During his many years at Rensselaer Polytechnic Institute (RPI), Dr. Millard served as a faculty member of the Electrical, Computer, and Systems Engineering Department and founded the Academy of Electronic Media  -  a multimedia research and development center. He also held several roles with the Center for Integrated Electronics, including five years as the director; served as technical director of the Design and Manufacturing Institute, and served as senior project manager for the Center for Manufacturing Productivity and Technology Transfer. He most recently had oversight of RPI`s engineering education and taught Circuits, Electronics, Engineering Design and Multimedia Development courses.

Prior to joining the university, Millard spent time as a biomedical engineer at Veteran's Administration Hospital in Albany, NY; two years involved with cardiac monitor design at Electronics for Medicine, in Sudbury, MA. He holds a patent for the development of a laser-induced, plasma-based "Non-Contact Electrical Pathway," which is used to perform electrical testing of ultra fine-pitch electrical components.

He has been voted HKN Professor of the Year on three occasions, selected as RHA Professor of the Month and was chosen by his students as the Eta Kappa Nu Outstanding Professor in 2009. The author of numerous technical papers, presentations, and book contributions, he has received such distinguished awards as the Premier Award for Excellence in Engineering Education Courseware, and the Best Paper Award of the IEEE Components, Packaging and Manufacturing Technology Society (CPMT) International Electronic Manufacturing Technology Symposium.

He served as a reviewer for such publications as IEEE Transactions on Components, Packaging, and Manufacturing Technology and the Digital Technical Journal of Digital Equipment Corporation. Millard also has served as an editor for the Metals Subpanel Symposium of the Defense Manufacturing Conference (DMC) and the Semiconductor Research Corporation (SRC) Center for Advanced Interconnect Science and Technology (CAIST).