Bio

Bio

Robotics Engineer, Martial Artist, and Soccer Referee

Sitemap

A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.

Pages

Posts

The Problems with Navigating the Real World

15 minute read

Published:

There are two quotes that I find myself returning to again and again as I navigate graduate school and life. The first being from one of my favorite books:

Rust and C++ for Advent of Code

2 minute read

Published:

So 2024 is wrapping up with some changes for me. I’m staring a new position at Temple University with the Boni Lab as a Research Associate where I’ll be working on designing software that simulates malaria out breaks and models drug resistance. A little outside my wheelhouse as a robotics student to say, but the lab’s staff have more of a computer science and mathematics background despite being housed in the biology department.

Hello World

11 minute read

Published:

This is a relaunch of my personal website and blog from my previous one on my university webpage. While much has changed in the roughly two years since that original (and only) post, I’m reposting that original post as it still rings true in many respects.

publications

talks

A Deep Water Bathymetric Particle Filter for Position Estimation in GNSS-Denied Environments

Published:

In this talk, the authors assess the viability of a particle filter to provide long term operationally relevant navigation aiding to an inertial navigation system via bathymetric map matching. Previous literature has demonstrated the ability to accurately estimate position using bathymetric depth measurements on small scale autonomous platforms. However, these tests were typically in shallow coastal waters for short duration missions. This paper demonstrates a particle filter implementation that provides useful position estimates for long duration missions in open ocean. This implementation can provide position estimates that recover a position estimate from a de-localized inertial navigation system at maximum drift error and at times is capable of accurately estimating position below the map-pixel resolution. The authors conclude that this algorithm can provide a suitable GNSS-denied position estimation for inertial navigation.

teaching