Robert J. Withoff
Embedded/Real-time Systems Engineer
3632 Lyndale Ave. South
Minneapolis, MN 55409-1104
[Send email using form at bottom]
 [Send email to request phone number] 01-2497

Objective:
Senior-level software engineering position (permanent or contract) where I can
use my creativity and versatility in a design capacity to create quality
products. 
Summary:
 Embedded Systems Engineer; primarily software with good hardware skills,
capable of design and architecture of systems with a particular focus on
interfacing to sensors and electromechanical actuators as well as the human user
interface. 
Key on robust development of quality systems in a timely managed fashion. 
Areas of interest:
•	Embedded hardware/software 
•	Audio/video/multimedia
•	DSP, signal and image processing 
•	Control systems engineering
•	Communication protocols (such as DMX-512, CAN, Sony P9) 
•	Embedded internet (TCP/IP)
•	Embedded USB 
•	Man-machine interface
•	Smart Home design
•	Alternative energy R&D
•	Spinal cord injury R&D
•	Robotics & Animatronics

Key skills:      
•	Software and hardware design, digital and analog
•	Agile software development; Scrum
•	Embedded systems design 
•	Real-time systems design 
•	Embedded systems architecture 
•	Object-oriented design
•	C, C++, MFC, MS Visual Studio 6.0
•	DSP, signal and image processing
•	Audio, video, multimedia
•	Control systems design
•	Network/communication systems
•	Requirements/design specification & development
•	Product life cycle, design to implementation
•	Technical documentation
•	Oscilloscope, logic analyzer, DVM
 
Experience:
5/2005 -10/2008
Bose, Electroforce Systems Group						Eden Prairie, MN
Embedded Software Engineer
Development of real-time software for engineered material and medical testing
systems using Bose Electroforce Linear Actuator technologies; developed and
maintained the software engineering process based on Scrum methodologies, acted
as Scrum Master (i.e. team lead) through a very successful software development
and release cycle; maintained the TrackWeb issue tracking database and developed
internal methodologies to generate useful issue metrics. 

Tools:	Visual C++, Delphi, TrackWeb, Scrum, InTime

3/2004 -4/2005
John Deere AMS, Inc.						Des Moines, IA
Embedded Systems Engineer (contract)
Design and coding of GPS-based guidance system for advanced precision
agricultural equipment. Design of architecture, detail design, implementation of
system using ISO11783 specifications and proprietary advanced tedchnology. UML,
OOA, OOD  

Tools:	Visual C++, Rational Rose, VxWorks AE, Tornado, Star Team, Caliber RM

10/2003 -12/2003
iPIX, Inc.							Oak Ridge, TN
Software Engineer (contract)
GUI programming for Windows/MFC application used to extract video data from a
“virtual walkthrough”. Origination images are captured on 35mm or HD cameras with
an extreme wide-angle lens; this software then takes the input images and
transforms them into “flat” images based on user input as to direction, viewing
angle, etc.
Integrated BuildSDK for high-quality images; integrated QuickTime for output of
MOV files; added and updated several user controls to make the interface much
more user-friendly.  

Tools:	Visual C++, MFC, QuickTme SDK, iPIX BuildSDK, iPIX ViewSDK 


05/2003 -09/2003
SPX, Inc.							Owatonna, MN
Senior Design Engineer (contract)
Continuation engineering of real-time automotive analysis tool (Genisys)
Communication protocols included proprietary Nissan systems and middle layer
programming. 

Tools:	Visual C++, Rational Clear Case, PEG, LynxOS 


06/2002 -12/2002
SPX, Inc.							Owatonna, MN
Senior Design Engineer (contract)
Software development for real-time automotive analysis tool (Genisys).
Interpreting specifications and reverse-engineering, creating design architecture
and coding to specification. Multi-threaded application running on a PowerPC
platform with LynxOS (embedded Linux). Communication protocols included
proprietary GM-UART systems (multi-host/server critical timing system). GUI
programming via PEG, POSIX threads.
System controlled various elements of the ABS braking systems (solenoids,
relays, DC motors, valves, etc.) and SRS (airbag) systems for testing. 

Tools:	Visual C++, Rational Clear Case, PEG, LynxOS 


04/2002 -06/2002
J. Gordon Electronic Design.					Coon Rapids, MN
Senior Design Engineer (contract)
Software development (TMS320C54xxDSP). Multi-channel infrared high-speed
datalink; product enhancement to specification, implementation of test plan,
writing software architecture document. Assisting in designing features to
provide for further expansion into new markets. Required multi-channel
synchronized serial multiplexed communications development with packet framing.
Patent applied for.
System provides eight simultaneous channels of high-quality digital audio
simultaneously, as well as control signals and communications.

Tools:	TI Code Composer (C++), Visual Slick Edit, Excel, Word, Visio, SPI515
emulator


01/2002 - 04/2002
Independent project	  					Minneapolis, MN
Hardware/firmware design, 8051-based intelligent DMX-512A lighting dimmer/relay
for retrofit into existing studio lighting. Project was initially
proof-of-concept for a client on spec, as a component for a larger system of show
automation and control. 
Serial RS-485 communication hardware. 
System provides for use of DMX-512A protocol to control lighting intensity, as
well as actuation of servomotors, solenoids, relays, and other electromechanical
and digitally controlled systems.

Tools:	Keil uVision (C), 8051 assembly, Excel, Word, Visio


11/2001 - 01/2002
Infrared Solutions, Inc.						Plymouth, MN
Senior Software Engineer 
Continuation engineering and new development of a thermal (infrared) imaging
digital video camera; development of windows-based tools for data collection from
camera. Modified existing DSP code to provide additional user functions.  Created
product demonstration video to help expand business into security markets.
System provides images based on infrared imagery, useful in locating thermal
faults in mechanical systems, hot spots due to fire or potential ignition points,
and other thermal differentiation uses.

Tools:	TI Code Composer (C++), Excel, Word, VC++, SPI515 emulator


07/2001 - 8/2001
Laveen Machine & Engineering					Burnsville, MN
Software Engineer (contract)
Validation testing of control systems programming tools. Wrote test code
(GUI/DLL) identifying bugs in the controller API, and proposing solutions, wrote
code examples in Visual Basic and Visual C++ for the SPII-Plus programmer's
manual. 
SPII-Plus is used for control automation of industrial systems.

Tools:	VB/VC++, SPII Plus 


11/2000 - 7/2001
Medtronic (CRM)						Fridley, MN
Software Engineer (contract)
Added networking & telemetry functions to 9790/PTI (medical) test system to
enable it to communicate with neurostimulator device; created requirements
specification, detailed design specification & hosted reviews. Highly formal
medical documentation environment. Proprietary communication protocol to ISO/OSI
network standard (IP-like).
System is used for testing of in-patient controllers such as pacemakers, pain
blockers, and neuro stimulators.

Tools:	Documentum, Visio, MS Project, Excel, Visual Studio, TI Code Composer (GO
DSP).


10/2000 - 1/2001
Laveen Machine & Engineering					Burnsville, MN
Software Engineer (contract)
Continuation/upgrade of previous motion-control project: added
customer-requested features including remote WAN loading and logging via ActiveX
control and extended diagnostic features. Added GUI functions. 

Tools:	VC++/MFC, Visual Basic


5/2000 - 10/2000
J. Gordon Electronic Design					Coon Rapids, MN
Senior Design Engineer (contract)
Contract hardware and software design; several projects for various clients;
strict documentation, estimation, and project planning. Worked as a team
designing PowerPC-based image capture/processing system, designed a
super-low-power remote heart monitor, and designed a low-cost DSP-based real-time
multi-channel data compression codec and multi-channel infrared high-speed data
link. Created several specification documents and participated in several design
reviews. Several projects required GUI designs.

Tools:	PADS, Excel, Visual Studio 6, TI Code Composer (DSP) (C++), SPI515
emulator


11/1999 - 4/2000
Laveen Machine & Engineering					Burnsville, MN
Software Engineer (contract)
Developed and produced custom GUI for multiple-axis servocontrolled assembly
machine. Interfaced with touchscreen on Windows NT controller to create a
mission-critical application interfacing with an Acroloop ACR8000 controller.
Developed serial (RS-232) remote programming/logging interface. End result
doubled the throughput of the machines.
System integrates servomotors, PLCs, and pneumatic actuators in a panel-assembly
machine. 

Tools:	VC++/MFC


1/1997 - 4/2000
Success Stories LLP						Waverly, MN
Partner, producer/editor
Developed and produced sales training video for direct market. Built sets,
designed lighting, edited, and designed the overall look and feel of the
production. 

Tools:	Speed Razor, Sound Forge, DVCPRO


3/1996 - Present
Magic Marmot Studios						Minneapolis, MN
Owner, producer/editor
Audio/video/multimedia production studio. Producing CD's independent films, tv
commercials, industrial training videos & multimedia CD-ROM.


1/1995 - 5/2000
Digital Audio Labs						Plymouth, MN
Design Engineer (contract)
Developed Timing Gearฎ, a SMPTE synchronizer for the V8ฎ Digital Audio
Workstation, allowing sample-accurate synchronization of audio to video, film,
and other external devices. Oversaw all aspects of production from inception to
market. This device is currently used in IMAX theaters worldwide.
System provides for integration and synchronization of video and film systems
with digital audio playback in a subsample-accurate manner. Wrote documentation
series on synchronization that is currently being used as the basis for a
training program at Tascam America. Project Coordinator, CardTDIF: I/O and
controller card for the Tascam DTRS series of digital audio recorders.
Coordinating project with two external companies; writing public driver interface
package and internal test program. RS-485/Sony P2-based communication protocol.
GUI design. 
System provides for software control of the transport and advanced features of
DTRS multitrack audio decks, with a desktop user interface allowing for control
and status information to be displayed.. 

Tools:	Franklin/Keil uVision, 8051 assembly, C, VisualC++, MFC, Workview Office;
PADS; Visual Source Safe


1/1994 - 1/1995
MTS systems							Eden Prairie, MN
Software Engineer (contract)
Developed firmware for 68000-based embedded communication controller for
single-axis hydraulic servo-controller module. Design included development of
multi-drop (RS-485) network communication protocol in an ISO9001 environment.
System provided for servo-based control of single-axis hydraulic actuators,
usually used in massive testing systems. 

Tools:	GNU C; 68000 assembly; Sun workstation (Solaris/Unix), AsterX


1/1991 - 1/1994
Digital Biometrics Inc.						Minnetonka, MN
Software Engineer
Developed SQUID(r) (now IBIS(r)), a portable handheld electronic
fingerprint/mugshot device for use in the FBI/NCIC 2000 project. Led project from
research & development of first two prototype phases. System allows for capture
of electronic fingerprint and mugshot in a portable (handheld) device to
facilitate identification of suspects from a police vehicle. 
Developed duplexer for laser printer, allowing double-sided printing on
FBI-class fingerprint cards. Led project from design and prototype to first-run
installation in LA County Sheriff's office. Performed many other significant R&D
efforts in optics, image processing and wireless data communication. System
coordinates internal sensors in the printer with actuation of DC motors and
solenoids to provide for a mechanical feedback of printed cards into the feed
tray for printing on the reverse side. 

Tools:	Turbo Pascal; CADKey 3D, Word, Excel
 

Education
11/1990
Bemidji State University						Bemidji, MN
•	BS Computer Science; specialty in microprocessors and interfacing
•	BA Physics; specialty in acoustics and signal processing
•	Math minor
 
Independent studies keeping current with new technologies
Continuing study in areas of interest including Information Theory, Automata
Theory, Signal and Image Processing, Chaos, other cool stuff. 

Affiliations
9/1995 - 3/2000
MTN (Minneapolis Television Network)				Minneapolis, MN
Independent video producer
 
Patents and publications 
5,467,403 Portable fingerprint scanning apparatus for identification
verification 
D351,144 Handheld finger print scanner for imaging and capturing a photographic
image 
D348,445 Hand held fingerprint scanner for imaging and capturing a photographic
image 
5,222,152 Portable fingerprint scanning apparatus for identification
verification
Other patents pending

"Synchronization Basics" film/video synchronization training manual
"Partners, not Customers" sales training video
"Hooked on Harmony" Barbershop CD
"Made out of People" Comedy CD, Soylent Theater
"The Dead Zone" Television commercials
"Ron Krank Retirement" corporate event video
"The Thing That Happened" short film
"Music of Snow" feature film
"Horror, Incorporated" weekly TV show
"Pray for Daylight: Hunter" short film
"Pray for Daylight" feature film