Research in safety critical event/self triggered control strategies, motion planning using MPC, A*, minimum jerk, run-time verification of temporal logic specifications.

Led a team of high-schoolers to reconstruct the PacMan game-state using computer vision and demonstrated real-time control of PacMan using multi-mode control and potential functions.

Manage and assist student teams during capstone project sequence.

Worked with the Robust Software engineering group on developing formal verification tools.Developed and proved a compositional testing approach. Used model checking techniquesto test, analyze, and document realizability of formal flight requirements

Worked within the Autonomous Systems Division for the Mars 2020(M2020) Vision Compute Element(VCE). The VCE will perform terrain relative navigation during M2020's entry, decent and landing. During this summer I worked on flight software running on the VCE computer. My tasks involved:- Creating a static source code analyzer to auto-code a binary image representing the on-board parameter structure. - Creating a memory mapping auto-coder taking as input memory segment specifications and outputing flight verified C code. - Extending the memory mapping auto-coder to support bad-page remapping.

Senior Design Project sponsored and supported by the Topcon CorporationObjective: Use a computer vision to locate and traverse to a stockpile; use stereo cameras to calculate an optimal approach vector; fill bucket and verify fill; maneuver to dump site; return and repeat. Responsibilities: Software architecture, Stereo Camera and point-cloud processing, trajectory calculation.

We developed the mechanical and electronic hardware; and event driven software, necessary to complete a series of tasks within a variable environment. Highlights include:- Motion profiling for complex maneuvering- Feedback control for line following- Real-time digital signal processing- Analog signal conditioning and power distribution circuitry

Worked in the Autonomous Systems Division under the Small Scale Flight Software group. Work was performed within the NASA JPL FPrime flight software framework. Worked through a full design cycle to rebuild the a ground support server using Python ZeroMQ middleware to support a dynamic, many-many ‘publish-subscribe’ communication topology. Server features ‘pluggable’ packet protocol translation. Developed a C++ ‘ZmqRadio’ component enabling robust communication between embedded systems and the new server.

Worked in the Autonomous Systems Division under the Small Scale Flight Software group.- Developed and maintained the FPrime Ground Support Equipment software framework. - Created a UI and API for FPrime File Uplink/Downlink utilizing cFTP like file packets.- Created real-time telemetry visualization handling multiple channels.- Created a stand-alone FPrime Telemetry Packet Editor application. - Implemented other enhancements such as window state persistence and bug fixes.

Tutor in Software Development, OOP, Data Structures, and Calculus.

Worked in the Autonomous Systems Division under the Small Scale Flight Software group. - Tested and debugged a model based flight software code generator written in Python that generates C++ code. - Wrote a multi-level testing suite that tested code generation, configuration file parsing, C++ building and runtime performance. - Refactored a portion of the code generator to fix a design inconsistency.

Team member for a local Citizen's Climate Lobby chapter in San Luis Obispo County.Organized two events on Climate Change awareness. Had the opportunity to be a panel member for a New Tech High School event on Sustainable Development.

Worked with the image processing division to create a web application that automated a manual employee process. Primary work done with the PHP backend to support MySQL operations.