Education
- Dissertation: IMU-Mechanized Discrete Error-State Kalman Filtering with Lie-Group Pose Representations
- National Defense Science and Engineering Graduate (NDSEG) Fellow
- Emphasis in unmanned air vehicles, controls, robotics
- Coursework: Autonomous Systems, Deep Learning, Linear System Theory, Nonlinear System Theory, Robust Control, Robotic Vision, Dynamics of Mechanical Systems, Math of Signals and Systems, Stochastic Processes, Compliant Mechanisms
- Summa cum laude (4.00 GPA)
- Minor in Computer Science
- Elective Courses: Flight Dynamics and Control, Mechatronics, Design of Control Systems, Optimization Techniques, Neuromechanics of Movement
Work Experience
- Developing localization systems for autonomous vehicles
- Research guidance and control of small UAVs in environments with degraded GPS
- Developed, implemented, and flight-tested several Kalman filter variants with estimates in the loop
- Architected, implemented, and iterated complex, multi-component system used in several flight tests
- Co-developed the ROSflight autopilot firmware and ROS stack
- Functioned as lead estimation engineer for early development of a manned multirotor aircraft
- Developed and implemented full-state GPS/INS estimation software
- Contributed to system-level software design and integration decisions
- Supported miniature and full-scale flight testing
- Implemented multirotor estimator and controller for Pixhawk autopilot (PX4 flight stack)
- Developed hardware and software capabilities for collaborative multirotor research test platform
- Developed methodology for dynamic and kinematic modeling and analysis of heavy truck hood mounting system
- Helped integrate new software and establish expanded engineering analysis capabilities
- Researched continuum mechanical models of dislocation stress fields near a free surface
- Self-taught advanced tensor mathematics and made novel theoretical contributions as an undergraduate
- Produced original work on mathematical models for effects of dislocations in solids
Skills
- ROS
- C/C++, Python, Java
- MATLAB, Simulink
- Linux
- Pixhawk/PX4
- OpenCV
- Tensorflow
- PCB Design (KiCad, CadSoft EAGLE)
- PIC microcontroller
- LMS Virtual.Lab Motion
- CATIA, SolidWorks, NX, Inventor
- Excel
- LaTeX
- HTML/CSS/PHP/JavaScript
Awards and Certifications
- National Defense Engineering and Science Graduate Fellowship
- Ira A. Fulton College PhD Fellowship
- Department of Mechanical Engineering Research Fellowship
- Graduate Student Technical Excellence Award
- Tau Beta Pi Stabile Scholarship
- Heritage Academic Scholarship
- National Merit Scholarship
- Kruger Scholarship
- Eagle Scout with Silver Palm
- Piano Syllabus Post Level X with Honors
- PADI Advanced Open Water Diver
