In Won Park Email and Phone Number

- VIPER Navigation Hardware Systems Engineer * Design the gantry system for VIPER to move along the Lunar Lab LHS-1 Sandbox (https://sservi.nasa.gov/testbed/) for collecting stereo images from both the navigation cameras and aft cameras. This is aimed to evaluate the performance of point cloud generation, hazard map creation, and visual odometry. * Wrote a Python script to capture and save images from the camera controller unit using both the navigation cameras and aft cameras. This script enables capturing with multiple camera exposure levels, capturing images with navigation lights on or off, saving images in a sub-directory, changing the filename based on the gantry's position and orientation, and capturing images using a pre-generated sequence. * Wrote a MATLAB script to generate a transformation matrix for two Vive trackers that are mounted on the navigation camera stereo bar. This matrix serves to precisely determine the stereo bar's position using ground truth data acquired through FARO scanning. - SQRLi Systems Engineer * Integrate LiDAR sensor into VIPER simulator (ROS2) to compare the performance between a stereo camera and a LiDAR point cloud

- ARMADAS EPS/C&DH Lead * Designed and developed the avionics for a transport and placement robot that demonstrates autonomous assembly of structural building blocks. Each robot is controlled by three identical controller boards, each featuring an ESP32 micro-controller. These controller boards communicate independently to the base station using WiFi. The controller board is designed to control any two motors (DC/BLDC) and one set of gripper servos. * Implemented control software on the ESP32, utilizing one core for WiFi communication and the other core for real-time control of actuators and processes sensor data. To synchronize the initiation of motions and any fault alerts among the three controller boards, the controller board #1 functions as the leader, determining when to transmit this information to the two follower boards. * Implemented inverse kinematics in MATLAB to generate intermediate points along the baseline locomotion trajectory. Once the trajectory is fully tested, the sequence of values are stored in the robot firmware such that the base station can only send a macro command to the robot to execute this sequence automatically. * Implemented a multi-robot WiFi communication architecture for sending commands to each robot and receiving telemetry from them

- Astrobee Perching Arm Lead * Designed and developed a 3-DOF compliant perching arm payload for the free-flying Astrobee robots. The arm consists of a proximal joint, a distal joint, and a compliant gripper. Two arm joints are utilized to stow the gripper within the outer structure and to operate as a pan-tilt module. The gripper is designed to securely grasp International Space Station handrails and is packaged as a replaceable modular component. * Implemented control software on the dsPIC33E to control the arm motors and the gripper DC motor. To enhance safety, a current limiter circuit is incorporated, which activates when the peak current of the gripper DC motor reaches 80% of the stall current. The open source software and bootloader have been customized to facilitate remote updates of the micro-controller's firmware from the ground station. * Documented both mechanical and avionics drawings, along with the integration and testing procedures. Additionally, assembled three flight units- NASA Early Stage Innovations (ESI) Research Collaborator- NASA Space Technology Research Fellowship (NSTRF) Research Collaborator

- SPHERESArm project * Developed a manipulator-based microgravity emulator (includes kinematics, trajectory generation, velocity control, and optimization) using a 7-DOF TRACLabs arm for the SPHERES robot on the International Space Station- Astrobee project * Designed and prototyped the initial version of a 3-DOF compliant perching arm- Tensegrity project * Developed an impedance-controlled twisted-string actuator for application in tensegrity robots, offering an alternative to conventional spooled cable actuation * Designed and developed a TetraSpine3 robot with a real-time impedance control algorithm. This robot comprises three segments of tetrahedra, each consisting of 12 actuators, 12 cables, and 12 load cells.

- Ph.D. Research Topics * Designed and developed a 7-DOF humanoid arm and its simulator using Webots * Implemented a kinematic calibration algorithm using differential kinematics and Extended Kalman Filter to estimate the complete geometric parameter errors of the humanoid arm * Implemented an optimal control algorithm using differential dynamic programming to generate a trajectory for the humanoid arm with minimum-torque change * Developed a multi-objective evolutionary algorithm-based optimal posture controller to generate optimal trajectories for humanoid robots against external disturbances. This approach utilizes an iterative linear quadratic regulator and simultaneously optimizes multiple performance criteria in off-line.