Nathan Schomer

My research focused on real-time, embedded guidance systems for both single and multiagent systems.

I assisted in development of data labeling software necessary for post-processing of images, developed caching system for a company-wide data management platform and designed computer vision components for COSY robots.

I worked in the Control and Diagnostics department writing software to support development of the next generation of turbofan engines being produced by Pratt &Whitney.

My research at ARL focused on applications of control algorithms to vision-based object tracking via unmanned aerial vehicle. I designed and implemented a ROS (robot operating system) based system to control and communicate with the test UAV's. Additionally, I focused on the creation of a software package to handle live telemetry data received via software designed radio.

I conducted research on robot control algorithms, specifically in application to a ball balancing robot. I was tasked with improving existing software and algorithms for stabilization. This included beginning the implementation of an RTOS running on an ARM-based single board computer and improving software which handled the CAN communication between the main controller and the motor drivers. I also, designed and manufactured a carrier PCB for new motor controllers.

My team designed and assembled an autonomous ground vehicle to race through a course with other robots while avoiding obstacles. The circuitry included an Arduino as the main controller along with a GPS receiver, magnetometer and infrared distance sensors. The robot was programmed to follow pre-specified waypoints and avoid obstacles using data from distance sensors.

My team designed, machined and programmed an autonomous robot to follow a line using bang-bang control, calculate the average angle of an inclined driving surface and traverse rocky terrain. Our robot was the only vehicle at the competition created without the use of any type of pre-fabricated chassis or electronics kit. We received the award for third fastest robot during the timed competition at Rowan University.

I founded team 3955 in conjunction with 4-H, JC Penny's and engineering mentors from the Greater Pittsburgh region. We designed and created semi-autonomus robots during a 6 week build period to compete in different competitions which changed yearly. Successfully created a 120 pound robot to climb an 8 foot ladder. As the lead electronics designer and lead programmer, I created and maintained the electronics along with the programming on the main controller.

My team designed and constructed a 15 pound, radio controlled robot with a weapon to fight other robots in a caged arena. Beginning with a new design in 2008, we made changes and improved the robot's design each year. We worked directly with a local machine shop to discuss materials and manufacturing techniques. As the lead electronics designer, I chose electrical components, speed controllers and batteries. I assembled and maintained the electronics system in the robots.