08/2013-06/2014 University of Hawaii, Manoa, Honolulu, HI, USA, Visiting Professor in Mathematics
2012-present Queen's University, Kingston, Ontario, Canada, Professor in Mathematics & Statistics
01/2005-03/2005 Centre de Recerca Matemàtica, Barcelona, Spain, Visiting researcher
2004-2012 Queen's University, Kingston, Ontario, Canada, Associate Professor in Mathematics & Statistics
1998-2004 Queen's University, Kingston, Ontario, Canada, Assistant Professor in Mathematics & Statistics
1996-1998 University of Warwick, Coventry, United Kingdom, Research fellow in Mathematics
1995-1996 California Institute of Technology, Pasadena, California, USA, Research Fellow in Control and Dynamical Systems
1990-1995 California Institute of Technology, Pasadena, California, USA, Graduate research assistant
1989-1990 Los Alamos National Laboratory, Los Alamos, New Mexico, USA, Graduate research assistant at The Center for Nonlinear Studies
1987-1989 California Institute of Technology, Pasadena, California, USA, Graduate research assistant
1985-1987 University of New Brunswick, Fredericton, New Brunswick, Canada, Undergraduate research assistant
1995 California Institute of Technology, Pasadena, California, USA, PhD in Applied Mechanics (Advisor: Richard M. Murray)
1988 California Institute of Technology, Pasadena, California, USA, MSc in Engineering and Applied Science
1987 University of New Brunswick, Fredericton, New Brunswick, Canada, BSc in Mechanical Engineering
2012-present Mathematics of Control, Signals and Systems, Associate Editor
2008-2022 Journal of Geometric Mechanics, Co-founder (with Manuel de Léon and Juan-Pablo Ortega) and Managing Editor (resigned from the journal in 2022 due to a change in emphasis in editorial policy with which I disagreed)
2023-present Geometric Mechanics, Co-founder (with Manuel de Léon and Juan-Pablo Ortega) and Managing Editor