Software/firmware development and debugging for devices (medical) and instruments (medical and industrial). Repaired a trackball failure, that forced a 5 minute power-on reset, in million-dollar instruments that had been present in the field for 15 years. The repair was adding a 1 msec delay allowing TTL signals to settle before being latched. Company was planning a $500k redesign of the trackball system.For my own reasons, wrote extensive (100-300 page) documents capturing a lot of 'tribal knowledge' at several companies. These were often well-received when distributed.Field Issue investigations for implantable medical devices. Hearing details of a critical issue with new field checkup software allowed direction of responsible sw engineers to look for specific array-indexing bugs.Investigation of returned devices for failure analysis. Use of memory maps and physical testing instruments (oscilloscopes, electron microscopes, x-ray, bench skills, etc).