Special Projects Group

Team lead for software frameworks and architecture, eight C++ systems software engineers. Created company-wide software development lifecycle and managed release process. Wrote C++ abstraction layers for distributed, asynchronous autonomous systems. Coached junior engineers in Design for Test, use of analysis tools, and software best practices. Developed a software framework to replace Robot Operating System (ROS), and a multi-tiered testing approach to software correctness with unit, integration, and Hardware-In-the-Loop (HIL) tests. Defined APIs between autonomy algorithm components.

Developed safety-critical firmware in C and C++ on an RTOS for low-level vehicle controllers. Reverse-engineered automotive communications protocols to convert vehicles to autonomous control. Conducted hazard analysis and implemented associated safety goals in firmware. Developed HIL testing system to verify safety requirements.

3rd firmware hire for Tesla’s Driver Assistance and Autopilot program. Launched Autopilot six months later with team of six software engineers, resulting in highest possible safety rating from European regulation board (Euro NCAP). Wrote safety-critical monitoring system for adaptive cruise control. Designed software architecture for automatic steering, interfacing with safety, algorithms, and UI teams, and implemented firmware to provide full control of vehicle speed and steering at highway speeds.

Designed and prototyped one of the world’s fastest miniature robots, featured in:

http://spectrum.ieee.org/automaton/robotics/robotics-hardware/miniature-quadruped-robot- is-blazingly-fast. Designed circuits and PCBs, developed embedded brushless motor control code, created kinematic and dynamic motion models, designed Kalman filters and other sensor fusion methods for localization. Published research results on dynamically optimal wheel design and configuration. Conducted research focusing on fusing images from tiny 2x2x2mm cameras with inertial sensors for miniature robot navigation and environmental perception.

Presented proposal for indoor autonomous roaming robot to company-wide internal contest and won seedling funding through peer voting process. Managed small engineering team to build the omnidirectional robot from scratch. Created particle filter using Microsoft Kinect for localization.

Member of the “Robo Sally” bomb disposal robot engineering team, featured on CBS 60 Minutes, Discovery Channel, and at: http://youtu.be/elZU29F4Bbc. Wrote C++ code to implement APIs and interface mobility, vision, and manipulation subsystems. Supported hardware design and debugging. Developed teleoperation interface. Integrated scanning laser range-finder into gripper for advanced manipulation tasks. Prototyped haptic fingertip sensors for user force feedback.

Primary electrical and controls engineer for short-run custom motor control products for government sponsors. Created user manuals, datasheets, interface control documents, and other technical specifications. Translated sponsor functional requirements into user acceptance test criteria and designed automated test protocols, resulting in successful product delivery.

Designed a snake-like surgical robot. Created several platforms for research in unique mobility methods.