- Supported sourcing, integration, and test of multiple sensor modalities used on the robot- Researched sensors of interest, engage with suppliers and test/evaluate sensor performance- Wrote software to decode sensor data and integrate into robot software stack - Evaluated depth quality and auto-exposure of stereo cameras (OAK-D and Intel RealSense)- Developed and executed test plans to measure camera performance under various conditions- Wrote Python/ROS scripts to acquire images/depth map, compute depth metrics (z-accuracy, RMSE, fill factor, etc.) and exposure metrics (luminance histogram, mean pixel intensity)- Researched and proposed strategies to mitigate camera performance issues- Developed sensor system requirements for next-generation autonomous mobile robot

- Designed and executed bench-level and dSPACE HIL (hardware in the loop) tests for a level 4 autonomous vehicle- Created test plans, performed data analysis, built test result packages, and presented results to management - Developed fault injection software tools for ethernet based sensors (LIDAR, RADAR, inertial sensors)- Wrote functional safety test plans for autonomous vehicle response to sensor faults- Contributed to functional safety technical/software safety reviews and V&V plan development- Worked with software teams to test algorithms at a system level, with a focus on interfaces between the self-driving system and the vehicle platform- Worked with software, hardware, and tools development engineers to develop test software, hardware, and instrumentation for test execution

- Refactored C++ driver to integrate automotive RADAR into an autonomous vehicle platform using Apollo/CyberRT framework (ROS equivalent)- Performed intrinsic calibration and testing of RADAR - Collaborated with sensor vendor and perception team to define sensor requirements

- Developed custom control systems for high-performance MEMS gyroscopes with navigation applications such as autonomous vehicles and unmanned aerial vehicles- Implemented real-time FPGA-based digital signal processing using Xilinx System Generator and Simulink, including lock-in amplifier, phase-locked loop, PID controllers, digital filters- Wrote software to automate testing, data collection/analysis, and instrument control with MATLAB/C API.- Extensive testing of analog and digital electrical systems - Hardware design/testing of analog PLL integrated circuit and transimpedance amplifier readout circuit for capacitive sensors

- Wrote a driver in MATLAB/C for a Doppler Velocity Logger (DVL) on an autonomous kayak for surveillance applications- Developed and evaluated a dead reckoning sysem using DVL and Inertial Measurement Unit (IMU)