While working for Astrobotic Technology, Inc. I developed software to optically register to terrain.
This is the visual odometry software I designed for Professor Whittaker’s 16-865 Advanced Mobile Robot Development Class. the algorithm had less than 5% error and over 99% confidence in its pose estimate.
I led a 1000m field-test of a prototype lunar rover. The purpose of the field-test was to test the solar panels, electronics, pose estimation software, and sensors developed in Red Whittaker’s graduate-level Advanced Mobile Robot Development class.
Projects I've Mentored
I mentored the project that designed and fabricated a composite wheel for the Polaris rover.
I mentored the fabrication and testing of the composite bucket wheel for a lunar excavation robot.
I mentored a composite part fabrication project that involved both the fabrication and testing of carbon fiber parts for the Polaris rover.
Rovers must egress from their Landers for the success of planetary surface missions. Deployment of egress systems presents many challenges, complicated by uneven Lunar terrain and unpredictable Lander tilt.
Polaris is a polar rover designed to prospect for ice at the poles of the Moon. I mentored this project as teaching assistant of the graduate-level course Mobile Robot Design.
Skylights are formed by partial cave ceiling collapse on planetary surfaces. Lava tubes are a type of cave that forms when lava develops a continuous and hard crust that thickens forming a roof above the flowing lava stream. This project developed a rover concept and strategy for exploring skylights and lava tubes.
This project prototyped a 1/6 scale mass model of a lunar lander to investigate landing stability. The dynamic similarity of 1/6 scale drop tests on Earth to full scale landing on Moon was validated through previous acceleration data collection in the motion capture.