CV

PDF Resume

Education

M.S. in Mechanical Engineering, Clemson University, 2022
- Concentration: Dynamic Systems and Controls
- Thesis: “Koopman Operator Theory and The Applied Perspective of Modern Data-Driven Systems”
B.S. in Mechanical Engineering, Clemson University, 2020
- Minor in Mathematical Sciences

Work experience

2023 - Present: Research Engineer
- AIMdyn Inc. - Santa Barbara, CA
- Duties included:
  - Develop new algorithms for the modeling and control of network systems using Koopman operator theory.
  - Consult with customers on software development and supported live system testing.
  - Co-Principal Investigator of the Mission Integrated Network Control DARPA project with BAE systems.
- Supervisor: Dr. Maria Fonoberova - Director of Research
Summer 2022: Systems Engineering Intern
- Astra - Alameda, CA
- Duties included:
  - Developed in house automated aero-thermal optimization tool to study rocket launch vehicle geometry trade spaces.
  - Created software tools to expedite the development of high-level requirements for rocket launch vehicle designs.
- Supervisor: Mark Garnett - Senior Systems Engineer
Fall 2020 - Fall 2022: Graduate Research Assistant: Research Lead
- Clemson University, Distributed Intelligence and Robot Autonomy Lab - Clemson, SC
- Duties included:
  - Lead the construction, testing and development of an autonomous quadruped robot.
  - Researcher at the virtual prototyping of ground vehicles (VIPR-GS) center in the real-time controls group.
  - Developing new Koopman operator-based controls theory with major theoretical contributions in optimal control.
  - Advising 3 undergraduate research teams in learning simulation, hardware and software for autonomous systems.
- Supervisor: Dr. Umesh Vaidya - Professor
Spring 2018 - Fall 2020: Undergraduate Research Assistant: Research Lead
- Clemson University, Clemson Autonomous Systems Team - Clemson, SC
- Duties included:
  - Lead 2 independent projects to develop prototype autonomous air and ground vehicles.
  - Developed and field-tested mapping, localization, path planning and multiagent algorithms.
  - Experience working with Robotics Operating System (ROS) and performing HITL/SITL testing.
  - Worked with NVIDIA Jetson AI compute platforms in the Linux operating system (TX2, Xavier NX).
- Supervisor: Dr. Yiqiang Han - Research Assistant Professor
Spring 2018 - Summer 2019: Development Test Engineer CO-OP
- Rolls Royce Power Systems, Graniteville, SC
- Duties included:
  - Prepare experiments and follow test procedures for diesel engine development.
  - Support a multi-disciplinary international team, communicate, and coordinate tests globally.
  - Engine test stand data analysis and drawing conclusions from tests for further improvement.
  - Independently managed my own time and schedule to meet internal and external deadlines.
- Supervisor: Jens Engelhardt - Research and Development Senior Manager
Spring 2017 - Spring 2018: Mechanincal Engineering Intern
- Constantine Engineering Associates, Charleston, SC
- Duties included:
  - Taught how to professionally interpret and create construction documents.
  - Designed and analyzed HVAC systems, electrical circuits, and plumbing drawings.
  - Experience with AutoCAD, Revit, and other industry specific software for MEP design.
  - Met with customers to discuss the scope of design, attended cite visits and budget meetings.
- Supervisor: Chris Constantine, PE - Owner

Skills

Mechanical
- Machining Experience
- Drafting - AutoCAD, Revit
- Modeling - Solidworks, Fusion360, SiemensNX
- ASME Y14.5 GD&T
- Component and Systems Analysis - ANSYS, SiemensNX, Simulink
- Mechatronics Design
- DoE and HiL/SiL Testing Experience
Electrical
- Microcontrollers - Teensy, Arduino
- BLDC Motor Controllers - ODrive
- Basic Circuit Design
- Signal Processing - Filtering, FFT, Spectrogram
- Intermediate Hardware Diagnostics and Inspection
- Communication Protocols - CAN, I2C, SPI, UART
Computer Science
- Intermediate Python
- Intermediate Matlab
- Basic C++
- Shell Scripting
- OS - Windows, Linux
- Container Applications - Docker
- Embedded Compute - NVIDIA TX2, Xavier AGX and NX, Nano
- Robotics Operating System (ROS) - Indigo, Kinetic, Melodic, Noetic
- ROS2 - Dashing
- Optimization - Gurobi, CVX, YALMIP, IPOPT, MDAO
- Deep Learning - Pytorch, Tensorflow
Team Skills
- Project Management
- Multi-disciplinary Collaberation
- Systems Engineering Methodology
Self Skills
- Organization
- Communication
- Reliability
- Motivated
- Goal Oriented
- Peer - Team Player
- Professional

Publications

Koopman-based Policy Iteration for Robust Optimal Control

A. Krolicki, S. Sutivani, and U. Vaidya, "Koopman-based Policy Iteration for Robust Optimal Control" 2022 American Control Conference (ACC), Atlanta, GA, USA, 2022, pp. 1317-1322, doi: 10.23919/ACC53348.2022.9867541.

Modeling Quadruped Leg Dynamics on Deformable Terrains using Data-driven Koopman Operators

A. Krolicki, D. Rufino, A. Zheng, S. Narayanan, J. Erb, U. Vaidya, "Modeling Quadruped Leg Dynamics on Deformable Terrains using Data-driven Koopman Operators." IFAC-PapersOnLine, Volume 55, Issue 37, 2022, Pages 420-425, ISSN 2405-8963, doi: 10.1016/j.ifacol.2022.11.219.

Nonlinear Dual-Mode Model Predictive Control using Koopman Eigenfunctions

A. Krolicki, D. Tellez-Castro, and U. Vaidya, "Nonlinear Dual-Mode Model Predictive Control using Koopman Eigenfunctions" 2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, pp. 3074-3079, doi: 10.1109/CDC51059.2022.9992677.

Finite Time Nonlinear Optimal Control using Koopman Eigenfunctions

A. Krolicki, D. Rufino, and D. Tellez-Castro, "Finite Time Nonlinear Optimal Control using Koopman Eigenfunctions" 2022 American Control Conference (ACC), San Diego, CA, USA, 2023.

Societies and Clubs

Clemson Formula SAE Team, Powertrain Division, [2016-2017]
Subsonic Windtunnel Testing Team, Racecar Aerodynamics [2018]
Clemson Autonomous Systems Team, Team Lead, [2018-2020]
Clemson Roller Skating Club [2020-2021]
IEEE Member, [2020-Present]
ASME Member, [2020-Present]

Honors and Awards

Deans List [Spring 2018, Spring 2019]
Presidents List [Spring 2020]
Legislative Incentive for Future Excellence Scholarship
MarkVan Bellamy Brooks Endowed Scholarship, Issued by Brooks Sports Science - Motorsport Institute, Spring 2018
F1TENTH Berlin Virtual Grand Prix, IFAC World Congress 2020
- Qualified 7th overall
- Finished 5th in head-to-head grand prix
F1TENTH Las Vegas Virtual Grand Prix, IROS 2020
- Qualified 2nd overall
- Finished 4th in head-to-head grand prix
COVID Challenge Excellence Prize, Summer 2020
InnoVision COVID-19 Response Technology Research award Finalists, Summer 2020

Alexander Krolicki

CV

Education

Work experience

Skills

Publications

Koopman-based Policy Iteration for Robust Optimal Control

Modeling Quadruped Leg Dynamics on Deformable Terrains using Data-driven Koopman Operators

Nonlinear Dual-Mode Model Predictive Control using Koopman Eigenfunctions

Finite Time Nonlinear Optimal Control using Koopman Eigenfunctions

Talks

Autonomous MAV Package Delivery for Urban Last Mile Project and Artificial Intelligence for Racecar Project

Autonomous Control of a Micro Aerial Vehicle (MAV)

AI Enabled Aerial-Ground Coordination for Off-Road Vehicles

Prototype Design for an Off-road Autonomous Delivery Platform during a Pandemic

Online Data-Driven System Identification and Adaptive Control Using Deep Koopman

Deep Reinforcement Learning Approach to CPS Vehicle Re-envisioning

Societies and Clubs

Honors and Awards