MEng projects and Teaching

MEng and UROP projects

2024-2025

Impulsive / neuromorphic control of simple robots

Impedance control of Versius system (collaboration with CMR Surgical)

Mixed reality robot programming

Visual feedback for adaptive robot control

Enabling Robotic Surgery Training with Augmented Reality (Engineering for Clinical Practice Grant)

2023-2024

Model-informed event-based visual tracking. Project Pictures.

Learning to push through prediction and feedback. Project Pictures.

Learning to throw through prediction and feedback Project Pictures.

Augmented Reality in Human-Robot Assembly. Co-supervised with S.  Tadeja. Project Pictures.

Neuromorphic Control of Quadrupedal Robots. Co-supervised with T.  O'Leary.  Collaboration with Mathworks. Project Pictures. 

2022-2023

Vision-based tactile sensing with DIGIT. Project Pictures 

Shape memory alloys for distributed actuation. Project Pictures 

The design and optimisation of navigation systems for solar powered flight (collaboration with Limosaero). Project Pictures 

Development of Guidance Laws Updated in Real Time for Optimal Control of Spacecraft Attitude. Project Pictures 

2021-2022

Robot localisation in polytunnels via RF technology (collaboration with Dogtooth). Project presentation

Advanced control methods for robotics (collaboration with Mathworks).

2020-2021

Robot assisted animal surgery. Co-supervised with M. Allen. Project Pictures

Event-based motor control. Project Pictures

Dynamic balancing of feedback and feedforward in robotics. Project Pictures

Optimal control of a variable stiffness actuator

Balancing Feedback and Feedforwoard for control (collaboration with Mathworks). Project Pictures.

2019-2020

Capacitive soft skin for shape estimation (Dyson Bursary). Project Pictures 

Fabrication and control of a robotic elephant trunk Project 1 Pictures, Project 2 Pictures 

Soft hydraulic actuators. Project Pictures

2018-2019

Distributed sensing in soft robotics (Dyson Bursary). Project 1 Pictures , Project 2 Pictures

Self-balancing bike (Dyson Bursary). Project Pictures

Modelling of stretch sensors for feedback control applications. Project Pictures

Analysis of enzyme kinetics via dominance theory (visiting Erasmus student V. Debauche, University of Namur, Belgium)

2017-2018

Electromagnetic voice coils for robotics: an exploration of compliant, force-controlled actuators. Project Pictures

Control of compliant joint: antagonistic tendon drives with stretch sensors. Project Pictures

2016-2017

A toolbox for differential positivity. PDF

Haptic feedback control for medical applications. Co-supervised with M. Smith. Collaboration with Sagentia. PDF

2015-2016

Limit cycle regulation of hopping robots. Collaboration with F. Iida. PDF

Haptic feedback control for medical applications. Co-supervised with M. Smith. Collaboration with Sagentia. PDF

before 2015

Differential positivity of relaxation oscillators. Co-supervised with R. Sepulchre (2014-2015)

Control of boost converters by energy-based techniques. Co-supervised with R. Sepulchre and L. Zaccarian.  Collaboration with Schneider electric (2012)

Modular hybrid model for the simulation of baggage handling belt conveyor systems. Master thesis co-supervised with L. Zaccarian.  Collaboration with Automate s.r.l. (2011)

See the cartoon on the hybrid model of a belt conveyor system.

Courses 

2024-2025

Robust and Nonlinear Control (Part IIB - Module 4F2)

Advanced Robotics (Part IIB, Module 4M25)

Control and Computation in Living Systems (Part IIB, Module 4G7)

2023-2024

Robust and Nonlinear Control (Part IIB - Module 4F2)

Control and Computation in Living Systems (Part IIB, Module 4G7)

2022-2023

Robust and Nonlinear Control (Part IIB - Module 4F2)

Advanced Robotics (Part IIB, Module 4M25)

Robotics (Part IIB, Module 4M20)

Control and Computation in Living Systems (Part IIB, Module 4G7)

2021-2022

Robust and Nonlinear Control (Part IIB - Module 4F2)

An optimisation based approach to control (Part IIB - Module 4F3)

Advanced Robotics (Part IIB, Module 4M25)

2020-2021

Signals and systems (Part IIA - Module 3F1)

Robust and Nonlinear Control (Part IIB - Module 4F2)

Robotics (Part IIB, Module 4M20)

2019-2020

Signals and systems (Part IIA - Module 3F1)

An optimisation based approach to control (Part IIB - Module 4F3)

Robotics (Part IIB, Module 4M20)

2018-2019

Integrated design project (Part IB)

Signals and systems (Part IIA - Module 3F1)

An optimisation based approach to control (Part IIB - Module 4F3)

2017-2018

Signals and systems (Part IIA - Module 3F1)

Robust and Nonlinear Systems and Control (Part IIB - Module 4F2)

Exposition Course (Part IA - Module 1CW)

2016-2017

Signals and systems (Part IIA - Module 3F1)

Robust and Nonlinear Systems and Control (Part IIB - Module 4F2)

2015-2016

Exposition Course (Part IA - Module 1CW)

Robust and Nonlinear Systems and Control (Part IIB - Module 4F2)

Optimal and Predictive Control (Part IIB - Module 4F3)

See also Seminars and Lectures.