I am currently developing the C&DH flight software for IRIS, CMU’s Lunar Rover. The flight software uses NASA JPL’s F-Prime flight-software framework on top of FreeRTOS. The C&DH is a TI Hercules Safety-Microcontroller.
This is where I currently work. I originally interned at LLNL over the summer of 2017, and joined part-time during university to support the software side of the project longer-term. I am continuing to develop vision algorithms for scientific measurements, but I am also working on streamlining our team’s workflow by using the latest workflow automation tools like Dagster.
The USGS measures stream flows since they are critical for long-term tracking and modeling/forecasting to ensure that federal water priorities and responsibilities can be met and that the nation’s rivers canbe effectively managed. Recently, the USGS has been looking at non-contact methods of collection this data which would allow USGS scientists to gather data more safely and possibly without even going in to the field. One such method is large-scale particle image velocimetry (LS-PIV). LS-PIV is a special case of algorithms that perform optical flow; at its is a cross correlation operation which is expensive in both time complexity and energy usage. My peers and I optimize the PIV algorithm to run on a 32-bit embedded microcontroller that can quickly and accurately perform the PIV computation and have a battery life of up to 2 years.
I developed image processing pipelines for autonomous vehicles (AVs) and architected an extensible simulator for AVs using Microsoft AirSim and Unreal Engine.
I developed an x86_64 operating system and kernel from scratch. The OS has virtual memory and threading implemented.
The Northrop Grumman Collaboration Project (NGCP) is a project-club at Cal Poly that participates in engineering challenges posed by Northrop Grumman. The collaboration project is with Northrop Grumman, in addition to Cal Poly Pomona with whom the work for the engineering challenge is split with. The 2019 school year had a new mission which was a rugged-terrain rescue mission. My peers and I were tasked with with sensing and intelligence for one of their new vehicles.