Currently developing cutting edge localization, exploration, and sonar processing algorithms for the SUNFISH® AUV, an autonomous underwater vehicle designed to map underwater structures and environments.

Systems integrator and software programmer for the ARTEMIS vehicle, a 3000lb underwater autonomous vehicle used to explore underneath the McMurdo ice shelf. Designed and integrated the electronics and developed software sub-systems for low level drivers, middleware including logging, post processing, user interfaces, and configuration tools, visualization for sonar, point cloud, cameras / heads up display. Developed position / velocity estimation code that used a ring laser gyro and dopplar velocity logger to achieve 0.4% position error using dead reckoning, validated against GPS. Post processed sonar data to achieve high accuracy sonar maps. Spent a total of 4 months in McMurdo Station, Antarctica testing and deploying the robot.Systems integrator and software programmer for the VALKYRIE, a novel ice penetrating vehicle (cryobot) that uses a 5kW laser and hot water jets to burrow through ice. Developed electronics and software required to control the robot, estimate position, provide real time feedback to operators, and safely shut down the system in case of emergency. Spent a total of 1 month field testing the vehicle on the Matanuska glacier in Alaska. Post processed the data to obtain the dead reckoning position and validated the results using ground penetrating radar (GPR) data.Systems integrator and software programmer for the ENDURANCE vehicle, a 3000lb underwater autonomous vehicle. Organized tests, installed new hardware, and wrote software for the vehicle. Spent a total of 6 months field testing the vehicle in lakes, test facilities, and running missions in Lake Bonney, Antarctica.

Modified an existing Linux driver to control an SDA10D robot. Designed a computer vision application using Cognex software to detect and broadcast the position of a coffee cup.