Dominic Jonak
November 2010
412-512-8291
dom@cmu.edu
www.frc.ri.cmu.edu/~dom
Education: Carnegie Mellon University, Pittsburgh, PA 
Bachelor of Science in Computer Science, 2003
Phi Beta Kappa, College Honors, University Honors
Positions:
Carnegie Mellon University, Pittsburgh, PA   
   2003 - current
Field Robotics Center, Robotics Institute
  • Senior Research Programmer (2007)
  • Research Programmer (Fall 2003)
  • Research Assistant (Spring 2003)
  • Website Committee Chair (2010 - current)
Selected
Projects:
Reliable Autonomous Surface Mobility (RASM)   
   2010 - current
  • Ported mesh navigation software to Lunar All-Terrain Utility Vehicle (LATUV)
  • Designed enhancements to identify moving obstacles
Collaborative Technology Alliance (CTA)   
   2009 - 2010
  • Implemented anonymous publish/subscribe messaging and logging
  • Created 6 DOF pose estimator for Gator Utility Vehicle
  • Calibrated interial sensors, wheel encoders and nodding laser
  • Addressed issues in the codebase, documentation and operations
Lunar Rover Initiative (LRI)   
   2007 - current
  • Field tests at Moses Lake Dunes, WA (2 weeks) and Mauna Kea, HI (2 weeks)
  • Controlled tests at Glenn Research Center (4 trips, 3 days each)
  • Demonstrated long (8+ hours) autonomous traverses in darkness
  • Responsible for low-level drivers as well as high-level navigation
  • Implemented interface used by operators, partners and remote users
Science Autonomy/Science on the Fly (SOTF)   
   2005 - 2007
  • Field test at Amboy Crater, a lava flow in California (4 weeks)
  • Developed multi-sensor multi-scale mesh navigation system
  • Created 3D visualizations of rover maps
Deep Phreatic Thermal Explorer (DEPTHX)   
   2006 - 2007
  • Field tests at Sistema Zacaton, sinkholes in Mexico (4 weeks/3 trips)
  • Responsible for navigation, plan execution and fault detection
  • Developed interactive operator interface and improved realtime visualization
Life in the Atacama (LITA)   
   2003 - 2006
  • Field tests at the Atacama desert in Chile (10 weeks/2 trips)
  • Worked with science team to improve rover utilization
  • Improved navigation software to realize reliable kilometer traverses
Outreach: Public demonstrations 
  • US Science and Engineering Festival 2010 in Washington, DC (2010)
  • PITTCON 2010 in Orlando, FL (2010)
  • Carnegie Museum of Natural History in Pittsburgh, PA (2009)
  • Imiloa Astronomy Center of Hawaii in Hilo, HI (LRI - 2008)
  • Carnegie Science Center in Pittsburgh, PA (2008)
  • Arizona State University in Tempe, AZ (SOTF - 2007)
  • Museo Interactivo Mirador in Santiago, Chile (LITA - 2005)
Public relations
  • Exhibited Scarab rover for Congressional leaders at NASA Day on the Hill 2010
  • Designed postcards to handout to the public (LRI, DEPTHX)
  • Wrote illustrated field notes (LRI, DEPTHX)
  • Maintained project website (LRI, DEPTHX, LITA)
Selected
Publications:

Design and field experimentation of a prototype Lunar prospector
David S. Wettergreen, et al
The International Journal of Robotics Research, doi: 10.1177/0278364910370217, 2010

Experiments in Navigation and Mapping with a Hovering AUV
George A. Kantor, et al
International Conference on Field and Service Robotics, 2007

Life in the Atacama: Searching for life with rovers (science overview)
Nathalie A. Cabrol, et al
Journal Geophysical Research, 112, G04S02, doi:10.1029/2006JG000298, 2007