He joined JPL in 1996 to develop the control algorithms and write the software for the Mars Volatiles and Climate Surveyor (MVACS)robotic arm to be used to dig up Martian soil samples for insitu analysis including looking for water ice. After MVACS, he worked on the Mars '01 Lander robotic arm and on the Cryobot project before joining the MER team to develop the control algorithms and write the software for it's robotic arm - dubbed the Instrument Deployment Device (IDD). When not working on MER, he can be found at local drop zones jumping out of "perfectly good airplanes" or schussing at area ski resorts. Earlier in his skydiving career he was both a competitor and team leader of the U.S. Skydiving Team winning over a dozen medals in national and world competition. He is also a refugee rocker from the 60s, but that's another story.