About

I am a 29-year old roboticist, husband, and father. I am currently finishing up a PhD in robotics at MIT, working with Professor Jon How. I grew up building and flying model airplanes and dreaming about robots. I am passionate about the future of every-day robotics and automation.
Education
  Massachusetts Institute of Technology
Ph.D. -- Robotics and Autonomous Systems
My research focuses on decision making under uncertainty for autonomous systems. In particular, I am interested in robotic agents that learn through environment interaction. The learning efficiency is increased by using available simulations of the robot and the environment.
  Massachusetts Institute of Technology
M.S. -- Aerospace Engineering
I designed, built, and flew a novel quadrotor with variable-pitch propellers. The variable-pitch actuators enable aggressive and aerobatic flight previously impossible with multi-rotor helicopters. I also developed new flight control algorithms and autopilot hardware to control the vehicle.
  Brigham Young University
B.S. -- Mechanical Engineering
As an undergraduate at BYU I worked on several projects, including energy harvesting for autonomous sailplanes, flapping flight optimization, and theoretical linear algebra (just enough to realize I like robots more than math theory).
Experience
  SpotterRF
Mechanical Design Engineer
As the sole mechanical engineer, I developed new heat management techniques for small radar devices resulting in a significant high-temperature performance increase. I also designed a new carbon-fiber, light-weight case for the radar encasement.
  L-3 Communications
Mechanical Design Engineer
I designed a demo platform for integration of a new modem into a mobile communication ground station. I also performed thermal, structural, weight, and power analyses to optimize data link and modem case designs.
  Corning
Advanced Machine Systems Engineer
I researched and tested a method that reduced tool run-out by 55% in contouring mills that manufacture diesel particulate filters. I also designed a novel mechanism enabling the cutting of wet ceramic extrusions to be performed by one person instead of two.
  Volunteer
The Church of Jesus Christ of Latter-day Saints
I lived in the Rostov, Russia area for two years as a missionary. I provided leadership and training for 16 other volunteer representatives, overseeing operations in a geographical area covering over 300 miles. Interacting with Russian people each day, I learned to speak, read, and write Russian fluently.
Projects

Multi-Fidelity Reinforcement Learning
Efficient reinforcement learning algorithms for robots through the principled use of simulated data.
Variable-Pitch Quadrotor
Design, construction, and flight algorithms for a novel quadrotor capable of aggressive flight.
Autopilot Design
Design, construction, and programming of several autopilots for autonomous air and ground vehicles.

Relative Navigation
An autonomous quadrotor that navigates relative to a set of known beacons.
Selected Publications
Interests
My Kids
Hailey (4), Rachel (2), and Aaron (0). Still trying to figure out how to tap into their energy supplies to try and heat our home.
Robots
Is there anyone who isn't interested in robots?
Electronics
Been trying to automate my life one microcontroller at a time (long before people were talking about the "IoT").
Racquet Sports
Tennis, racquet ball, squash, ping-pong, badminton... If there is a racquet involved, count me in.
Skiing
Growing up in Utah inevitably lead to an obsession with skiing and snowboarding. Unfortunately, due to a severe lack of real snow and/or mountains on the east coast, this one is temporarily on hold.
Ultimate Frisbee
Many (probably most) people don't consider ultimate frisbee a real sport. Having played college level ultimate for 6+ years now, I might agree with them. It's still a great way to get some exercise, though.