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Find an overview of my experience below
General Information
| Full Name | Roman Yoder |
| Phone Number | (480) 249-2201 |
| rayproengineering@gmail.com |
Experience
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2024 - Present Software Controls Engineer, Surgical Robotics
Medtronic - Developed core control software for a flexible tendon-driven catheter system for robotic-assisted lung procedures.
- Transitioned experimental research code into production-grade implementation as part of the New Product Development (NPD) lifecycle.
- Filed internal IP disclosures: catheter auto-homing, redundant DOF insertion, buckling mitigation, continuum force estimation.
- Designed and implemented delay pre-compensation to correct tendon transmission latency.
- Built digital-twin-based safety heuristics to infer catheter shape and assess insertion risk.
- Created modular Jacobian-based optimization to decouple kinematic subproblems and enable scalable trajectory planning.
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2022 - 2023 Research Engineer (Contract)
Medtronic - Automated path generation for a flexible robotic catheter navigating lung bronchial networks by using generational binary tree structures to extract control points.
- Fitted preliminary B-splines to control points, and post-processed trajectories based on parametric derivatives for smooth, executable motion.
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2023 Graduate Research Assistant
Texas A&M University - In addition to thesis work, contributed to proposal for automatic cash counting for cash counting logistics company
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2022(2-Semesters) Graduate Teaching Assistant
Texas A&M University - GTA in undergraduate Dynamics and Controls: Led lab instruction and MATLAB/Simulink-based simulation/experimentation work for various control applications teaching P, PI, and PID control.
- GTA in undergraduate Advanced Dynamics and Controls: facilitating advanced understanding of PID synthesis, coordinate frames, Newton and Lagrange Dynamics.
- GTA in Graduate Controls.
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2021 Professional Mover
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2020 - 2021 Undergraduate Research Assistant
Colorado State University, Commercialization Hub CoLab - see projects: Capstone - Jet Impingement Server Cooling
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2019 Undergraduate Learning Assistant
Colorado State University - Assisted undergraduates during class time to aid in learning.
- Supported students in Engineering Mechanics-Dynamics through class instruction and 1:1 tutoring.
- Graded coursework for Heat and Mass Transfer.
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2019 Technical Resource Engineering Intern
Forterra Pipe and Precast - Conducted design verification of box culvert and manhole drawings per ASTM and FDOT specifications.
- Contributed to customer outreach and marketing strategies in technical education.
- First hand look into creation of DOT policy creation and funds allocation.
- Attended civil engineering conferences or toured manufacturing plants in: Memphis TN, Biloxi MS, New Orleans LA, Austin TX.
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2016 - 2018 Sushi Chef
Suehiro - Trained as a sushi chef following initial role as dishwasher.
Education
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2021 - 2023 Master of Science in Mechanical Engineering (Robotics Focused)
Texas A&M University - GPA : 3.72
- Focused in advanced robotics coursework: manipulators, reinforcement learning, non-linear control, etc.
- Completed thesis and project work in robotic welding, nonlinear control, and reinforcement learning (see Projects section).
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2017 - 2021 Bachelor of Science in Mechanical Engineering
Colorado State University - GPA : 3.65
- Completed capstone project in jet impingement cooling (see Projects section).
- Qualified for advanced coursework based on high academic performance.
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2016 - 2017 Mechanical Engineering
University of Nebraska-Lincoln - GPA : 3.6
Projects & Research
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Master's Thesis – Robotic Welding Automation (Completed in 9 months)
- Tailored solution to local manufacturers needs.
- Designed an automated welding system using a 6-DOF UR10e robotic arm.
- Integrated a Miller MIG welding tool, power supply and wire feeder with a ROS based control system and planner.
- Developed a custom Traveling Salesman Problem (TSP) solver using a Mixed Integer Program (MIP) to optimize weld/tack order. Scaled cost of paths based on scaled weight for joint movement cost.
- Segmented initial configuration into kinematic families to produce trajectories in a consistent joint subspace.
- Implemented human-robot collaboration algorithms and procedures for part localization and adaptive trajectory execution.
- Generated smooth joint trajectories based on pre-planned paths with desired weld parameters.
- Tuned weld parameters based on qualitative feedback.
- Conducted both simulation-based and real-world validation of robotic weld paths.
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Capstone – Jet Impingement Server Cooling
- Investigated CPU cooling performance via jet impingement in a custom-built thermal management system.
- Developed pressure drop models and evaluated experimental vs. theoretical thermal performance.
- Delivered final technical presentation and undergraduate thesis.
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Reinforcement Learning – Missile Interception
- Designed and trained an RL agent using an Advantage Actor-Critic (A2C) framework to intercept variable-trajectory missile targets.
- Implemented state-dependent reward functions and evaluated robustness across varied initial conditions.
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Feedback Linearization – Missile Trajectory Control
- Derived governing equations for missile dynamics in 2D based on fluid/aero-dynamic principles
- Applied feedback linearization to vary thrust vectoring for trajectory control.
- Simulated entire system in MATLAB.
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Robotic Manipulator & Path Planning
- Developed 3-DOF manipulator motion planning
- Additionally developed Dubin’s path algorithm and coupled with a TSP solver for optimal routing through networks of targets.
- Implemented and validated in MATLAB.
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Mechatronics Course Project – Electro-Mechanical Door Lock
- Designed a microcontroller-based access system using photoresistors, keypads, and proximity sensors.
- Programmed in PICBASIC and Arduino; verified with hardware integration.
Volunteering
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2018–2019 Undergraduate Research Assistant
Colorado State University, Superconductivity Physics Lab - Created transition edge sensors via photolithography on silicon dies.
- Gained hands-on experience in lithographic and cryogenic lab techniques.
- Gained advanced understanding of magnetic/electric field physics
Skills & Coursework
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Robotics & Control Systems
- Kinematics and dynamics of manipulators
- Tendon-driven and continuum robotics
- Path planning and optimization
- Classical and modern control (PID, LQR, feedback linearization, adaptive control, sliding mode control etc.)
- Reinforcement learning and Markov decision processes
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Software Tools & Languages
- Python, C++, ROS, MATLAB, Simulink, Bash, Git, GitHub Copilot
- Simulation and modeling for robotic control and path planning
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Specialized Engineering Topics
- Combustion science
- Vehicle dynamics
- Turbo machinery
- Mechatronic system modeling (electrical/magnetic circuits)
- Advanced mechanical systems
- Optimization (linear, non-linear, integer programming)
- Additionally: CAD, Advanced Math, Physics, Linear Algebra, Non-linear Systems
Certificates
- Python
- C++
Honors and Awards
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2018–2021 - Dean’s List (5 semesters)
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2019 - 3rd place award for Mechatronics course project
Academic Interests
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Robotics
- Path planning
- Dynamics, kinematics
- Algorithm development
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Controls
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Optimization
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Software, Reinforcement Learning, and AI
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Mechatronics and EM field theory
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Combustion Science
Other Unique Experiences
- Grad: Tour of multi-million semiconductor manufacturing plant and observation into critical work to fix bottle neck process in clean room environment
- Undergrad: Tour of semiconductor manufacturing plant focusing on process flow, quality and safety
- Undergrad: Tour of coal power plant
- High School: Welding Class - Fabricated a fire pit, and custom table utilizing refurbished barn wood
- High School: Took object orientated programming in Java
- High School: AP Physics
Other Jobs
- Private Tutor
- Burrito Roller
- Mongolian Barbecue – Chef
Other Interests and Hobbies
- Piano, Music, Hiking, Cooking, Weightlifting, Chess, Reading, and Skiing