Joseph Byrnes Email and Phone Number

• Co-developed a dynamic bipedal robot named Tello. Designed PCBs for power management, device communication, joint position sensing, loadcell amplification, and inertial measurement. • Wrote full software framework for Tello and developed the low-level control software for communication, state estimation, and a Task-space PD controller for swing-leg and posture control.• Developed a real-time MuJoCo simulation environment for testing autonomous walking and dynamic telelocomotion.

As the Lead Robotics Engineer of EarthSense, some of my responsibilities include designing all schematics and circuit boards, developing the power system, determining roadmaps, ensuring on-time delivery, and working with PCBA manufacturers and component suppliers worldwide. Additionally, I manage EarthSense's mechanical engineering team and lead the design and control of all robotic manipulators.• Lead the design of a robot motherboard including custom motor controllers, an RTK GNSS receiver, wireless network router, USB and Ethernet hub, camera stabilization system, and more• Develop software and firmware for FOC motor control, an RTK GNSS NTRIP client, and camera stabilization• Lead the mechanical design and engineering of robotic weeding and farm management mechanisms• Designed a robotic arm for use in both farm management and hospital disinfection• Other responsibilities include: Managing all electrical and mechanical engineers, recruitment, material sourcing from vendors worldwide

• Played a key role in founding EarthSense as the only member with 4+ years of mobile ground robotics design experience.• Developed electrical system for the 2019 TerraSentia robots, including custom PCBs for power regulation and delivery, sensor integration, camera stabilization, and more.• Managed all electrical development and assembly, including perception system, control hardware, and power system.• Developed the initial mechanical concept of the 2019 TerraSentia Robots• Wrote firmware for custom camera gimbal stabilization system.

• Co-developed an autonomous navigation algorithm for traversal of crop rows using custom C++ ROS nodes • Took over responsibility of the electrical design of the lab’s phenotyping robots, brought the system to market through our startup EarthSense.• Developed a prototype arm for mechanical weeding

As the Controls Technical Lead of iRobotics, I provided guidance and assistance for the electrical and software development of all iRobotics teams. I conducted design reviews of the electrical systems and software to all ten of our teams. I also ran tutorials for the entire organization in which I taught teams the required information to develop their electrical systems and program their communication and control framework.

At Farason Corporation I Programmed Robotic machine simulations using offline programming software for the purpose of design verification, cycle time analysis, and machine re-design. Farason creates automation solutions which often involve multi-robot systems used for picking, sorting, packaging and more. Prior to my internship, Farason had little experience with simulations and offline-programming. Upon starting I researched how to use the software for ABB, Fanuc, and Staubli robots. I learned how to program the robots and use the software through the product manuals. By the time the internship was half-way through almost every mechanical designer came to rely on my simulations for various purposes. Simulations became an important part of the design process and before leaving I wrote multiple guides on what I had learned to do over the summer and trained a co-worker in programming and analysis with RobotStudio, Roboguide, and Staubli Robotics Suite

I captained UIUC's 2019 MRDC (Midwestern Robotics Design Competition) Team for 2 years. We designed and built a 140 lb robot for a strategic design competition each year. My Primary Technical roles as Team Captain were designing our mechanical and electrical systems. My primary management roles included planning and managing our budget, ensuring proper communication among our sub-teams, leading meetings, and purchasing our materials.

My Responsibilities include teaching students how to use and program Arduino micro controllers, how to use Raspberry Pi's to program the Arduinos and how to create autonomous robots controlled by the Arduino. I both teach and create the Curriculum for the Advanced Robotics class.