruby

Developed iOS applications and attended Startup Weekend Las Vegas Responsibilities:• Development of iOS application following company standards • Operation in a Agile Software Development environment • Interacted with customer to understand their needs • Worked extensively with bluetooth based techonology

Developed autonomous ground vehicle Responsibilities:• Selection of hardware for unmanned ground vehicle • Construction of ground vehicle • Developed planning and control software • Developed user interface, including intelligent area covering algorithm

Monitor and Manage the Unix and Windows systems at Charles Schwab.

* Created firmware for energy meter, written in C. * Kept inventory of development boards. * Performed many types of soldering procedures. * Assisted with conferences. * Assisted with definition of robot controller.

* Assisted doctors with experiments, including creation of chemical solutions and DNA testing. * Performed minor procedures on mice, including autopsies and limb removal. * Participated in the creation of clones and genetically engineered mice. * Created computer program for calculating dosages needed for experiments.