Daniel Loret De Mola Lemus Email & Phone Number

• Developed and integrated software for diverse robotic applications: Mars 2020 Rover, Mars Sample Return, exploration of icy moons with snake robot EELS, and in-space robotic assembly.
• Maintained and expanded JPL’s open-source libraries of EtherCAT device drivers for motor controllers, sensors, and Input/Output terminals.
• Composed command sequences for a robotic manipulator, with vision-based positioning and force control capabilities, to demonstrate concepts for low-cost assembly of space antennas.
• Developed a library based on Elasticsearch to index and query data downlinked from the Mars 2020 Rover, which allowed for faster and more detailed trend analysis of robotic operations.
• Managed software deployments and provided support for Mars 2020 Rover’s Sample Caching System testbeds during the successful validation and verification phase of the subsystem.

Pittsburgh, PA

• Developed real-time embedded software, compliant with MISRA C, for a high integrity control module for self-driving vehicles.
• Designed and implemented a trajectory management system for validation of and transition between planned trajectories, control reference generation, and emergency stop execution.
• Implemented an IMU-based state estimation algorithm used during faults that compromise the estimates from the perception subsystem.
• Formulated and identified vehicle models based on vehicle dynamics and experiments.
• Implemented data analysis software to assess vehicle control performance.

Cambridge, MA

• Designed and implemented a real-time control architecture that accommodates robotic arms, mobile platforms, and systems composed of different robotic mechanisms; enforces safety behaviors; and operates at up to 1000 Hz.
• Programmed CAN communication facilities to connect central control system with distributed controllers.
• Interfaced control layer with high-level autonomy layers or joystick controllers via ROS framework.
• Tested and debugged complex robotics software systems in simulation and hardware.

Pittsburgh, PA

• Conducted research on a prototype rover for lunar crater exploration (Icebreaker).
• Modeled the vehicle-terrain interaction dynamics.
• Integrated a visual odometry system for onboard estimation of vehicle slip.
• Designed and implemented a novel slip control system that kept slip within ±5% during descent on slopes as steep as 31° (approaches explored: classical PID and fuzzy logic).

Pittsburgh, PA

• Programmed and integrated the different subsystems and sensors of the Icebreaker robot.
• Performed field tests at NASA Glenn Research Center to characterize the vehicle’s drawbar pull.

Queretaro, Qro. Mexico

• Automated functional test procedures for HMIs of electronic auto parts in order to dramatically reduce time and errors during testing.
• Integrated a robotic arm, computer vision, and CAN networking for the testing system.

Queretaro, Qro. Mexico

• Led a specialized team in designing and implementing a system for measuring strain in a PCB.
• The resulting system represented a significant reduction in cost with respect to the previous system in use.

Master Of Science (M.S.), Robotics, 3.57/4.00

Pittsburgh, PA • Thesis: Slip Control during Slope Descent for a Rover with Plowing Capability

Bachelor Of Science (B.S.), Mechatronics Engineering, 96/100

Queretaro, Qro. Mexico

Exchange Program (Fall Semester), 3.78/4.00

Pittsburgh, PA • Robotics courses and research.