I’m originally from Chatsworth, California, and I’m a dynamicist and roboticist with a background in the computer simulation of multibody dynamic systems.
I started college studying computer science, and then mechanical engineering at the University of Utah in Salt Lake City, graduating with a Bachelors in Science in Mechanical Engineering. Continuing at the University of Utah, I specialized in trajectory planning, coordination and autonomous teleoperation of multiple mobile robots, and completed a Masters of Science in Mechanical Engineering. My research included designing the autonomous control software for robots in the mobile component of the Emulab Network Emulation Testbed at the Flux Research Group. Robots were used to transport antennas for wireless network experiments in an office building environment. The work was notable in supporting stable trajectory tracking with an unreliable and congested wireless network in the loop.
Joining the Robotics and Dynamics Systems Laboratory at the University of Notre Dame, I worked on multibody dynamic simulation. The lab moved a couple years later to the University of Texas at Arlington, where I completed a Doctor of Philosophy in Mechanical Engineering. The research at these two institutions involved developing new methods for solving contact problems in dynamic systems with multiple contacts. Further work improved simulation accuracy through research into effective methods of modeling contact in hybrid dynamic simulation. This development was applied to research into legged robot agility and performance.
My research into multibody system dynamics continued at the Computer Science Robotics Laboratory at Rensselaer Polytechnic Institute. My work focused on new geometrically accurate constraint formulations, and simulation performance. This is applied into work producing performance benchmarks, error metrics, and improvements into popular dynamic simulation software packages.
I currently reside in Albany, New York, and I enjoy difficult automotive restoration projects, long compiles, photography, longboarding, and mountain biking. My favorite pizza is pineapple-mushroom, favorite engine is the Mercedes-Benz OM617, and favorite Muppet is Waldorf.