CV
Education
- B.E. in Mechatronics (1st class honours), 2013
- M.S. in Mechanical Engineering, California Institute of Technology, 2016
- Ph.D in Mechanical Engineering, California Institute of Technology, 2020
Work experience
NASA Jet Propulsion Laboratory 2020-Present: Robotics Technologist & Group Lead
- Mars Sample Return - Sample Retrieval Lander (SRL) - Sample Transfer System:
- Robotics Cognizant Engineer: M2020-SRL Docking (2024-present)
- Managing the transfer of existing Perseverence Rover self docking algorithm to docking with SRL
- Robotics Cognizant Engineer: Wrench Estimation (2022-2024)
- Owning tne processing of raw aignals from the Sample Transfer Arm Force Torque Sensor
- Defining wrench transformations, filtering, and tare behaviors
- Robotics Cognizant Engineer: In-Contact Manipulation (2022-2024)
- Defining all control algorithms relating to forceful interactions between the Sample Transfer Arm and various stations to transport sample tubes
- Robotics Cognizant Engineer: M2020-SRL Docking (2024-present)
- Sampling Autonomy Europa Lander: Task Manager (2021-2024)
- Architecting software infrastructure for fully autonomous surface sampling operations for a prospective science mission to thr icy moon Europa
- Managing team of 6 developers implementing autonomy infrastructure and sampling behaviors
- Extant Exobiology Life Surveyor (EELS): Motor control interface dev (2020-2022)
- Configuring and modifying low level motor controller interfaces using EtherCAT and trapezoidal profilers
Skills
- Python, C++, C, MATLAB, Simulink, JMP
- Docker, GitLab/GitHub CI, Python VirtualEnv
- Signal Filtering, Controls Modeling & Design, Robotic Kinematics, RL, CNNs, hierarchical state machines