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MIT Aerospace Controls Laboratory

PhD Candidate

Worked on global localization in unstructured environments from aerial and ground viewpoints, leveraged segmentation and language modeling for mapping and localization in open-set settings, incorporated uncertainty in multiagent trajectory planning. Currently developing a hierarchical SLAM system leveraging Gaussian Splatting for scene understanding.

• Advised by Jonathan How

MIT Space, Technology, Astronomy and Radiation Laboratory

Research Assistant

Led mechanical design, assembly, and integration of BeaverCube2 3U CubeSat, an Earth-observing nanosatellite equipped with onboard AI for task planning, segmenting, and characterizing satellite imagery with machine learning to optimize downlink decisions.

• Advised by Kerri Cahoy

MIT Precision Motion Control Laboratory

Research Assistant

Modeled and designed feedback control system for suspension of a novel magnetically-levitated reaction sphere for satellite attitude control.

• Advised by David Trumper

Columbia University Mechanical Engineering Department

Research Assistant

Redesigned the mechanical engineering lab course, MECE E3018, at Columbia University to promote active learning.

• Advised by Yevgeniy Yesilevskiy

Stanford Plasma Dynamics Modeling Laboratory

Stanford Undergraduate Research Fellowship (SURF) Scholar

Predicted plasma flow in spacecraft propulsion systems using extended Kalman filtering.

• Advised by Kentaro Hara

Rensselaer Polytechnic Institute Brown Research Group

NSF Research Experience for Undergraduates

Designed an indirect detection technique for weakly interacting massive particle dark matter.

• Advised by Ethan Brown and Morgan Schaller

College of Idaho Star Formation Research Lab

Independent Study

Visually classified Yellowballs to refine their radius measurements and performed statistical analysis of regression.

• Advised by Katie Devine

Boise State University Magnetic Materials Laboratory

NSF Research Experience for Undergraduates

Designed using SolidWorks and machined biomechanical micropumps, including characterization tests and a user interface to control flow rate.

• Advised by Peter Mullner

College of Idaho Observational Astronomy

Independent Study and Field Work

Collected and analyzed exoplanet data, performed spectroscopy, operated telescopes, and imaged the M33 galaxy.

• Advised by Joe Daglen and Jim Dull

University of Idaho Research and Extension

Research Laboratory Technician

Developed diagnostic techniques for plant pathogens, wrote grant proposals, designed independent research projects, wrote standard operating procedures.

• Advised by James Woodhall

Invited Lecturer

Delivered a lecture in the MIT First Year Graduate Seminar.

Teaching Assistant: Stochastics; Product Design (Qualifying Exams)

Assisted with courses on Stochastics and Product Design, specifically in preparation for qualifying exams.

Invited Speaker, Women in Engineering Showcase

Presented on segmentation for robotic mapping and localization in extreme environments.

Instructor

Taught at the MIT Women's Technology Program, focusing on advancing women's participation in technology fields.

Instructor

Served as an instructor for MIT's Beaver Works Summer Institute, teaching various topics in engineering.

Research Mentor

Providing mentorship for students to pursue independently led research projects related to robotics, Lunar architecture, machine learning, and aircraft/spacecraft design.

Instructor, Summer High School Program for Engineers

Taught advanced robotics and multivariable calculus to 30 high school students.

Team Lead

NASA Lunar Autonomy Challenge

Leading a team of 12 students to perform surface mapping, autonomous robotic operation, localization, orientation, path planning, and object detection on the Lunar surface using IPEx.

Fellow

MIT AeroAstro Communication Lab

Supporting students with their communication skills in the AeroAstro department.

Reviewer

IEEE Robotics and Automation Letters (RA-L)

Reviewed articles for the IEEE Robotics and Automation Letters (RA-L).

Invited Panelist

MIT Mechanical Engineering Graduate Seminar

Served as an invited panelist for MIT's Mechanical Engineering Graduate Seminar.

Operations Lead

NASA RASC-AL Lunar Mars Analog

Led integration of multi-agent robotics and AI into architecture for autonomous operations in the Lunar Mars Analog project.

Graduate Residential Assistant

MIT Housing & Residential Services

Serving as a Graduate Residential Assistant to support MIT's Housing and Residential Services.

Invited Panelist

MIT Beaver Works Summer Institute

Participated as an invited panelist at the MIT Beaver Works Summer Institute.

Reviewer

IEEE International Conference on Robotics and Automation (ICRA)

Reviewed submissions for the IEEE International Conference on Robotics and Automation (ICRA).

Volunteer

MIT Graduate Association of Mechanical Engineers

Volunteered to support initiatives of the MIT Graduate Association of Mechanical Engineers.

Volunteer

MIT Graduate Student Council

Contributed as a volunteer for various MIT Graduate Student Council activities.

Ph.D.

Massachusetts Institute of Technology

Robotics

S.M.

Massachusetts Institute of Technology

Controls

B.S.

Columbia University in the City of New York

Mechanical Engineering

B.S.

The College of Idaho

Mathematics and Physics

Best in Theme, Long Duration Mars Simulation at the Moon

NASA RASC-AL

Awarded for the best theme in the NASA RASC-AL competition, focused on long-duration Mars simulation at the Moon.

Finalist, Best Paper in Safety, Security and Rescue Robotics

IROS

Finalist for the best paper on Safety, Security, and Rescue Robotics at the International Conference on Intelligent Robots and Systems (IROS).

GRFP Fellowship

National Science Foundation

Awarded the prestigious NSF Graduate Research Fellowship for academic excellence and research potential.

GRA of the Month

MIT Fraternities, Sororities and Independent Living Groups

Recognized as the Graduate Resident Advisor of the month for contributions to MIT's student living community.

Martin Fellowship for Design

MIT

Received the Martin Fellowship for excellence in design at MIT.

Brookfield Fellowship

MIT

Awarded the Brookfield Fellowship for outstanding academic performance and research at MIT.

Distinguished Tutor

Columbia Tutoring and Learning Center

Recognized as a distinguished tutor by Columbia University's Tutoring and Learning Center.

John K. Mladinov Scholarship

Columbia Named Scholarships

Received the John K. Mladinov Scholarship for academic excellence at Columbia University.

U.S. Bank Academic All-Conference Award

Cascade Collegiate Conference

Recognized as a U.S. Bank Academic All-Conference student-athlete for maintaining high academic standards.

Math and Physical Sciences Department Scholarship

College of Idaho

Awarded for excellence in math and physical sciences by the College of Idaho.

Presidential Merit Scholarship

College of Idaho

Awarded the Presidential Merit Scholarship for academic achievement at the College of Idaho.

Gipson Honors Program

College of Idaho

Selected for the Gipson Honors Program at the College of Idaho, recognizing academic excellence and leadership.

Puma: Fully Decentralized Uncertainty-Aware Multiagent Trajectory Planner with Real-Time Image Segmentation-Based Frame Alignment

IEEE International Conference on Robotics and Automation (ICRA)

Co-authored with Kota Kondo, Claudius Tewari, Mason B. Peterson, Jouko Kinnari, Andrea Tagliabue, and Jonathan P. How, this paper presents Puma, a fully decentralized multiagent trajectory planner with real-time image segmentation, selected for ICRA 2024.

SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Co-authored with Jouko Kinnari, Parker Lusk, Kota Konda, and Jonathan How, this paper introduces SOS-Match, a novel approach to robot localization in unstructured environments, selected for the 2024 IEEE/RSJ IROS.

Outdoor Global Localization via Robust Registration of 3D Open-Set Segments

arXiv preprint

Co-authored with Mason Peterson, Yi Xuan Jia, Yulun Tian, and Jonathan How, this paper presents a method for outdoor global localization using robust registration of 3D open-set segments.

Protecting Satellites in Low Earth Orbit: An Overview of Hazards and Policy Solutions

MIT Science Policy Review

Co-authored with Danisl Ammons, Kristen Green, Laman Jalil, Joe Kusters, and Kerri Cahoy, this article provides an overview of hazards facing satellites in low Earth orbit and policy solutions to protect them.

Global Localization in Unstructured Environments Using Semantic Object Maps Built from Various Viewpoints

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Co-authored with Jacqueline Ankenbauer, Parker C. Lusk, and Jonathan P. How, this paper discusses global localization in unstructured environments using semantic object maps, selected for IROS 2023.

Introducing Experimental Design to Promote Active Learning

ASEE Annual Conference & Exposition

Co-authored with Yevgeniy Yesilevskiy, Jessica Oehrlein, Melissa Wright, and Michael Tarnow, this paper discusses introducing experimental design into engineering education to promote active learning, presented at the 2022 ASEE Annual Conference.

Real-Time Estimation of Electron Dynamics in Hall Effect Thrusters Using an Extended Kalman Filter

AIAA Propulsion and Energy Forum

Co-authored with Christine Greve, Manoranjan Majji, and Kentaro Hara, this paper explores real-time estimation of electron dynamics in Hall effect thrusters using an extended Kalman filter, presented at the AIAA Propulsion and Energy 2020 Forum.