• Designing and implementing the deployment layer for pick-and-place missions for an industrial supply company, integrating sensor and actuator components with the central control software

• Created the drivers to integrate any 6-DOF Yaskawa robots with the company’s existing Fanuc-based software stack, expanding the company’s flexibility and customer base

• Showed a 10x increase in fruit harvest speed through the use of a novel multi-armed robot model, arm-to-fruit scheduling, and dynamic control scheme

• Evaluated dual-optimization strategies for constantly moving harvesters which computed the best arm-to-fruit schedule and harvester speed combination

• Proposed, modeled, and simulated a realistic way to make robotic arm workspaces flexible in one dimension while removing the need for collision avoidance

• Presented a novel way to harvest whole orchard rows dynamically and near-optimally while only knowing thelocation of fruits in range of the harvester’s cameras

• Developed ROS 2 code used for testing both in simulation and as a potential way to control future mechanical prototypes

• Designed and fabricated the mechanical, electronic and electrical subsystems to add instrumentation to wire strawberry picking carts used in USDA, UC Davis, and private strawberry harvesting projects

• Schematic capture and PCB layout, testing, and assembly of a motherboard PCB to power and connect

off-the-shelf modules to the ARM-based Arduino Due microcontrollers

• Wrote C/C++ code to obtain live strawberry harvest data, connecting SBAS GNSS readings to load cell weight data, which was communicated to a central server using LoRa RF-95 radios

• 3D modeled, performed GD&T, and fabricated mountings for the power system, sensors, and user interface based on sheet metal and 3D printed parts

• Made a mushroom harvesting robot operational for field-testing through the development of PCB and low level microcontroller control code

• Schematic capture, PCB layout, and PCB testing to connect sensors and actuators to a Teensy 3.6

microcontroller

• Wrote low level motor control code for positioning, homing, and arm actuation in C/C++

• Implemented high level state machine as well as motor and sensor control nodes in Python using ROS 1 on a Jetson computer

• Designed and prototyped PCB for a power supply based on the TI TPS5450 buck converter used to upgrade Wanco Variable Message Signs

• Evaluated Wanco Variable Message Signs for problems and determined how to fix them or upgrade them for better results in field

• Operated multimeters, oscilloscopes, soldering stations, and power supplies