MEng projects and Teaching
2023-2024
Model-informed event-based visual tracking
Learning to push through prediction, pruning, and feedback
Learning to throw through prediction, pruning, and feedback
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
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.