Bio
Education
B.S. in Mechanical Engineering, McNeese State University, 2015
M.S. in Mechanical & Aerospace Engineering, Oklahoma State University, 2018
- Robotics & Controls
Work experience
Technical Lead, Controls Software
Amogy INC, Brooklyn, NY | Aug 2022 – Present
- Control Algorithms development, testing, and validation of the fully autonomous Amogy System.
- Developed novel PID Control Algorithms for trajectory tracking that reduce actuator chattering and account for sensor error accuracy.
- Lead Controls Engineering including Hardware & Software Development, Controls Algorithms, State Machine Development, and Network Architecture.
- Developed advanced control algorithms: Nonlinear control, Hybrid controls, Filter design, and Model Predictive Control (MPC).
- Designed advanced networking for redundancy, communications, and data processing.
- Designed HMI systems and implemented noise reduction, filtering, and fault management.
- Developed data structures to integrate different devices for advanced communication, control, and HMI.
- Configured and integrated communication protocols (CAN, Ethernet TCP, Modbus TCP).
- Spearheaded hardware design, including VCU, Raspberry Pi, and dSPACE systems.
- Guided a multidisciplinary team, ensuring compliance with functional safety standards.
- Advise and mentor junior controls, HIL, embedded, and electrical engineers.
- Tools: C/C++, Python, MATLAB, CAN, CANape, CANalyzer, dSPACE, Code Generation, TCP/IP Networking.
Research Engineer (Autonomous Driving - Planning and Controls)
Ford Motor Company, Dearborn, MI | Jan 2021 – Jun 2022
- Research in advanced controls and planning; designed low-speed path planning and control algorithms for autonomous parallel parking, auto-hitch, nudge maneuvers, state machines, and V2V localization/collision-avoidance.
- Designed and implemented a continuous curvature-based path planner and nonlinear rear-wheel feedback lateral controller for auto-hitch and parallel parking (L2 autonomy).
- Created state machines for complex state transitions and management during parking and auto-hitch maneuvers.
- Created Vehicle-to-Vehicle (V2V) networking and TCP/IP UDP data interfaces for real-time data streaming between multiple Ford vehicles for localization and collision avoidance.
- Conducted testing, validation, and refinement of autonomous driving features.
- Tools: Simulink, Stateflow, ROS, C/C++, TCP/IP, dSPACE, CANape, CANalyzer.
Senior Controls Engineer, Autonomy
The Drone Racing League, New York, NY | Jul 2019 – Jan 2021
- Led research, development, and implementation of control algorithms for autonomous drones, focusing on position and attitude control for trajectory tracking.
- Designed and implemented advanced control strategies, including State-Dependent LQR, LQR/LQG, Nonlinear PID, Adaptive Control (MRAC), Geometric Control, and MPC, ensuring robust trajectory tracking and attitude stabilization.
- Developed and analyzed trajectory tracking performance using ROS/Gazebo and PX4 SITL simulations with PID and LQR controllers.
- Implemented solvers for Algebraic Riccati Equations in C++ to support control algorithm development.
- Conducted real-time flight testing, algorithm testing, and debugging for autonomous flight.
- Tools: C/C++, ROS, PX4, Gazebo, Eigen, CMake, Python, MATLAB/Simulink.
Robotics Controls Engineer - March 2019- July 2019
- Deka Research and Development , Manchester, NH
- Autonomous robots offline path planning and controls
Skills
- C/C++
- MATLAB/Simulink, State flow
- Python
- Communication: CAN, Ethernet UDP, TCIP
Publications
Talks
Teaching
Service and leadership
- Currently signed in to 43 different slack teams