Ryan Fish

• "Virtual" diametric magnet for position sensing with smaller, distributed magnets. See especially Fig 32.

• "Virtual Surgeon" comprised of a "head", left-, and right-arm that are all inserted through a single, minimum-sized incision. See especially Figs 11-23 and 46.

• Introduction of thrust-vectoring ailerons for non-holonomic 6DoF controllability
• Design and Implementation of full control platform (logic, comms, power electronics, log storage) for self-contained, battery-powered operation.
• Design and Implmentation of FreeRTOS-based application to manage real-time control, drive peripherals, and allow future work to implement mapping and other long-horizon tasks.

• Designed new LIDAR sensing modality for improved obstacle detection.
• Implemented LCM-based IPC for efficient communication between custom drivers, logic, and image processing.
• Upgraded vision system to stereoscopic, global-shutter, forward facing cameras for predictive planning.
• Implemented basic lane-detection and 2D motion model to improve human-in-the-loop navigation guidance.

• Led system requirements architecture for multiple high-impact features, including motion/dynamic performance of manipulators, reliability testing of disposable subsystems, and unintended tissue contact prevention.
• Performed RCA on multiple critical issues, including leveraging E&M simulation in COMSOL to predict effective shielding thickness necessary to eliminate ferromagnetic saturation of a key sensor.
• Lead developer/designer on Instrument calibration fixture and associated software. Designed novel kinematic profile for determining joint offsets with very low cross-coupling based on vision system tracking of end-effector.
• Led integration of LLM-enabled enterprise search in org. Iterated use cases for synthesizing requirements and other critical documentation to leverage large institutional dataset with missing SMEs.

• Worked with leadership to identify new product opportunities, developed business briefs with clinical input, and green-lit a proposed system extension product to enable a wide array of new instrumentation. Designed and built electromechanical prototype to be used as proof-of-concept for initial user testing and user needs/system requirements development.
• Trialed novel manufacturing pipeline using nearly exclusively 3DP components to vastly accelerate part production compared with subtractive manufacturing techniques. Although non-isotropic material properties stalled the 3DP manufacturing process, the new assembly methods and internal structures endured for conversion to molding processes.

• Led multi-disciplinary team on development of 8-DOF intra-abdominal manipulator arm. It was these hardware builds and demos that led to going public as RBOT.
• Designed novel magnetic (Hall-effect) sensor arrangement to improve miniturization, strength, and motion-decoupling of "elbow" style joints. (US Pat. 12,544,145)
• Reduced overall length of arm assembly from ~600mm to 200mm to enable use in a wide range of patient abdomens.
• Developed novel interchangeable tip system with peers to address highest-cost system component.

• Designed interfaces to enable simple manipulation of real-world objects, for final deployment with Robonaut on the International Space Station.
• Coded wrappers for dynamic modeling and control software to manipulate Kinova’s Jaco robotic arm.

• 6.832: Underactuated Robotics - Fall 2015
• 2.737: Mechatronics - Fall 2016
• 2.131: Advanced Instrumentation and Measurement - Spring 2017
• Lab TA for 2.12: Introduction to Robotics (see Department video below) - Fall 2016

• 16.35: Real-Time Systems and Software - Spring 2015
• 2.153: Adaptive Control - Spring 2015
• 2.151: Advanced System Dynamics & Control - Fall 2014
• 2.009: Product Engineering Processes (See final project video below - I worked on embedded design) - Fall 2014