My research focuses on incorporating information theoretic metrics into trajectory optimization and optimal control techniques. Using variational integrators and local optimization methods, we can simulate a variety of systems including the human hand and arm. Using these models, we apply parameters identification techniques as well as control design techniques to better estimate the properties of the system online. As opposed to more traditional differential-algebraic simulation methods, the variational approach incorporates conservation of energy properties into the simulation method resulting in less compuation time for similar levels of accuracy. In 2010, I was a receipient of the National Defense Science and Engineering Fellowship from the U.S. Department of Defense.
Ph.D. in Mechanical Engineering, 2015
Dissertation: Information-based Trajectory Optimization for Active Estimation in Mechanical Systems
Pennsylvania State University
B.S. in Mechanical Engineering, 2010
with honors in Aerospace Engineering
Undergraduate Thesis: A Control Allocation Method for a Helicopter with On-Blade Control