![]()
Robotics Software Engineer, Trajectory Planning
Zipline · Full-time
Sep 2022 - Present
• 2 yrs 11 mos![]()
President and Co-Founder
TartanAUV
Oct 2018 - Aug 2022
• 3 yrs 11 mosCarnegie Mellon University’s Robosub Team!
• Founded the club and led development of two Autonomous Underwater Vehicles (AUVs) to compete annually in the international RoboSub competition. We placed 3rd internationally in 2022!
• Raised and manage $40k team budget for 2020-2022
• Lead and maintain software stack developed with ROS and Gazebo for python and C++, including guidance, navigation, controls, perception, mission planning, and health monitoring.
• Designed and implemented model predictive control system and trajectory library for vehicle guidance and control
• Led design of electronics and sensor system, including an NVIDIA Xavier, Doppler Velocity Log, inertial measurement unit, stereo cameras, and sonar.
• Oversaw a team of 3 mechanical engineers to design and fabricate a custom underwater vehicle with many custom machined metal and plastic parts.
![]()
Software Intern
Zipline · Internship
Aug 2020 - Aug 2021
• 1 yr 1 moLead robotic systems integration and software for prototype vehicle system to deliver packages with high accuracy from over 100m AGL using a dynamic winch. Ended up with a reliable delivery demo that later turned into Zipline’s Platform 2 droid.
![]()
Hardware Test Intern
Apple · Full-time
Jun 2020 - Aug 2020
• 3 mosDeveloped software tool to streamline task and issue management involved in hardware test bring-up
![]()
Embedded Software Intern
Zipline International
May 2019 - Aug 2019
• 4 mos• Developed embedded software for the world's largest autonomous drone delivery network.
• Designed a system to allow smart CAN-connected battery docking ports to safely share chargers, increasing charging and logging throughput.
• Created a generic i2c driver as well as device drivers for multiple i2c peripherals.
• Supported the release of Zipline's next generation vehicle, which utilizes a distributed system
![]()
Teaching Assistant
Carnegie Mellon University
Jul 2018 - Dec 2018
• 6 mosRobot Kinematics and Dynamics: Fall 2020 (upcoming)
Structure and Design of Digital Systems: Fall 2018
Principles of Imperative Computation: Summer 2018
![]()
CubeRover Avionics Intern
Carnegie mellon University Planetary Robotics Lab
Jan 2018 - Sep 2018
• 9 mos• Developed a safe, event-driven embedded flight-software system for a NASA-funded lunar rover using C and FreeRTOS.
• Led development of a custom operator interface GUI using C++ and Qt for remote command and telemetry.
• Designed two printed circuit boards featuring an FPGA and a microprocessor.
• The rover is an ultra-small, low-cost platform designed with automotive electronics for commercial lunar missions.
![]()
Robotics track TA
Leap@CMU
Jun 2015 - Jun 2017
• 2 yrs 1 mo• Taught groups of 10-20 High School Students introductory and advanced
programming and robotics concepts, including lectures on C++, OpenCV, and
CAD
• Culminates in a final Arduino-based project. Projects I have mentored have
included soccer playing robots, Rubik’s Cube Solver, tic-tac-toe playing robot,
CNC plotter, piano playing robot, laser harp, and two XBox Kinect turrets