Software Engineer | Robotics | Embedded Developer and Designer who makes fun and useful things
I'm a Software Engineer with three years of professional experience coding software (C++ and Python) for Linux-based systems, building and implementing custom ROS (Robot Operating System) packages.
● Coordinated the development of the MIRA robotic platform: a mobile robot demonstrating SLAM capability and basic manipulation, which is used internally for our AI/ML platform development and is an open-source design for STEM education
● Created custom ROS packages in C++ and Python to integrate our sensor suite (IMU, Depth Camera,
Encoders, Ultrasonic Sensors) and AI/ML platform, improving autonomous control of the robot
● Designed our robot's simulation environment for Gazebo on Linux, using custom URDF, world UDF,
configuration, and launch files to facilitate and improve our platform's machine-learning capability
● Developed our robot's entire compute and electrical system, integrating an ultra-small form factor computer with a full-size GPU, microcontroller, multiple sensors, and servo actuators
● Built a custom PCB design that allows for easy replacement, connection, and disconnection of critical
components, improving the modularity and robustness of our robotics platform
● Documented design, assembly, wiring and Bill of Materials for our robotic system, allowing high school level students to build the system on their own
Implemented software and hardware functionality that allowed for the robotic system to switch between wheeled and bipedal locomotion.
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Created parts in Solidworks for use in adapting otherwise incompatible hardware to the base robotic system and utilized 3D printing to fabricate them.
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Designed an improved battery housing unit to increase duration of robot function by 20%, accounting for the additional weight and shift in center of balance.
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Manufactured adapters to increase the number of servos on robotic platform from 18 to 20, to add wheeled locomotion function.
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Devised front-driven, back-steered configuration for wheeled locomotion on the transforming robotic platform.
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Refined robotic system transformation sequence by investigating similar transition motions between a human in prone position to standing position.
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Wrote and managed technical documentation of the robotic system, including schematic and technical drawings throughout each stage of prototyping.
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Analyzed robot bipedal gait, referencing human gait from scientific literature, to resolve balancing issues under additional stress and load.
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Planned out a testing apparatus for AX12 servo motors, measuring signal latency between system controller and twenty daisy-chained servos using an oscilloscope.
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Utilized Excel to store, analyze and graph data on servo latency, to determine correlation between number of servos and system performance.
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Coordinated with a team of three in developing an IoT (Internet of Things) device known as Smart Capsule to track patient compliance.
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Conceived a weight-based medical pill counting function, programming a load sensor and liquid crystal display to track pill count using C++ in Arduino IDE.
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Performed project demonstrations to open-house audiences, including students and tech professionals.
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Articulated verbal explanations and visual aid to explain the design and functions of the transforming robot and other projects created by the lab.
