Yay Robots!
Graduate researcher in the Correll Lab at CU Boulder as a PhD candidate.
Research interests include robotic arm manupulation, path planning, grasping, point cloud processing, vision processing and neural networks.
Contributor to the open source Robotics Operating System, the MoveIt motion planning framework, and the OMPL Open Motion Planning Library.
Experience with OpenCV, PCL and Rockwell Automation. C++, Unix Expert
Web Magic.
11 years of experience providing customized web design, graphics, and programming.
Areas of specialties include HTML5, CSS3, Javascript, jQuery, PHP, Wordpress, CodeIgnitor, Zend Framework and more.
Additional expertise in multi-lingual websites and Spanish localization.
El Potrero Chico, Mexico Tourism Website
PotreroChico.orgDescription
Owner and founder of one of the most popular websites on El Potrero Chico, a world famous sport climbing area in northern Mexico. Averages 1500 visits per month. Extensive SEO performed and content written.
Technology:
Wordpress
Motivation
Love for Potrero Chico climbing
Better Backgrounds Wordpress Plugin
Better BackgroundsDescription
Created free Wordpress plugin with over 16,000 downloads. Shows a random background image every visitor session, page refresh, or timed slideshow interval. Choose between fixed full screen background, full width scrolling background, or classic non-scaled backgrounds.
Technology:
Custom Wordpress plugin
Motivation
Started as a feature request at Bottlecap Dev
Acru Wealth
acruwealth.comDescription
Personal wealth strategist advisor group, a subsidiary of First Cherokee State Bank
Technology:
Wordpress, Custom Wordpress plugins, Custom Appointment and Ask An Expert modules
Aspects of Project:
HTML/CSS Cutup, Integration, Wordpress Plugin Design
Date of Project
May 2011
Online Appointments Website
unlaunchedDescription
Appointment scheduling, customer management and marketing website for boutiques, salons, etc
Technology:
Web-App style jQuery integration of functionality. Relied heavily on jQuery Templates, animation and Django get/post/put model.
Aspects of Project:
HTML/CSS cutup of Clients page, jQuery
Date of Project
May 2011
Aviation Connection Group
avconx.comDescription
A low cost advertising and marketing company for aviation schools, charter companies, and flight instructors.
Technology:
Flash, XML, custom-written business-listing manager, customer management backend
Aspects of Project:
Programming and partial graphic design
Date of Project
January 2011
Bake Sweet Memories
bakesweetmemories.comDescription
Seasonal advertising website for Betty Crocker
Technology:
Script for emailing themed holiday cards, multi-size recipe cards
Aspects of Project:
Photoshop Cutup, Javascript, and PHP
Date of Project
January 2009
Clinical Pearls RX
clinicalpearlsrx.comDescription
Pharmaceutical/med school online practice test for preparing to take the tests. Featured many graphs for showing student progress.
Technology:
Large-scale data analysis, Flash graphs, database, javascript-based test taking system.
Aspects of Project:
Large-scale Data Analysis and Programming
Date of Project
November 2008
Sixthman Video Contests
simplemancruise.comDescription
Online video contest website where users can upload videos and vote on other's. Featured 3 rounds of voting and video hosting and uploading was run through the YouTube APIs.
Technology:
YouTube Uploading and Integration, Zend Framework
Aspects of Project:
Graphic Design and Programming
Date of Project
September 2008
Factory Automation Systems
factoryautomation.comDescription
Website for an engineering company that offers Systems Integration Services, robotics, and automation.
Technology:
HTML, CSS
Aspects of Project:
Graphic Design and Programming
Date of Project
July 2007
Freshman Activities Board 2008
fab.gatech.eduDescription
Website for social organization at Georgia Tech.
Technology:
Adobe Flash, PHP, MySQL
Aspects of Project:
Graphic Design and Programming
Date of Project
August 2008
Freshman Activities Board 2007
fab.gatech.eduDescription
Website for social organization at Georgia Tech.
Technology:
Adobe Flash, PHP, MySQL
Aspects of Project:
Graphic Design and Programming
Date of Project
August 2007
Robotic Plant Manipulation
Mission DirectorateDescription
NASA funded project to help astronauts feed themselves in space. Objective is to develop hardware and computer software for robotic gardening
Technology:
Non-rigid body manipulation, perception, ROS, path planning
Motivation
Grad school research funded by NASA in the Correll Robotics Lab
Block Perception
GithubDescription
Perception of blocks on a table using a combination of both the Point Cloud Library (PCL) and OpenCV.
Technology:
OpenCV, PCL
Motivation
Grad school research for block manipulation in the Correll Robotics Lab
Block Grasp Generator
GithubDescription
Generates grasp poses in the X and Y axis of a block, which can represent the bounding volume of many types of objects.
Technology:
Grasping, Coordinate transforms, Geometry, Rviz
Motivation
Grad school research for block manipulation in the Correll Robotics Lab
OMPL RViz Viewer
Github - Blog PostDescription
Developed the ompl_rviz_viewer. The visualizer shows cost maps in RViz along with all searched states, nodes and edges from a planner. It also serves as a good code example for anyone hoping to get started with OMPL.
Technology:
Robotic Operating System, OMPL, Rviz, C++
Motivation
Internship at Willow Garage
Transition-based RRT
Bitbucket - DocumentationDescription
Contributed to the Open Motion Planning Library by implementing a new planning algorithm, Transition-based RRT, that keeps random tree search in low cost regions of the configuration state. This is convenient for minimizing objectives such as mechanical work over a trajectory, or taking probability of occupancy into account.
Technology:
OMPL, C++, Motion Planning Algorithms
Motivation
Internship at Willow Garage
MoveIt Setup Assistant
Github - TutorialDescription
A graphical user interface for configuring any robot with a URDF to work with the MoveIt planning framework, the motion planning part of the Robotic Operating System. Its primary function is generating a Semantic Robot Description Format (SRDF) file for your robot. Additionally, it generates other necessary configuration files for use with the MoveIt pipeline.
Technology:
ROS, MoveIt, C++, Qt
Motivation
Internship at Willow Garage
Robotic Arm Manipulator: ClamArm
Website - GithubDescription
Developer of ClamArm software including servo controllers, inverse kinematics, path planning and visualization of a 7-degree of freedom robotic arm located in the Correll Lab.
Technology:
Robotic Operating System, C++, Python, Table Top Manipulation
Motivation
Grad school research for block manipulation in the Correll Robotics Lab
Visibility Graph Algorithm
Github - Technical PaperDescription
Implementation and analysis of time, space and correctness of D.T. Lee's O(n^2 log n) algorithm for finding the visibility graph of a set of disjoint line segments in a plane.
Technology:
C++, CImg Library, Computational Geometry
Motivation
Advanced Algorithms class project with Aaron Clauset
Mixed Integer Path Planning and Obstacle Avoidance
Github - Technical PaperDescription
Linear programming-based optimization from a start to a goal point around arbitrarily shaped polygon obstacles in two dimensions. Solves for a series of time steps around the obstacles, with all points constraines to the polygon's edges. Developed for a class project.
Technology:
C++, OpenGL, Mixed Integer Linear Programming
Motivation
Grad class with Sriram Sankaranarayanan
Visual Simplex Solver
GithubDescription
Simplistic solver for linear programs using the Simplex method. Using general form with an intialization phase. Uses Bland's rule to ensure termination. Made for a Linear Programming class project.
Technology:
C++, Armadillo Matrix Library, Linear Programming Optimization Theory
Motivation
Linear Programming class project with Sriram Sankaranarayanan
SciptBits Evolutionary Simulator
GithubDescription
Researched and added on to Andrej Karpathy's evolutionary artifical life simulator that uses Neural Networks to evolve intelligence in simple single-cell-like organisms. Added swarm intellgience aspects to simulator.
Technology:
C++, OpenGL, Recurrent Neural Networks
Motivation
Swarm Robotics class project with Dustin Reishus
