Collaborated in nearly all aspects of the continued development of an FPGA based, 3D printed, Low cost, precision industrial robotic arm, with a focus on Firmware (C / C++) and user interface (Javascript, Node.js, network socket api).- Implemented a fast, low error, dh based Inverse Kinematics (IK) system based on math from co-workers.- Invented a system for homing the arm with limited motion. Designed a system for absolute encoding.- Documented ALL parts of the system, including the FPGA, Firmware, Software, Hardware, Electronics, etc...- Diagnosed, debugged, and repaired multiple issues, with a focus on servos.- Taught staff at all levels how to find and correct issues, especially related to servos.- Supported customers to assure success.- Developed a positive, caring, and motivated working environment, despite being a remote worker.

Multiple duties including demonstrating and supporting, as well as programming, testing, debugging, and building the Dexter precision open source robot arm. Followed and promoted Agile development techniques. - Lead firmware developer in GCC C on Ubuntu 16.04 based MicroZed dual core ARM / FPGA embedded system, also NodeJS and Javascript / html in browser. - Developed multiple printed circuit boards (PCBs) in CircuitMaker.com (based on Protel / Altium for open source work). - Provided high level technical remote debugging for customer units.- Updated / managed gitub.com repositories. Including issues / milestones to support product development.- Documented internals, interface API, and development efforts in an extensive wiki, with clickable maps, online calculators, and clearly formatted tables and diagrams.

In a part time position: Multiple duties including Analyst, Applications Engineer, Customer Support, Diagnosis and Troubleshooting, IT - Guided development of two products which were sold into nearly all hotels in a major chain. Using: LUA, C, Visual C++, Crystal Reports, Printer Drivers (Windows, Unix), Page Description Languages (PCL5, PS, PDF, XPS), Laser Printers. - Automated in-house functions reducing workload by 90% using Perl, HTML, Javascript.- Provided nearly all I.T. services, eliminating external costs: Networking (Cisco 5505 ASA configuration), Servers (Windows 2008 - 2003 - NT, IIS, Exchange) and Workstations (Windows 8, 2007, Vista, XP, NT, 98)- Developed web services, keeping customers up to date, collecting orders: Web (IIS 7 - 6 - 5, ASP, .NET, SQL, JavaScript, AJAX, SOAP, XML, CSS),

- Developed modular HVAC control system with ESP-32, internet enabled and somewhat secure, at stunningly low cost. PlatformIO with JTAG debugger.- Developed ultra low cost IOT wifi bridge with ESP-8266 to internet enable existing hardware avoiding redesign and costly custom radio systems. Arduino IDE.- Developed all firmware for ultra-low power (~70uA) data loggers, pump monitors, RF comms, bootloaders, based on TI MSP43054xx microcontrollers in C using IAR and Code Composer 5 - 4.- Developed all firmware for high speed data loggers for rocket testing in PC104 x86 based system using Tern C.· Developed all firmware for ultra-low power pump monitor and data loggers based on a TI MSP430 microcontroller in IAR C/C++. · Modified existing assembly language code for PIC based data loggers in Microchip MPASM.

Managed a diverse team of Developers from multiple countries to Manufacture and Sell several small tech items for hobbyists with NO capital investment: Circuit design / PCB Layout in Protel 99SE / Circuit Maker / Altium / Eagle. Local and outsourced manufacturing, import, testing via Analog and Digital test equipment. Firmware development for Arduino / AVR / ARM and PIC 12F,16F,18F family microcontrollers in C, C++, and Asm.- Developed line of open source products, esp. mid to large range stepper/servo motor drivers for large CNC machines and massive 3D printers able to print houses from concrete. Sales of over $20K/year in spare time. C, C18, MPLAB, Wrote the eCommerce system used to sell them incl. payment processing (check draft, CC, PayPal), Complex shopping carts (add on suggestions, shipping cost estimation, quantity breaks). CMS, IIS 7, SQL, HTML, JavaScript, some CSS.http://massmind.ecomorder.comCollection, preservation and delivery of engineering and technical knowledge for open education (Incl. Completed online courses in Machine Learning, CAD, 3D Printing, G-CODE). Octave/Matlab, OpenSCAD, IIS 7, ASP, .NET, JavaScript, HTML, CSShttp://www.massmind.orghttp://www.piclist.com (archive/FAQ of MIT PIC uC email list. Managed/moderated, grew to over 2000 members.)

- Guided the look, feel and function of three retail application lines from initial concept to release with sales in excess of 100,000 units.- Wrote product spec, assisted with marketing and manuals.- Researched, solved, or avoided real world obstacles encountered by programmers, support, sales and marketing.- Designed systems for customer, order, and package tracking, technical reference, testing and feedback to programmers.- Designed and implemented an ASP web site including an e-commerce system with no per-transaction fees and without relying on JavaScript, cookies, session persistence or other client dependent code.- Managed technical support for several years.- Researched, selected, and programmed a PBX telephone / Voice Mail system.- Installed and became proficient with: DOS, Windows v3.1-NT 4.0, IIS v4.0, SQL Server 7.0, Borland C/C++ v4.5, Borland Delphi and Turbo Pascal, Foxpro Pro v2.6, JetForm v3.1, v4.0

Provided general assistance in many areas; from repairing sprinkler heads on the grounds all the way up to:- writing database systems in FoxPro to manage special orders, - data transfer, backup, and reporting for the point of sale system, - teaching classes to new computer users,- delivery and sales to corporate clients.

Trained as an AT in the last days of AFTA at Millington, TN.Trained and assigned at VS-41, maintained S-3B Viking aircraft electronics as O-Level including radar, radio, computer. Received Navy Achievement Medal for automation of training and testing procedures while TAD to MTIP.Trained at HSL-41 for SH-60B Seahawk helicopters including imaging radar, voice and data radios, computer.Assigned HSL-49, deployed to theater Persian Gulf War in DET "WeeBee" as heavy equipment operator and tool manager in addition to electronics technician.Honorably discharged.