Experience

Sarcos Technology and Robotics Corporation

• United States
• Automation Machinery Manufacturing
• 100 - 200 Employee

• Sr Software Engineer: Perception • Software Lead

  • Mar 2023 - Present

  Highlights:• Successfully led effort to transition submersible system software from research repository to production• Effort included creating .deb software release for installation on x86 and embedded ARM linux systems• Designed and created web-based dashboard for non-operational needs such as gathering diagnostic info, configuring different system settings, and downloading/uploading files from the system• Created automated CI/CD pipeline for web-based dashboard for portability and seamless re-use among other company projects• As part of deployment, worked to cross compile code for ARM based systems and package install into Debian file Show less

• Software Engineer III: Perception • Software Lead

  • May 2022 - Mar 2023

  Highlights:• Continued support of M2NS with a focus on reliability in operational conditions for final demonstration• Designed perception features leveraging point-cloud techniques such as ICP, Model Sample Consensus, Surface Normal Estimation, etc• Utilized point-cloud techniques both in Point Cloud Library (PCL) and OpenCV• Integrated Docker into development workflow for improved portability and repeatability• Optimized DDS networking to balance reliability on complex low bandwidth network hardwareDuring the acquisition of RE2 Robotics by Sarcos Technology and Robotics Corporation, I continued my support of the M2NS program and key role in design iterations centered on reliability in challenging operational conditions for the final demonstration. Notably, I conducted prototyping for perception pipeline updates, with both OpenCV and PCL, leveraging point cloud techniques/algorithms such as ICP, Model Sample Consensus, Surface Normal Estimation, and others which significantly improved the system's performance in dynamic environments. Furthermore, I integrated Docker into our development workflow forheightened portability and reliability across various environments and architectures. Show less



RE2 Robotics

• United States
• Automation Machinery Manufacturing
• 1 - 100 Employee

• Software Engineer III: Perception • Software Lead

  • Oct 2021 - May 2022

  Highlights:• Consulted on perception prototyping for RE2 aviation project for robotic baggage handling• Utilized stereo cameras to gather data and design object localization algorithms• Leveraged classical computer vision techniques including hough transforms, clustering, SIFT/ORB descriptors• Served as software lead of submersible system as part of the Maritime Mine Neutralization System (M2NS) program; a continuation of the DM2S program• Led software modularization for integration on embedded subsea nvidia jetson processors• Spearheaded perception code iteration for increased modularity and maintainability • Integrated submersible stereo camera• Iterated on perception algorithms incorporating stereo depth data, hough transforms, and more reliability to environmental conditions• Developed custom state estimation, filtering, and outlier rejectionDuring my promotion at RE2, I took on increasing responsibilities, consulting on the perception design on the aviation projects and being entrusted software lead responsibilities for the submersible system within the Maritime Mine Neutralization System (M2NS) program, a direct continuation of the DM2S initiative. As part of the aviation project, I prototyped localization/state-estimation algorithms with Python and OpenCV employing classical computer vision techniques such as hough transforms, clustering, and SIFT/ORB descriptors. Additionally, I led the software modularization effort on M2NS, enabling the use of embedded subsea NVIDIA Jetson processors. Furthermore, I led a large perception package update for better modularity and maintainability. Lastly, I integrated a submersible stereo camera and iteratively refined perception algorithms, incorporating stereo depth data, hough transforms, custom state estimation/filtering, and enhancements for increased reliability in challenging environmental conditions. Show less

• Software Engineer: Perception Lead

  • May 2020 - Oct 2021

  Highlights: • Prototyped perception algorithms using classical computer vision techniques - RANSaC, Image Guassians, Noise Filtering, Kalman Filtering • Performed Camera Intrinsic and Extrinsic Calibrations • Prototyped Algorithm Design in OpenCV using Python • Led final software design of perception package in C++ ROS1 using OpenCV • Performed Intrinsic and Extrinsic Camera Calibration, experimented with various solvers to address challenges of underwater camera calibration • Integrated autonomy system with 3rd part hardware and software • Optimized ROS communications for use on low bandwidth hardwareAs the Perception Lead on the Dexterous Maritime Manipulation System (DM2S) Project, I handled all computer vision design as part of the effort to integrate RE2 manipulators onto the Videoray Defender ROV while achieving high levels of autonomous capability. I prototyped algorithms to perform object detection and localization in 2D image data from the ROV camera and forward facing imaging sonar. Conducted Intrinsic and Extrinsic Camera Calibrations, ensuring precise and reliable performance. Show less



SoftWear Automation, Inc

• United States
• Automation Machinery Manufacturing
• 1 - 100 Employee

• Computer Vision Engineer

  • Jan 2020 - May 2020

  Highlights: • Developed fabric face detection utilizing image texture processing, principal component analysis (PCA), and support vector machines • Developed fabric orientation feedback algorithms to detect and correct orientation of fabric resulting in 80% decrease in fabric orientation errors • Eliminated dropped frames in vision feedback with implementation of counter based image synchronization • Wrote automated tests to perform to verify camera sharpness, latency, and timing of machine vision system • Performed intrinsic and extrinsic camera calibration • Worked part time as a computer vision software engineer while completing the last year of my Masters in Computer Science During my tenure at Softwear Automation, I worked part-time as a computer vision software engineer while completing my Masters in Computer Science. I made significant contributions to the company's vision feedback system, enhancing its performance by eliminating dropped frames through the implementation of counter-based image synchronization. Additionally, I played a pivotal role in ensuring the reliability and accuracy of the machine vision system by writing automated tests to verify camera sharpness, latency, and timing. My expertise in computer vision techniques was put to use in the development of fabric face detection algorithms, employing image texture processing, principal component analysis (PCA), and support vector machines. Furthermore, I successfully designed and implemented fabric orientation feedback algorithms utilizing contour analysis and autocorrelation which resulted in an impressive 80% reduction in fabric orientation errors. Lastly, I conducted intrinsic and extrinsic camera calibration, further optimizing the vision system's precision and overall functionality. My experience at Softwear Automation was a valuable opportunity to apply my academic knowledge to real-world challenges in the field of computer vision and automation.• Show less



Georgia Tech Research Institute

• United States
• Research Services
• 700 & Above Employee

• Graduate Research Assistant, Software Engineer

  • Aug 2019 - Dec 2019

  At GTRI's advanced concept CPTPO laboratory, I developed production java code. Our team worked to develop an android app for military groups to monitor mission equipment and issue commands. I developed features such as serial USB communication, UDP communication, and various new GUI elements. At GTRI's advanced concept CPTPO laboratory, I developed production java code. Our team worked to develop an android app for military groups to monitor mission equipment and issue commands. I developed features such as serial USB communication, UDP communication, and various new GUI elements.



Bloomfield

• United States
• Farming
• 1 - 100 Employee

• Computer Vision Engineer

  • May 2019 - Aug 2019

  Highlights: • Developed ROS nodes in Python and C++ • Used Tensorflow and OpenCV frameworks • Developed with Nvidia Xavier and Jetson TX2 platforms Worked with Carnegie Mellon researchers to bring agricultural research into a concept product. I worked on a robotic system that would gather agricultural data for various types of growers. During development, I applied GPU accelerated classical stereo vision, used various deep network architectures (Fast-RCNN, Faster-RCNN, and Single Shot Detection) for object detection, fine-tuned existing networks with proprietary training data, and integrated their vision systems with ROS on Nvidia TX2 and Xavier platforms. Show less



Georgia Institute of Technology

• United States
• Higher Education
• 700 & Above Employee

• Graduate Teaching Assistant

  • Jan 2019 - May 2019

  Worked as a Teaching Assistant for Georgia Tech's CS 4731/7632 Game AI Course. My responsibilities included grading Homeworks/Exams, holding office hours to assist students with class topics, and assisting the professor with proctoring or any other class duties. Worked as a Teaching Assistant for Georgia Tech's CS 4731/7632 Game AI Course. My responsibilities included grading Homeworks/Exams, holding office hours to assist students with class topics, and assisting the professor with proctoring or any other class duties.



ABB

• Switzerland
• Automation Machinery Manufacturing
• 700 & Above Employee

• R&D Software Engineer

  • Aug 2017 - Dec 2017

  Highlights: • Updated legacy VHDL and C code • Used OrCAD and Visual Studio environments to make schematic, pcb, and software changes • Developed C code to activate new functionality with added hardware components At my second and final rotation with ABB, I was involved with the software development for the same turbine protection system as my first rotation. Working on the same platform gave me the opportunity to see how hardware design choices impacted capability and software design. Show less



ABB

• Switzerland
• Automation Machinery Manufacturing
• 700 & Above Employee

• R&D Electrical Engineer

  • Jan 2017 - May 2017

  Highlights: • Designed and prototyped legacy refresh of 10 layer turbine protection board • Performed schematics and PCB design in OrCAD software suite • Created project documentation to assist future interns with hardware development At my first rotation with ABB, I was involved with turbine protection hardware development. As the sole engineer on my project, I worked from start to finish on the development of a new 10 layer pcb. My responsibilities included schematic revision, part selection, board layout, and all subsequent design review and billing. Show less



GE

• United States
• Industrial Machinery Manufacturing
• 700 & Above Employee

• Electrical Engineering Intern

  • May 2016 - Aug 2016

  Highlights: • Assisted in the design and configuration of drive control software • Collaborated with project engineers on field motor drive installation and commissioning • Compiled software summaries for New Product Introduction design reviews During my time at GE, I worked in the service lab developing drive controllers for their drive systems in GE's P80i logic software. During the end of my rotation, I was able to oversee a motor drive system overhaul on-site. Highlights: • Assisted in the design and configuration of drive control software • Collaborated with project engineers on field motor drive installation and commissioning • Compiled software summaries for New Product Introduction design reviews During my time at GE, I worked in the service lab developing drive controllers for their drive systems in GE's P80i logic software. During the end of my rotation, I was able to oversee a motor drive system overhaul on-site.



Mow'n'Go

• Greensburg, PA

• Owner

  • Apr 2012 - Aug 2015

  Highlights: • Grew to 40 weekly customers • Led 2 regular employees and other periodic employees "Mow'n'Go" was a small landscaping business I started and ran in high school. My summers spent with Mow'n'Go taught me valuable lessons about resource management, customer relations, and advertising. Highlights: • Grew to 40 weekly customers • Led 2 regular employees and other periodic employees "Mow'n'Go" was a small landscaping business I started and ran in high school. My summers spent with Mow'n'Go taught me valuable lessons about resource management, customer relations, and advertising.