Samuel Ubellacker Email & Phone Number

Cambridge, MA, US

• Automated Warehouse Inventory Management with Drones
• Improved reliability of warehouse scanning software suite through deterministic bringup of modules via a lifecycle statemachine, management of process health, and comprehensive logging capabilities.
• Monitored health diagnostics on external sensors and on Linux system resources to ensure predictible flight scans.
• Automated flashing and system configuration of Jetson devices to prepare for mass production.
• Laid the groundwork for effective software scaling by architecting a modular integration of path planning, state estimation,and perception modules, standardizing code conventions, and providing a framework for unit and.

Cambridge, Massachusetts, United States

• Soft Robotics for use in Aerial Manipulation
• Leveraged natural compliance of a soft gripper in high-speed aerial manipulation. The soft gripper mitigates the effect of reaction forces and allows for robustness against perception errors and tracking errors at high.
• Soft finger inverse kinematics are solved using Newton’s method on a differentiable finite element mesh. The fingers are controlled to meet optimal gripper configurations for target observation and grasp states.
• Developed method to rapidly train instance-level keypoint detectors; models deployed in realtime on an embedded GPU.
• Estimated grasp target’s pose with outlier-robust point cloud registration, refined with pose graph optimization.
• Computed smooth grasp trajectories through miniminum snap polynomial optimization, parameterized in object’s frame to enable grasping of moving objects.

Pasadena, California, United States

• Software Developer (Enceladus Sampling Task):
• Facilitated testing and data collection of the dual rasp sampling tool, which is designed to sample the surface of Saturn’s moon Enceladus in search for life.
• Designed waypoint-based task space motion planning for sampling surface material.
• Implemented force control to manage end effector reaction forces and enhance sampling efficiency.

Pasadena, California, United States

• Software Developer, Power Electronics Design Engineer (BiBlade Comet Sampling Chain Validation)
• Helped with technical validation of the BiBlade tool, designed to sample the surface of a small body.
• Designed task space motion sequences to guide sampling tool into storage capsule.
• Designed and fabricated electronics necessary to drive and communicate with the MatISSE ARM.
• Made various software/hardware improvements: faster telemetry logging, harmonic drive actuator drivers, linear actuator drivers.

Master'S Of Science, Mechanical Engineering

Master'S Of Engineering, Electrical Engineering And Computer Science

Bachelor'S Degree, Electrical Engineering And Computer Science