Autonomous Vehicles Software Engineer - Retired

Endeavor Robotics

Designing ROS drivers and software for radio, audio, camera, BIT for new version of back-packable robot. Press Release

Lockheed Martin Autonomous Mining Haul Trucks

Systems Engineering for Autonomous Mining Haul Trucks project. Software integration of vehicle with management software system. System test.

Lockheed Martin AMAS Autonomous Vehicles

Lockheed Martin Autonomous Systems is developing autonomous truck convoy technology for the US Army (TARDEC group) under the AMAS program.

Contributions:

• • Developed a software driver for a new ethernet camera

  • Integrated a new Navigation box into the existing software system

  • Developed various software improvements and fixes for the autonomous trucks

  • Developed an embedded-Linux logger and associated software system for providing high-accuracy vehicle track performance metrics using post-processing of differential GPS data from Novatel GPS loggers.

  • Brought-up, commissioned & calibrated on-vehicle sensor systems (lidar, radar, cameras, odometry etc.) Tested robotic driver operation

  • Supported system during demonstrations to customer

TARDEC Videos of Convoy Technology

Hewlett Packard Work Products (non-HP-confidential)

• • HP Superdome 2 Platform Management (technical whitepaper describes Superdome 2 management capabilities & architecture). Author: Paul Bouchier

  • Top-level Superdome site (gives you an idea of the overall product for which Paul Bouchier is a firmware architect)

ROS (Robot Operating System)

Contributed to the following ROS packages:

• • rosserial http://wiki.ros.org/rosserial Contributed a rosserial client for Linux, with documentation at http://wiki.ros.org/rosserial_embeddedlinux

  • razor-imu-odof http://wiki.ros.org/razor_imu_9dof Fixed numerous coordinate-frame and covariance issues, added diagnostics, documentation

  • swiftnav-piksi http://wiki.ros.org/swiftnav_piksi Created and released software and documentation supporting the Swift Navigation Piksi RTK GPS device

  • pid http://wiki.ros.org/pid Enhanced PID-controller package, adding dynamic configuration and other configuration parameters

  • nmea-navsat-driver http://wiki.ros.org/nmea_navsat_driver Working on getting changes accepted to fix covariance problems and add diagnostics

  • Tested the SkyTraq RTK GPS receiver to validate ROS compatibility. Found problems which motivated the changes to nmea-navsat-driver

  • Demo project showing the power of ROS diagnostic architecture: github diag demo

Attended ROSCON 2012 (Minneapolis) and 2013 (Stuttgart)