Richard H Adam

Overview

Working at Bubble, a Zurich-based startup, was an invaluable experience to level up my understanding of the tools roboticists use most often. As the sole intern for Bubble Robotics for the summer of 2025, I was responsible for turning the commercial BlueRov2 remote operated vehicle into a platform for autonomous operations by integrating a dockerized ROS2 software structure. In addition, I integrated the software into a Gazebo simulation to allow rapid testing of software by multiple employees. I then moved onto the state estimation for the robot, implementing a plug-and-play extended Kalman filter to allow for quick changes to the sensor stack on the robot. I integrated all of this into a CI/CD pipeline with GitHub Actions to automate the building, testing, and code formatting processes. The state estimation was confirmed to function both in simulation and on the robot.

Key Responsibilities and Achievements

• Integrated ROS2 framework in commercial ROV using C++ and Python
• Adapted open-source underwater simulation in Gazebo for our use case
• Built with containerized software structure in Docker for ease of integration
• Configured Multi-Platform container builds with Docker Buildx to maximize transferrability
• Architected a state estimation stack to be used with a varying set of sensors, including an INS and DVL
• Created ROS2 nodes to integrate with sensor hardware using serial and network interfaces
• Maintained and adapted CI/CD pipeline using GitHub Actions for automatic testing, building, and pushing of docker images
• Created Bash setup script to configure base BlueRov2(robot) with necessary packages and software

Technologies Used

• Python, C++, Bash
• ROS2
• Ubuntu
• git, GitHub, and GitHub Actions
• docker
• GPS-Denied State Estimation

Overview

My role as Control and Data Handling Engineer for the entire lifecycle of the CLINGERS project was easily my most formative engineering experience. As the C&DH Engineer, I was responsible for ensuring robust data flow between CLINGERS, our robot, Astrobee, NASA's free floating robot on the ISS, and operators on the ground. To this end, I built a serial communication architecture between the UART of the CLINGERS Raspberry Pi and the Astrobee's USB. On the CLINGERS side, I created a Python node for serial communication within CLINGERS' ZeroMQ-based publisher-subscriber software architecture. On the Astorbee side, I created an Android APK which took custom messages from the USB port and interfaced with Astrobee's ROS1-based software architecture. For testing on the in-house floatbots on the air-bearing table at USC, I ported my Java-based Android APK to python for replecable behavior. In addition, I architected the methodology of custom software uplaods as well as the Raspberry Pi's overall scheduling using Systemd. After the system design phases, I also was heavily invovled in the testing phase for the entire software stack, so I worked on debugging software rannging from computer vision to multithreading to pulse width modulation for servo motors. After launching the unit, I contributed to procedures documents that guided both ground crews and astronauts during experiments on the International Space Station.

Key Responsibilities and Achievements

• Python-Based Serial communication code within custom ZeroMQ softare architecture of CLINGERS
• Java-based Android APK for Serial Communication in ROS1 software architecture of Astrobee
• Presented to NASA's Safety, Design Review, JPL, and Ames teams detailing communication design for a preliminary and critical design review
• Collaborate closely with engineers from NASA Ames and CLINGERS team to ensure communication structure is consistent with internal software architecture
• Drafting, reviewing, and conducting ongoing orbital operations procedures for ISS-based RPO experiments

Technologies Used

• Python, Java
• ROS1
• Linux (Raspbian)
• Android
• git and GitHub

Overview

Working at JPL in the summer of 2023 showed me what robotics engineering is like at the highest level. My role revolved around a 10-week design sprint to create and test a platform for Venus Aerobot tether dynamics. I rapid-prototyped a gondola structure, balloon cutdown and geofencing mechanism, and tether interface supporting multiple tether configurations.

Key Responsibilities

• Design a platform for field testing of Venus Aerobot dynamics in multiple tether configurations
• Design airtight 3D printed balloon inteface to allow cutdown
• Integrate geofenced cutdown mechanism to comply with FAA regulations on balloon flight
• Design custom pulleys to comply with FAA maximum strength limits
• Contribute to active thermal control software in Python

Technologies Used

• Solidworks
• 3D Printing
• Rapid Prototyping
• Active Thermal Control

Key Achievements

Overview

My work as engineering intern for Betteravia Farms, after my summers as an irrigator, planted the seed of passion for automated machines and engineering. I assisted the lead design engineer in his activities over the summer, which mostly included the organization and evaluation of automated weeding machines active over the 7500 acres(3000 hectares) of farmland. In addition, I completed ancillary tasks like integrating brakelight systems into tractors to make them street-legal, prototyping an automated spooling attachment for a tractor for post-harvest field preparation, and evaluating testing of various automated heavy machinery across the farm.

Key Responsibilities and Achievements

• Assist in the operation and organization of automated weeding across 7500 acres of farmland
• Prototype automated spooling tractor attachment to increase post-harvest efficiency
• Evaluate new automated weeding machines for potential purchase

Technologies Used

• Hand Tools
• Power Tools
• Heavy Machinery