Resume/CV.

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Education.

Penn State

2006-2010
B.S. in Mechanical Engineering
Honors in Aerospace Engineering
Minors in Mathematics and Engineering Entrepreneurship

Northwestern

2014
Kellogg School of Business
Certificate in Management for Scientists and Engineers

Northwestern

2010-2015
Ph.D. in Mechanical Engineering
Dissertation: Information-based Trajectory Optimization for Active Estimation in Mechanical Systems
Advisor: Todd D. Murphey

Experience.

Neuroscience and Robotics Lab (NxR)

Graduate Student, Sept. 2010 - Dec. 2015

My PhD research focused on developing new parametric learning algorithms using iterative optimization for dynamic systems.

I carried out several experiments using the Baxter Research Robot and ROS systems and have implemented many algorithms using projection-based optimal control, variational integration, and LQR control.

I have designed embedded systems for research platforms including quadrotors and a brachiating robot including component selection and PCB design with custom written PIC32 firmware.

NASA Ames Research Center

Research Intern, Jun. 2009 - Aug. 2009

I spent the summer analyzing parametric effects on a model of a helicopter utilizing trailing-edge flaps for primary control.

Additionally, I studied the modes of vibration of the helicopter blades and stability of the helicopter system.

Technische Universitat Munchen

Research Intern, May 2008 - Aug. 2008

I worked to implement a server-client interface between a KUKA robot controller and a QNX real-time operating system using Simulink and xPC target.

I also studied the modes of vibration of the helicopter blades and stability of the helicopter system.

NASA Robotics Academy, GSFC

Research Intern, Jun. 2007 - Aug. 2007

As a part of the academy program, I researched and developed simulations for innovative methods for robotic locomotion.

I analyzed mechanical and electrical characteristics of a new stepper motor design.

Journal Publications.

A. D. Wilson, J. A. Schultz, A. R. Ansari, and T. D. Murphey, "Dynamic Task Execution using Active Parameter Identification with the Baxter Research Robot," IEEE Transactions on Automation Science and Engineering, Under review.

E. Tzorakoleftherakis, A. R. Ansari, A. D. Wilson, J. A. Schultz, and T. D. Murphey, "Model-Based Reactive Control for Hybrid and High-Dimensional Robotic Systems," IEEE Robotics and Automation Letters, vol. 1, pp. 431-438, Jan. 2016.

A. D. Wilson, J. A. Schultz, and T. D. Murphey, "Trajectory Optimization for Well-Conditioned Parameter Estimation," IEEE Transactions on Automation Science and Engineering, vol. 12, pp. 28-36, Jan. 2015.

A. D. Wilson, J. A. Schultz, and T. D. Murphey, "Trajectory Synthesis for Fisher Information Maximization," IEEE Transactions on Robotics, vol. 30, pp. 1358-1370, Dec. 2014.

Refereed Conference Publications.

A. D. Wilson, J. A. Schultz, A. R. Ansari, and T. D. Murphey, "Real-time Trajectory Synthesis for Information Maximization using Sequential Action Control and Least-Squares Estimation," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4935-4940, Oct. 2015.

A. D. Wilson and T. D. Murphey, "Maximizing Fisher Information Using Discrete Mechanics and Projection-Based Trajectory Optimization," IEEE International Conference on Robotics and Automation, pp. 2403-2409, May 2015.

A. D. Wilson and T. D. Murphey, "Local E-optimality Conditions for Trajectory Design to Estimate Parameters in Nonlinear Systems," American Control Conference, pp. 443-450, June 2014.

A. D. Wilson and T. D. Murphey, "Optimal Trajectory Design for Well-Conditioned Parameter Estimation," 2013 IEEE International Conference on Automation Science and Engineering, pp. 13-19, Aug. 2013. Best Conference Paper Award Finalist.

Theses.

A. D. Wilson, "Information-based Trajectory Optimization for Active Estimation in Mechanical Systems," Ph.D. Dissertation, Dept. Mech. Eng., Northwestern Univ., Evanston, IL, 2015.

A. D. Wilson, "A Control Allocation Method for a Helicopter with On-Blade Control," Undergraduate Honors Thesis, Pennsylvania State Univ., University Park, PA, 2010.