- ROS2 software architecture and programming in Linux environment- robot kinematics and inverse kinematics

Led a group of ME consultants and individually wrote firmware and low level controls to develop a prototype air compressor/pneumatic actuator for use in our wearable robot. Wrote bare metal embedded software C++ code to bring up prototype pneumatic actuator. Tuned and tested control system.Firmware was written in C++03 and C++14 on STM32, and TI microcontrollers as well as on a SBC running debian linux.Actuator was modeled and simulated using Matlab/Simulink/Simscape allowing for controls algorithm development and system sizing/optimization. Control system compensated for non-linear nature of pneumatic compression and the limits of the compressor/actuator design.

Managed a group of 6 mechanical engineers to develop a lightweight pneumatic exoskeleton for use in downhill skiing. Spec'd product requirements, created PRD and ERD, managed technical engineering effort, as well as managed product timelines.The skiing exoskeleton, Elevate, was put on an indefinite hold due to market uncertainties caused by COVID-19.

Designed, simulated, implemented, and tested controls algorithms using data from encoders, IMUs, and pressure sensors for pneumatically actuated exoskeleton used in downhill skiing. Algorithms provided support to offload weight and reduce knee pain while maintaining agility for dynamic skiing movements.Data analysis, simulation, algorithm development, and testing was done using Python (numpy, scipy, matplotlib, pandas, etc.) in a Linux environment. Custom plotting/visualization library was written to playback synchronized logs and video to develop and tune controls algorithms offline.Production controls algorithms were written in C++ and deployed on a SBC running linux RTOS.

Studied practical application of controls in autonomous systems using: PID, LQR, Model Predictive Control (MPC), Loop Shaping, Robust Control, state estimation using: Kalman filtering (EKF, UKF), particle filtering, vehicle dynamics, drone dynamics, and path planning including RRT and optimization based.Hands on projects included working with drones, autonomous RC cars, LiDAR on full scaled car, and prototype 3D printing platform for bio-materials. Python, ROS, C++, Matlab, Simulink, and C# were used for completion of coursework and projects.

-Mechatronics design of proprietary automated solar cell stringer for mass production of Performance Series solar panels. Installed production capacity in the millions of units/year. Planned capacity of over 5GW by 2020.-Industrial robot vision calibration system implementation software programmed in C#-Keyence industrial vision system implementation-Mechanical design of automation equipment using Solidworks-Worked on all stages of creating solar panel manufacturing equipment including: conception/brainstorm, prototyping, design, assembly, testing, installation, and continued support

Cogenra Solar (a VC backed startup) was acquired by SunPower in September 2015 to use the automation tools designed by Cogenra and ramp production of what is now known as the P-Series line of shingled solar cell panels: https://us.sunpower.com/solar-panels-technology/p-series-solar-panels/-Mechatronics design of patented fully automated solar cell stringer for mass production of shingled solar panels.-Machine and mechanism design for manufacturing automation equipment using Solidworks.-Robotics integration for factory automation.-Robot motion profile programming-Industrial electrical control box design-Conveying systems design.-Vacuum systems design.-Oven design.-Python for data acquisition, data analysis, and design calculations

-Was responsible for mechanical engineering and testing support for over 7 different CO2, RH, and temperature sensing products.-Created highly efficient semi-automated production line for 300k/yr CO2 sensor product at a major cost savings over previous lines.-Designed injection molded electroplated IR waveguide for use in CO2 sensor product using raytracing software TracePro along with Solidworks.-Designed parts and assemblies using Solidworks including: injection molded plastics, sheet metal, machined parts, and R&D and production test fixtures.-Wrote test software using MATLAB, LabVIEW, Visual Basic, and SQL to help facilitate test execution, data analysis, visualization, organization, and report generation.-Designed and executed tests, wrote reports, and presented results.-Used Mentor Graphics PADS for circuit design and PCB layout for product design, production, and test equipment.-Design for Six Sigma (DFSS) Green Belt Training

-Was responsible for mechanical design of prototype airborne chemical detector at a MEMS startup company to be used as a bomb detector in airports.-Using fluid dynamics, heat transfer, and machine design methods, designed a testbed for R&D.-Used SolidWorks to create CAD models and drawings with proper GD&T techniques in addition to coordinating with contractors for outsourcing of part manufacture.-Completed three major project builds consisting of over 30 custom interdependent parts including several types of materials and manufacturing processes as well as numerous minor assemblies.

-Diagnosed early wear problems on drive train components using SIMPACK leading to a $20 million retrofit.-Analyzed the dynamics and vibrations of wind turbine drivetrains using SIMPACK, Pro-E, and FEMAP-NASTRAN.-Tested and validated software models by comparing with real world data and observations.

-Investigated the mechanics of coated and uncoated cordierite honeycomb using static stress testing and scanning electron microscope.-Presented research at The Structural Materials Seminar at UCSB (December 2007).

Helped conduct research on Environmental Barrier Coatings for use on Ceramic Matrix Composite turbines.