Haley Sanders Email & Phone Number

Cambridge, Massachusetts, United States

• Create and maintain simulation for missile guidance system using MATLAB and Simulink
• Collaborate across multiple teams to develop and integrate 50+ missile guidance algorithms
• Develop and integrate 10+ missile navigation algorithms into simulation
• Write unit and verification tests for guidance algorithms in MATLAB
• Maintain version-controlled code and Simulink models using Git
• Debug guidance system PID controller by writing MATLAB test scripts and verifying against oldcontrollers

Provo, Utah, United States

• Use Python to develop optimal motion planning algorithms for large-scale 6 DoF soft robot arm
• Find optimal trajectory of joint angles for soft robot arm to complete tasks in Cartesian space by solving a nonlinear constrained optimization problem using SciPy
• Use Robotic Operating System (ROS) to write PID controller for soft robot arm and command joint angles to arm
• Use ROS, Python, and C++ to implement new and existing optimal controllers like Model Predictive Control (MPC) and Model Reference Adaptive Control (MRAC) on soft robot arms
• Use Optuna to run optimization and sensitivity analysis on MPC tuning parameters
• Use ROS to run programs on Baxter research robot, Panda research robot, and soft robot arm

Cambridge, Massachusetts, United States

• Programmed a delta pick-and-place robot to play human-robot or robot-robot chess games with a physical chess board
• Developed a time-optimal path and trajectory planning algorithm for a delta robot arm using MATLAB and C
• Used MATLAB to write a program to interface with a Stockfish chess engine, choose robot chess moves, and parse moves into Cartesian waypoints
• Integrated and tested state machine to keep track of chess game, send moves to trajectory planner across computers, plan a trajectory, and deliver trajectory to robot via PID control
• Designed and printed a gripper to pick up chess pieces using FreeCAD
• Presented project progress in weekly meetings with supervising researcher

Pasadena, California, United States

• Redesigned “Axel” rappelling robot tether management mechatronic system
• Used SolidWorks to generate 30+ design components to manage path of rappelling tether through a mechanical system
• Designed tension sensor to sense tension of a moving tether from 0 N to 1000+ N
• Designed rotary tension sensor to sense tension of a moving tether from 0 to 70+ N to fit small space constraints by mathematical analysis of a dynamic torsion spring system
• Analyzed forces of 1000+ N on a double bull wheel capstan system to ensure robustness of system
• Used mathematical analysis of mechanical system to select robust bearings to fit static and dynamic loading and space constraints for system

Provo, Utah, United States

• Led team of mechanical and manufacturing engineers to design, build, and test robot chassis, SCARA-type robotic arm and gripper, and linear actuator
• Used Python and Robotic Operating System (ROS) to create inverse kinematic algorithm to control arm via Xbox controller
• Tested robustness of inverse kinematic algorithm on robot arm by opening drawers, pressing buttons, flipping switches, and inserting a USB drive into a computer
• Designed and built robotic arm joint with 360 degree motion by prototyping, creating models and drawings in SolidWorks

Orem, Utah, United States

• Designed a pneumatic and hydraulic lift system to transport 40 ton pieces of equipment using Creo
• Used Creo to design tools and machine parts to assist technicians with equipment maintenance
• Conducted Finite Element Analysis of structural machine components using Creo
• Communicated with machine and fabrication shops to build CAD designs

Verona, Virginia

• Using Creo to design a pneumatic and hydraulic lift system to transport 40 ton pieces of equipment
• Using Creo to design tools and machine parts to assist technicians with equipment maintenance
• Using Creo and Windchill to create and organize engineering drawings to assist mechanical engineer and head maintenance technician with maintaining equipment
• Communicating with machine and fabrication shops to build CAD designs
• Communicating with vendors and companies to obtain bids, CAD models, and design ideas for projects

Staunton, VA

• Conducted a roadway speed study by assisting professional engineers to analyze 24-hour traffic counts,speeds distributions, and crashes and writing a report for a speed limit recommendation
• Created a 40+ intersection database of 4-lane divided highway crossover signage to bring Virginia roads in compliance with MUTCD standards by recording signage at each crossover