Autonomous Robots I've been interested in robotics since early grade school, and I've spent much of my time building robots ever since my freshman year at MIT. I've worked with autonomous robots on land and in the sea, and I'm starting to move into autonomous aircraft as well.

Control Hardware Over the years I've designed a number of robot control systems for robots of all sizes. Some of the controllers I've designed and built are shown at left. At the low end I've built a number of simple microcontroller-based boards, while at the high end I've built boards that can run Linux or use custom processors in large FPGAs. Some of my more sophisticated controllers are used in the Robotic Life Group's interactive robots.

Project ORCA I was a founding member of the MIT Autonomous Underwater Vehicles Team, and did much of the system programming for our sub, named ORCA, for the first three years. ORCA's primary mission is to compete in the AUVSI and ONR's annual International AUV Competitions; the team has placed first in that competition almost every year. We made it to Slashdot early on as the world's first Linux-based underwater vehicle.

EUROBOT I also designed the control hardware for MIT robots that competed in the international EUROBOT competition, a traditional table-top robotics competition, in 2000 and 2001. Though these robots did not place as well, they provided an excellent chance to design and test some neat hardware.