Built and maintained various low-level system UI components within VisionOS and iOS.

• Partnered in the design and implementation of a C++ raytracer for the study and use of novel display systems.
• Proposed and implemented compact ray packing datastructure, reduced memory footprint by 33%.
• Built Python data collection pipeline for user-HID interaction, leveraged fiducial tracking for ground truth pose estimation
• Added HDR and various color space support to system level image cache.

Pushed to improve many aspects of the robotics stack for autonomous earth moving machines, from network architecture to firmware.

• Refactored object detection system for concurrent execution of inference.
• Drove process toward headless remote testing of autonomous systems via SSH and VPNs.
• Developed cursory web-based UI in Python and Flask for machine control and orchestration.
• Took ownership of firmware, spear-headed major refactoring effort.
• Designed distributed geospatial point-cloud storage Linux service in C++.
• Redesigned Protobuf based machine representation and state protocols.
• Designed algorithms using PyTorch to characterize machine events from operating data.
• Interviewed and evaluated SWE candidates.

Supported the edge computing perception stack for Anduril's Sentry Towers.

• Wrote Linux systems software in C++ for autonomous systems.
• Gained familiarity with nixOS, and Halide.
• Used data and analysis based approaches to formulate solutions to problems.
• Improved robustness & precision of geometric point containment and intersection testing code.
• Created LoG based focus quality metric for MWIR imagery.
• Implemented ML driven autofocus controller for fine tuning camera focus.
• Improved IR contrast equalization algorithm (CLAHE) using temporal filtering.
• Interviewed and evaluated SWE candidates.

Fostered an approach to implementation of flight software (FSW) applications from a standpoint of modularity and reuse. Introduced test driven development and model-based design as the default approach to building FSW systems for our NASA-funded SBIR projects.

• Utilized NASA's Core Flight System (cFS) to implement spacecraft FSW systems.
• Designed and implemented a flexible FSW-friendly spacecraft dynamics propagator.
• Influenced the design and implementation of proprietary astronomical data storage format (XB).
• Used UML to generate detailed designs for various FSW projects.
• Rearchitected FSW for the cis-lunar autonomous positioning system (CAPS).
• Created interview process and programming assessment.
• Designed and implemented flight software library (NNEP) which leverages optimal control theory and neural networks to compute fuel optimal tracjectory correction maneuvers for electric propulsion space craft

Led software design and engineering effort for outdoor autonomous platform in the lawn-care space.

• Implemented IMU and LiDAR interface software
• Defined dynamics model and implemented a representative Kalman filter
• Implemented and tuned PID controls systems
• Implemented point cloud analysis routines
• Performed preparatory VSLAM implementation research.
• Wrote OpenGL telemetry visualization software

Worked on the rendering pipeline for Mersive's product 'Solstice' and across team boundaries on R&D projects.

• Adapted existing C++ 11, DirectX 10 and OpenGL based rendering engine to function across multiple displays
• Optimized rendering and animation software
• Collaborated with R&D to prototype an on-line, machine-learning system to ascertain coarse user location using ambient radio signals

Delivered software development solutions across industries, specializing in embedded systems, mobile applications, and graphical rendering.

• Developed Linux-based systems and firmware for proprietary hardware, including embedded C/C++, buildroot, and kernel module development.
• Built and enhanced multimedia control panels, integrating CAN/RS-232 protocols and cross-compiling C++ for ARM-based devices.
• Designed iOS mobile applications with advanced animations, custom keyboards, and BLE communication using Objective-C, Swift, and CoreAnimation.
• Upgraded rendering engines and created multi-platform drawing systems using OpenGL, Metal, and iOS touch prediction.
• Supported asset tracking systems with MQTT and BLE, and contributed to diagnostic tools with Bluetooth communication.
• Utilized tools like GitLab for version control and uBoot for system bootloader configuration.

Conceived, prototyped and designed Projective, an augmented reality game for iOS

• Designed and wrote object oriented game engine
• Wrote GLSL code and designed effects
• Utilized device IMU and quaternions to produce high quality view transformations
• Successfully released on the Apple App Store

Played a crucial role in the release of Forge, a drawing app that earned editors choice on the app store.

• Learned Objective-C and the Cocoa Framework
• Applied linear algebra and matrix transformations
• Wrote optimized application and GLSL shader code