Thomas Denewiler
Robotics Engineer
B tdenewiler@gmail.com
Í denewiler.us/cv
` github.com/tdenewiler
Prediction is very difficult, especially if it’s about the future.
Niels Bohr
Skills
Expert Skills
Hardware Robotic Sensors (Perception, Localization)
Algorithm
Development
Autonomous Systems Testing, Autonomy Architectures, Sensor Fusion, Kalman Filters,
Vehicle Control
Systems
Engineering
Development Models, Field Experiments
Development
Languages C, C++, Python, Shell/Bash, GNU
Make
Tools CMake, Doxygen, Trac, Confluence,
Jira, Stash, GitHub, Jenkins, vim,
cppcheck, pylint
Source
Management
Git, Mercurial, SVN Robotics
Frameworks
Robot Operating System,
Autonomous Capabilities Suite
Office and tools
Office OpenOffice/LibreOffice, Microsoft
Office, Gimp, Inkscape, draw.io
Documentation
T
E
X, L
A
T
E
X, Markdown
Experience
Robotics Experience
2013
Principal Investigator, SPAWAR Pacific, San Diego.
ONR Code 30 Ground Autonomy Systems Integration
Low-cost autonomy for large off-road ground vehicles in congested and rugged terrain with
passive capabilities.
Responsible for reviewing and merging proposed changes into baseline software configuration.
Major contributor to develop Autonomy Architecture Reference Model.
Using standard and newly developed test methods to characterize large autonomous ground
vehicle performance.
Setup and manage continuous integration environment for program with >50 developers
from >10 distributed organizations and >100 git repositories.
Set up automated builds (static analysis, unit tests, regression tests) with feedback of results
using Jenkins and Atlassian Stash.
2011
2012
Lead Engineer, SPAWAR Pacific, San Diego.
Long Range Obstacle Detection
Outfitted Ford Escape Hybrid with large number of perception and localization sensors and
computing.
-
Perception: Velodyne lidar, Ibeo lidar, Delphi automotive radar, GigE stereo cameras,
FLIR stereo cameras.
-
Localization: Novatel DGPS, DGPS serial radio, Microstrain IMU, GINA IMU, KVH
gyro.
-
Computing: Installed rack, rackmount servers, and power distribution, created read-only
Linux filesystem.
Ported autonomy algorithms from ACS to ROS.
Created URDF and visualization tools for system from SolidWorks 3D CAD models.
Implemented joystick teleoperation of vehicle.
Directed implementation of unsupervised learning algorithm for lidar calibration and mesh-
based object segmentation of lidar data.
2009
2011
Systems Engineer, SPAWAR Pacific, San Diego.
EOD Robotics Autonomy Developer
Improved Kalman filter for localization using coordinate ascent machine learning.
Implemented control Lyapunov function-based control algorithm for waypoint navigation
and showed significant improvement over PID controller.
Added use of CMake macros and functions to Autonomous Capabilities Suite build system
to greatly simplify addition of new modules to architecture.
Installed Trac on main development server for management and developer use.
2007
2009
Lead Engineer, SAIC at SPAWAR Pacific.
Autonomous UAV-UGV Refueling
Developed UAV landing pad for large UGV that centers and refuels UAV and allows UAV
to continue operations.
Wrote JAUS interface to UAV to control flight via waypoints from OCU.
2001
2008
Mechanical Engi neer, SAIC at SPAWAR Pacific.
Mobile Detection, Assessment and Response System (Ground)
Managed wireless communications infrastructure for mobile robots.
Created tools to map wireless signal strength and GPS satellite observability.
Rapid prototyping of novel large UGV hardware (marsupial capability, UAV landing/refueling
pad, automatic gate operation).
Supported large number of system test events at remote locations throughout U.S.
Other Experience
2011
2015
Engineering Mentor, University of California, San Diego.
Computer Science Department, Prof. Ryan Kastner’s Lab
Mentored student teams with undergraduate and graduate students in areas of visual
odometry, SLAM, stereo vision, Kinect for skeleton and gesture tracking, Turtlebot
navigation, and underwater vehicles.
Provided guest lectures on large ground vehicle autonomy development emphasizing test
and evaluation.
2008
2011
Software Lead, University of California, San Diego.
Stingray Underwater Vehicle
Wrote custom networking software for autonomous underwater vehicle to compete in AUVSI
UUV student competition.
Wrote computer vision algorithms to perceive underwater obstacle course environment.
Wrote and tuned PID algorithms for UUV control system with six degrees of freedom
motion.
Ported initial algorithms to ROS.
2006
2007
Consultant, South Park Systems.
Robotics
Provided Linux administration and C programming support for project working with
Neurosciences Institute.
Main work was getting robot simulator working with hardware-in-the-loop testing.
Education
2009
2011
Master’s, Mechanical Engineering, University of California, San Diego.
Focus on Controls & Estimation
Thesis: Improving Autonomous Navigation in EOD Robots
Course notes available on GitHub
2004
C/C++ Programming, University of California Extension, San Diego.
Introductory Course
1996–2000
Bachelor’s, Mechanical Engineering, University of California, San Diego.
Personal interests
Sports Volleyball, Basketball, Hiking, Swimming
Contributions
Robot Operating System, UCSD Lecture Notes (on GitHub)
Volunteer Mentor in Big Brothers, Big Sisters from 2005 2009
Others Traveling, Reading, Gardening
Fork me on GitHub