Controls - Autonomy SoftwareImplement safety critical software in C/C++ for motion controls and vehicle platform interfaces. Implement CAN interface from safety controller to HMI display used by vehicle operators in trucks/cars. Write embedded hardware in the loop tests in python to test SW features. Collaborate with software safety and motion planning teams to implement fault management features in the safety controller to handle various minimum risk maneuvers such as "pull to shoulder" or "stop in lane". Design and implement interface in the safety controller to handle processing trajectory and pose from redundant autonomy computers. Collaborate with localization team to design and implement logic to receive, process, and failover to backup pose in safety controller. Collaborate with security, offboard SW, and systems engineering teams to implement initial interface to handle "No Vehicle Operator" mode authorization in safety controller for vehicle operator training. Created a flexible "vehicle health monitor" software module to report various common and vehicle platform-specific failures reported over CAN. Collaborate with embedded software engineers to implement an interface on the safety controller to monitor and react to faults reported by compute hardware. Perform large refactors of several software components in safety controller to support unit testing and multiple interfaces to/from other subsystems. Winner of Aurora Software Engineering "Impact" award for conducting new vehicle bringup testing and fault injection testing of redundant actuators at the test track. Participate in requirements reviews, writing unit tests and integration tests, and test case to requirement linking for V&V.

Vehicle Services - Vehicle Platforms SW (via Uber ATG acquisition)Responsible for timesync, sensor interfaces, device monitoring and configuration, and new platform configuration and bringup. Perform software development using C++ 17. Utilize various tools for development and CI including GTest, Bazel, Phabricator, Git, Github, Jenkins, and Buildkite. Refactor GPU monitoring software to monitor GPUs using nvml API calls on supported nVIDIA GPU platforms. Implement logic to clear certain faults on a truck using CANBus messaging. Implement custom PTP monitoring for Pandar devices. Create scripts in Python to extract and analyze PTP data from vehicle logs. Analyze data from vehicle logs and perform calculations to modify fan controller logic in software to produce a smoother fan RPM output for certain GPU devices. Modify Go applications and Jenkins pipelines used for hardware in the loop testing to simplify testing procedures. Assist with testing and bringup of new hardware platforms. Implement device configuration for new hardware platforms and new sensor devices. Refactor device and platform configurations to use common configurations across devices/platforms. Move hard-coded values to configuration to simplify testing and allow different configurations across platforms.

Uber ATG Onboard Integration - Vehicle Runtime teamImplement robotics software for onboard infrastructure and onboard integration. Responsible for fault management, timesync, and all software between sensor systems and the autonomy stack. Had monthly on-call shifts to respond to onboard integration critical issues during track testing. Perform onboard development using C++ 20. Implement diagnostic and operator front end features in React-JS. Implement UDP and TCP protocols using Google Protocol Buffers. Implemented various types of fault detectors as requested by Safety Engineering. Utilize various tools for development and CI including GTest, Bazel, Git, Github, Buildkite.Mentored a summer intern on a special project to implement a new protocol between the embedded and onboard software. Performed sprint planning, delegated intern’s technical tasks, and assisted with collaboration amongst teams. Performed code reviews and design reviews for the project. Assisted with integration efforts to deploy the interface on the vehicle. Held regular performance reviews with the intern. Special projects include implementing a full-stack interface to capture input from an external PS4 gamepad steering device and communicate device information to vehicle control software. Implement a remote assist feature to allow a remote operator to unlatch critical onboard faults allowing the vehicle to continue driving in autonomous mode. Implement a feature to collect log information from the vehicle fleet, store the vehicle's compressor health information in HDFS and display the data on a web dashboard. Implement a feature in the diagnostic tool allowing an operator to control the liquid sensor cleaning system on the vehicle through a web UI. Created a framework in Python to interface with API provided by Volvo to read and control various devices in the Volvo XC90 vehicle. Implement new tool features to allow a tester to inject a variety of different fault types into the system.

Perform implementation of new features and code maintenance using agile software development methodology in C++ language for Hitachi Rail STS Hermes Automatic Train Supervision (ATS) software product, a distributed, linux-based software solution with over 1 million LOC. Perform development on ATS simulator to implement simulation of field interlocking logic for Brussels Metro project. Use IBM RTC for source code control and defect tracking. Perform R&D software development for Hitachi Rail STS Microlok product, an embedded safety-critical/vital Wayside Interlocking product. Design and implement code for vital interlocking software using C language on embedded Xilinx Microblaze and Altera Nios II processors. Port Microlok Compiler and Reverse Compiler to Microsoft Visual Studio 2019 from Visual C++ 6. Implement new features to Microlok Compiler and Reverse Compiler software products using C++ language. Utilize SVN and Git for source code control and configuration management. Write component and module requirements using DOORS. Implement changes to Microlok Safe-P Protocol UDP interface for Noida, India project. Provide factory test and field test support for NYCTA W 4th Street project. Collaborate with hardware engineers to implement new SGDMA Interprocessor Communication (IPC) interface for Microlok 3 R&D project. Optimize Microlok 3 code and perform performance testing to achieve 25 ms product task cycle time. Mentor and lead junior software engineers to complete development tasks.

Design the new CityFLO 650 RATP Full product for the Delhi Line 7 and Purple Line (Bangkok) Projects. Perform R&D software development for new linux-based automatic train control hardware platform. Perform subsystem level testing. Design and implement documentation and code for automatic train protection software using C, Visual Basic 6, and Visual C++ 6 languages. Utilize Bugzilla and RQM for defect tracking, GIT for source code control and Dimensions/Synergy for configuration management. Participate in code and design reviews in meetings and with Gerrit tool. Write and link subsystem requirements using DOORS and write software plans.

Performed work on the Sao Paolo Monorail Project, London Underground SSR Line Upgrade, and Tianjin Metro Lines 2&3 projects. Perform technical writing of field and factory test plans. Write test procedures using RQM tool. Review all system design requirements in DOORS and validate through testing. Perform factory and field testing on all Bombardier vehicle and wayside products. Purchase, configure, and maintain equipment for factory test lab setups. Perform integration and testing for engineering software releases. Collaborate with other test engineers to improve processes and procedures. Selected as one of eleven engineers globally to participate in Bombardier Key Talent Program. Program consists of several trips to Europe to participate in training modules to build leadership skills and engineering competence, mentorship from an executive, and a special project assignment.

Plan and perform verification of software features and capabilities, including acceptance testing, on all hardware platforms. Develop regression tests to automate testing tasks using python and javascript languages. Use CVS and SVN for source control of test scripts. Monitor results and maintain regression tests. Test lead for Ansoft to ANSYS Mechanical structural/thermal load transfers and Ansoft Workbench integration. Test lead for Corporate Interoperability Testing, test interoperability between all ANSYS products. Test lead for foreign language localization of ANSYS Workbench on supported platforms. Conduct meetings with various members of global testing staff to coordinate testing. Prepare daily reports of current build status to test managers, product managers and other management staff. Assist technical support staff in resolving customer issues. Utilize Rally tool for agile development and defect tracking. Participate in agile scrum meetings, write user stories, and train new employees on agile development process.