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MP
Intern/Co-op - Refining Electrical Engineering (Spring 2027)
Marathon Petroleum Corporation
El Paso, TX
- $32.92 to $41.67 USD / hour
…maintenance strategies. There will be opportunities to use electrical analysis software to solve coordination issues and run Arc Flash studies for the power system, as well as learning and…
Added just now
MP
Intern/Co-op - Refining Electrical Engineering (Summer 2027)
Marathon Petroleum Corporation
El Paso, TX
- $32.92 to $41.67 USD / hour
…maintenance strategies. There will be opportunities to use electrical analysis software to solve coordination issues and run Arc Flash studies for the power system, as well as learning and…
Added just now
MP
Intern/Co-op - Refining Electrical Engineering (Fall 2027)
Marathon Petroleum Corporation
El Paso, TX
- $32.92 to $41.67 USD / hour
…maintenance strategies. There will be opportunities to use electrical analysis software to solve coordination issues and run Arc Flash studies for the power system, as well as learning and…
Added just now
EC
Quality Systems Engineer, Programmatic
Eaton Corporation
El Paso, TX
- $86,000 to $126,000 USD / year
Eaton’s ES AMER ARS division is currently seeking a Quality Systems Engineer, Programmatic. The position will be based out of one of these facilities: Arden, NC, Charlotte, NC, El Paso, TX,…
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Lead Saviynt Engineer
Wells Fargo
IRVING, TX
Leverage AI to accelerate system design, coding, testing, analysis, and troubleshooting
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Software Engineer 2 - Mobile Developer (iOS & Android)
U.S. Bank
Irving, TX
This position will be responsible for the analysis, design, testing, development, and maintenance of best-in-class software experiences. The candidate is a self-motivated individual who can…
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Network Engineer
Caris Life Sciences
Irving, TX
…Information Technology team with the addition of an IT Network Engineer. This individual will take daily direction from the Manager of Networking, and be responsible for design,…
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ND
Test Automation Engineer
NTT Data Americas, Inc.
Irving, TX
- $45 to $50 USD / hour
Perform root cause analysis of test failures and production issues.
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Connectivity Systems Engineer
Caterpillar, Inc.
Irving, TX
The Connectivity Systems Engineer will support the development, integration, validation, and delivery of machine and P&E connectivity capabilities. This role will coordinate software…
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Senior Connectivity Systems Engineer
Caterpillar, Inc.
Irving, TX
The Senior Connectivity Systems Engineer will provide end-to-end technical leadership for the development, integration, and delivery of machine connectivity capabilities. This role will…
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Principal Product Engineer, Battery Management System (BMS)
Renesas
Plano, TX
The Principal Product Engineer for BMS is a highly experienced and technically proficient role responsible for the successful characterization, qualification, and high-volume manufacturing…
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Analytical Engineer
USAA
Plano, TX
…to locate influences. Creates specifications for reports and analysis based on business needs and required or available data elements. May participate in consultation with users and lead…
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Senior Lead Software Engineer - Security Platforms
JPMorgan Chase
Plano, TX
As a Senior Lead Software Engineer at JPMorganChase within Consumer & Community Banking, you are an integral part of an agile team that works to enhance, build, and deliver trusted…
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Lead Software Engineer - Swift / iOS
JPMorgan Chase
Plano, TX
As a Lead Software Engineer at JPMorganChase within the Consumer & Community Banking - Digital Technology team, you are an integral part of an agile team that works to enhance, build, and…
Added 1 min ago
2027 Summer Corporate Intern - Engineering
Caterpillar, Inc.
San Antonio, TX · Fort Worth, TX
Simulation/Performance Analysis: Engage with analysis methods such as CFD - Computational Fluid Dynamics (ANSYS), FEA - Finite Element Analysis, 3D modelling, root cause investigation;…
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Supplier Quality Engineer - Sentry
Anduril Industries
Irvine, CA
As a Supplier Quality Engineer on the Sentry products team, you will work inside and outside the organization to define, develop, and execute processes that deliver high quality and…
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Senior Supplier Quality Engineer - Sentry
Anduril Industries
Irvine, CA
As a Senior Supplier Quality Engineer on the Sentry products team, you will work inside and outside the organization to define, develop, and execute processes that deliver high quality and…
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Senior Flight Test Engineer, Omen
Anduril Industries
Costa Mesa, CA
…of systems is powered by Lattice OS, an AI-powered operating system that turns thousands of data streams into a realtime, 3D command and control center. As the world enters an era of…
Added 1 min ago
Flight Test Engineer, Omen
Anduril Industries
Costa Mesa, CA
…of systems is powered by Lattice OS, an AI-powered operating system that turns thousands of data streams into a realtime, 3D command and control center. As the world enters an era of…
Added 1 min ago
Human Factors Engineer (HFE)
The MITRE Corporation
San Antonio, TX
MITRE’s Human-Systems Integration (HSI) and User Experience (UX) department is seeking a Senior Human Factors Engineer (HFE) who is passionate about designing and developing user-centered…
Added 1 min ago
Controls Engineer, Data Center Engineering
Apple
Dallas, TX
The Data Center Engineering team is looking for a Controls Engineer with depth in both electrical and mechanical control systems. The successful candidate will design, implement, and…
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Staff Databricks Platform Engineer
Southern Glazer's Wine and Spirits
Dallas, TX
The Staff Databricks Platform Engineer owns the engineering of Southern Glazer's Databricks lakehouse as a product: the workspaces, governance model, compute fabric, and automation that…
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Applications Engineer | MPP
Texas Instruments
Dallas, TX
…the market is fast growing. We're searching for applications engineer who have the passion and excitement to grow, innovative, take an active role in product definition, execute the…
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AI Engineer
Humana
Dallas, TX
We are seeking an AI Engineer who will contribute to Generative AI initiatives at Humana, leveraging state-of-the-art LLMs to build applications. Our goal is to create safe AI solutions…
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Sr. Security Engineer (Vulnerability Management)
SpaceX
Bastrop, TX · Cape Canaveral, FL
SpaceX is looking for a Sr. Security Engineer to join Information Security to help protect and drive the SpaceX mission. Information drives our business. We must protect the…

Ulysses Inc.

PNT Software Engineer

San Francisco, CA, United States

$180,000 to $260,000 USD / year

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Job details

Pay: $180,000 to $260,000 USD / year
Posting language: English

Original job description

Ulysses is the ocean company. We design, manufacture, and operate autonomous vehicles for surface and subsea operations - taking on the most critical tasks across defense, commercial, and scientific missions. Our vertically integrated platform includes Mako, a modular AUV with 72-hour endurance and more onboard compute than any vehicle in its class; Leviathan, an autonomous surface vessel mothership; and Kraken, our automated launch-and-recovery system that closes the loop between surface and subsea with zero human intervention. The ocean covers 71% of the Earth's surface and drives a $2.6 trillion global economy, yet it remains the least monitored domain on the planet. We're changing that - building autonomous systems that collapse the cost of ocean operations by orders of magnitude so that persistent coverage becomes the baseline, not the exception. We operate globally today across defense, ocean science, and commercial survey, working with partners including the U.S. Navy, the Government of Australia, the Great Barrier Reef Foundation, and The Nature Conservancy. Founded in 2023 and headquartered in San Francisco, Ulysses has raised $48 million in funding from Andreessen Horowitz, Booz Allen Ventures, Harpoon Ventures, Pebblebed, Lowercarbon Capital, and others. Our team is lean, hands-on, and fast - we prototype in the shop, test on the water, and ship. If you want to work at the frontier, there's no frontier bigger than the ocean.

ABOUT THE ROLE

We're hiring a PNT (Positioning, Navigation, and Timing) Software Engineer to give our vehicles an accurate, reliable understanding of where they are and what's around them - above and below the waterline. This role will primarily focus on localization technologies, including inertial navigation, DVL, and GNSS, while contributing to our broader vision and acoustic development efforts. You'll work closely with our electrical, robotics, and mechanical engineering teams across Mako, Leviathan, and Kraken.

WHAT YOU'LL DO

Navigation and state estimation: architect and implement tightly-coupled navigation for subsea and surface vehicles using factor graphs. Fuse IMU, DVL, pressure, USBL/SBL acoustic positioning, and GNSS/RTK when surfaced, and keep position error bounded across multi-day dives.
Docking and recovery perception: contribute to vision and acoustic localization for our most critical moments - Mako finding and docking with Kraken for fully autonomous launch and recovery, and Leviathan operating safely around other vessels.
Surface situational awareness: fuse radar, AIS, and EO/IR cameras into a reliable track picture that drives collision avoidance and COLREGs-compliant autonomy on Leviathan.
Calibration: own IMU, DVL, and GNSS calibration end-to-end - IMU bias, scale-factor, and misalignment, DVL-to-IMU alignment and scale factor, and GNSS antenna lever arms at factory end-of-line, plus online calibration that keeps them accurate through shock, thermal cycling, and pressure.
Onboard compute and real-time software: contribute to bringing up and running perception on embedded Linux (Yocto, GPU-accelerated inference with TensorRT or similar), processing multi-camera video, sonar, and hydrophone arrays in real time within tight power budgets.
Core libraries: build the optimization, factor graph, and sensor-model libraries that other teams use for estimation, planning, and control.
Logging, replay, and validation: build logging and deterministic reprocessing of mission data so every dive becomes a regression test, and drive reliability improvements from field results.

ABOUT YOU

REQUIREMENTS

You've shipped perception or navigation software on autonomous vehicles, and you can show us what it does.
Experience deploying state estimation on real vehicles in real environments - air, ground, marine, or space - outside of labs and simulation.
Proven ability to take estimation systems from math to production code to field-validated performance.
Strong foundations in state estimation: Kalman filtering, factor graphs and smoothing, nonlinear least-squares optimization, and observability analysis.
Hands-on inertial navigation experience: IMU error modeling, preintegration, and tightly-coupled fusion with aiding sensors (GNSS, DVL, vision, or similar).
Sensor calibration experience: camera intrinsics, extrinsics, and camera-IMU calibration, ideally both on the factory floor and online in the field.
Proficiency in Rust or C++ for real-time, safety-critical software, and Python for prototyping and analysis.
Experience with optimization and estimation frameworks (Ceres, GTSAM, SymForce, or similar) - or experience writing your own.
Comfortable on embedded Linux compute: sensor drivers, time synchronization, and real-time performance on constrained hardware.
Strong debugging instincts: you can trace a bad estimate back to timestamps, calibration, sensor faults, or math, using logs and replay.
Experience building tools for logging, deterministic replay, and evaluation of autonomy software.
Ability to collaborate across electrical and mechanical: sensor selection, mounting, time sync, and the hardware realities that shape perception.
You have a track record of strong problem-solving skills and a demonstrated ability to work independently in dynamic environments.

NICE-TO-HAVES

Marine navigation and sensing experience (DVL, USBL/SBL, INS, multibeam, sidescan, or forward-looking sonar)
Acoustics and array processing: hydrophone or microphone arrays, beamforming, direction-of-arrival estimation
Advanced GNSS: RTK, carrier-phase and time-differenced carrier-phase processing, correction services
Deep learning perception deployed on edge hardware (TensorRT, ONNX), especially in degraded visibility
Embedded firmware experience: microcontrollers, CAN, bootloaders, and low-level sensor interfaces
Experience leading or mentoring a perception or navigation team

Think you're our next teammate? Apply and send examples of perception or navigation systems you've shipped or owned. Tell us what you built, how you knew it was working, what failed in the field, and how you made it reliable.

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More about this job

Skills

Robotics
Mechanical engineering
Estimating
Linux
Rust
C++
Python
Debugging
Problem solving
Work independently
Deep learning
Firmware
Coaching

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