On 10 October 1986 Waldron discovered the asteroid, 3753 Cruithne, while serving at the UK Schmidt Telescope at Siding Spring Observatory, and on 21 November 1986, also discovered asteroid 5577 Priestley. In 1995, Waldron was first exposed to Paint Shop Pro because of the Observatory's early exploration of digital photography.
In 1986, Waldron made two significant astronomical discoveries: asteroid 3753 Cruithne on October 10th and asteroid 5577 Priestley on November 21st while working at the UK Schmidt Telescope at Siding Spring Observatory.  He was also exposed to Paint Shop Pro in 1995 due to the observatory's early use of digital photography.