Autonomous vehicles

GNC Satellite Simulation

Lead development of Hardware-in-Loop Simulator for Scout robots, which provided automated pipeline service to test robot software on-top of a more realistic hardware environment.Designed and developed onboard navigation feature for street maneuver detection in both autonomy and joystick mode

Architecting software on ROS for Robomantis, a modular mobile robot with 6 limbs. Responsible for software development, test and integration.Manages company software infrastructure, Jira and Git CI.Created Docker based installer for robot deployment and testbed.Extensive experience with robot simulation in Gazebo and implementation on real hardware. Experience integrating and developing: SLAM, autonomous navigation, perception.

Europa Clipper Avionics Software Test Engineer

Develop and integrate autonomy science algorithms for PUFFER robot, an origami scout robot planned for future flight projects to the Moon and Mars.

-Leads test software development and automated testing for M2020 actuators. Responsible for bridging flight software with flight hardware and verifying systems requirements in ambient and thermal conditions -Developed automated motor life-test and data collection/monitoring in thermal chambers, allowing for unsupervised test runs and resulting in schedule gain -Built software suite to automate motor testing using COTS controllers and other ground support hardware, replacing all the manual test steps, leading to significant ease of effort in testing -Maintains Labview program for thermal chamber management and control -Lead requirement definition, design and fabrication of testbed harnesses to simulate flight-like flex connections with motors

• Designed test plans and procedures for flight hardware of DARPA funded RSGS program• Responsible for the electromechanical system design, integration and software of a NASA AMES contract for building a cheap 4-axis arm for their prototype Mars Rover• Planned the system integration and fabrication of a 7-axis robotic arm using existing commercial parts, which allowed MDA to have its first in-house robotics arm for R&D at an affordable price. This included designing the DC controls, components and subsystems: power supplies, motors, sensors, driver• Modified existing LabVIEW software to correct errors, upgrade interfaces and improve performance for run-way survey robot for the Air Force Research Lab• Developed new in-house cable harness checker for flight flex cables using NI products, saving significant hours of manual probing • Directed the assembly and test of the electronic system of two identical 7 axis arm for the Naval Research Lab • Prototyped 7-axis UDP based controller for robotic arms with raspberry pi• Worked with Google engineers to develop an autonomous thermal chamber monitoring software, which offered a second layer of security to their flight hardware• Created unit test plans for avionic test code• Designed and wrote code for monitoring particle counters in a test facility that acted as alarms to protect flight hardware

As the CTO and Co-founder my job is primarily in managing the campusamp site and servers as well as managing funding and resources for the technical aspect of the company.Mechanized Propulsion System

• Upgraded non-functional code base that simulated the functions of ground support hardware for testing• Worked with users and developers to create scripts for the company’s internal block diagram tool

Developed libraries to simulate hardware interaction with existing satellite control software.

Modeled the feet of the bipedal robot on Solidworks and was heavily involved in the fabrication and construction of the feet. The bipedal robot is two stories tall and can be piloted from the inside.

Involved in various research and commercialization of products projects. From multi-display projectors, robotics to bluetooth applications. Robot programming/prototyping: Industrial robot arm: modified the arm to play checkers autonomously with a human; Parallax robots and other bipedal: robotics motion, control and vision; Wireless data transmission: Bluetooth signal triangulation research and implementation, bluetooth pr oximity device; ZigBee: Zigbee network interfaced to chLCD displays as a solution for patient display info in hospitals.

Interned with a grad student in the CS department, learned much about the fundamentals of programming and software development.