Dr Bernd Porr

Senior Lecturer (Biomedical Engineering)

telephone: 01413305237
email: Bernd.Porr@glasgow.ac.uk

R106 Level 1, Biomedical Engineering, 72 Oakfield Avenue, Glasgow G12 8LP

Import to contacts

https://orcid.org/0000-0001-8157-998X

Research interests

safe autonomous robotic planning using model checking and gaming engines,
online/realtime learning AI algorithms: ISO, ICO, ISO3, FCL, CLDL & DNF for autonomous robotics and signal processing,
deep learning for microfluidic devices,
consultancy for EEG, ECG, EMG, EOG and have developed benchmarks for ECG and EEG detection,
cognitive hearing aids,
limit cycle biped adaptive walking RunBot,
built biped prosthetic robot devices and stimulators,
built deep brain stimulation devices,
model of the limbic system of the brain.

Personal homepage

Publications

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Number of items: 76.

2025

Miller, Alice ORCID: https://orcid.org/0000-0002-0941-1717, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X, Valkov, Ivaylo ORCID: https://orcid.org/0000-0003-1116-875X, Fraser, Douglas and Pagojus, Daumantas (2025) Model checking with memoisation for fast overtaking planning. Science of Computer Programming, 244, 103300. (doi: 10.1016/j.scico.2025.103300)

Lafratta, Giulia ORCID: https://orcid.org/0009-0006-2072-338X, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X, Chandler, Christopher ORCID: https://orcid.org/0000-0001-5025-1498 and Miller, Alice ORCID: https://orcid.org/0000-0002-0941-1717 (2025) Closed-loop multistep planning. Neural Computation, 37(7), pp. 1288-1319. (doi: 10.1162/neco_a_01761) (PMID:40425018)

Murali, Prajval Kumar ORCID: https://orcid.org/0000-0002-7330-7906, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Kaboli, Mohsen (2025) Shared visuo-tactile interactive perception for robust object pose estimation. International Journal of Robotics Research, 44(7), pp. 1186-1216. (doi: 10.1177/02783649241301443)

2024

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Macfarlane, Peter W. (2024) A new QRS detector stress test combining temporal jitter and F-score (JF) reveals significant performance differences amongst popular detectors. PLoS ONE, 19(11), e0309739. (doi: 10.1371/journal.pone.0309739) (PMID:39527567) (PMCID:PMC11554035)

Baskaran, R.K. Rajaram, Link, A. ORCID: https://orcid.org/0000-0002-1141-2831, Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Franke, T. (2024) Classification of chemically modified red blood cells in microflow using machine learning video analysis. Soft Matter, 20(5), pp. 952-958. (doi: 10.1039/D3SM01337E) (PMID:38088860)

2023

Murali, Prajval Kumar ORCID: https://orcid.org/0000-0002-7330-7906, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Kaboli, Mohsen (2023) Touch if it's Transparent! ACTOR: Active Tactile-Based Category-Level Transparent Object Reconstruction. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, 1-5 October 2023, pp. 10792-10799. ISBN 9781665491914 (doi: 10.1109/iros55552.2023.10341680)

Chandler, Christopher ORCID: https://orcid.org/0000-0001-5025-1498, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X, Miller, Alice ORCID: https://orcid.org/0000-0002-0941-1717 and Lafratta, Giulia ORCID: https://orcid.org/0009-0006-2072-338X (2023) Model Checking for Closed-Loop Robot Reactive Planning. In: Fifth Workshop on Formal Methods for Autonomous Systems (FMAS 2023), Leiden, The Netherlands, 15-16 November 2023, pp. 77-94. (doi: 10.4204/EPTCS.395.6)

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Bohollo, Lucía Muñoz (2023) BCI-Walls: a robust methodology to predict if conscious EEG changes can be detected in the presence of artefacts. PLoS ONE, 18(8), e0290446. (doi: 10.1371/journal.pone.0290446) (PMID:37616245) (PMCID:PMC10449140)

Link, Andreas ORCID: https://orcid.org/0000-0002-1141-2831, Luna Pardo, Irene, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Franke, Thomas (2023) AI based image analysis of red blood cells in oscillating microchannels. RSC Advances, 13(41), pp. 28576-28582. (doi: 10.1039/D3RA04644C) (PMID:37780736) (PMCID:PMC10537593)

2022

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X, Daryanavard, Sama, Muñoz Bohollo, Lucía, Cowan, Henry and Dahiya, Ravinder ORCID: https://orcid.org/0000-0002-3858-3841 (2022) Real-time noise cancellation with deep learning. PLoS ONE, 17(11), e0277974. (doi: 10.1371/journal.pone.0277974) (PMID:36409690) (PMCID:PMC9678292)

Möller, Konstantin, Kappel, David, Tamosiunaite, Minija, Tetzlaff, Christian, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Wörgötter, Florentin (2022) Differential Hebbian learning with time-continuous signals for active noise reduction. PLoS ONE, 17(5), e0266679. (doi: 10.1371/journal.pone.0266679) (PMID:35617161) (PMCID:PMC9135254)

2021

Pagojus, Daumantas, Miller, Alice ORCID: https://orcid.org/0000-0002-0941-1717, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Valkov, Ivaylo ORCID: https://orcid.org/0000-0003-1116-875X (2021) Simulation and Model Checking for Close to Real-time Overtaking Planning. In: Third Workshop on Formal Methods for Autonomous Systems (FMAS2021), 21-22 Oct 2021, pp. 20-37. (doi: 10.4204/EPTCS.348.2)

2020

Daryanavard, Sama and Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2020) Closed-loop deep learning: generating forward models with backpropagation. Neural Computation, 32(11), pp. 2122-2144. (doi: 10.1162/neco_a_01317) (PMID:32946708)

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X, Miller, Alice ORCID: https://orcid.org/0000-0002-0941-1717 and Trew, Alexander (2020) An investigation into serotonergic and environmental interventions against depression in a simulated delayed reward paradigm. Adaptive Behavior, 28(4), pp. 241-260. (doi: 10.1177/1059712319864278)

2019

Hladek, Ĺuboš, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X, Naylor, Graham, Lunner, Thomas and Brimijoin, W. Owen (2019) On the interaction of head and gaze control with acoustic beam width of a simulated beamformer in a two-talker scenario. Trends in Hearing, 23, pp. 1-12. (doi: 10.1177/2331216519876795)

2018

Meng, Lin, Macleod, Catherine A., Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Gollee, Henrik ORCID: https://orcid.org/0000-0002-4286-9113 (2018) Bipedal robotic walking control derived from analysis of human locomotion. Biological Cybernetics, 112(3), pp. 277-290. (doi: 10.1007/s00422-018-0750-5) (PMID:29399713) (PMCID:PMC6002472)

Hládek, Ľuboš, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Brimijoin, W. Owen (2018) Real-time estimation of horizontal gaze angle by saccade integration using in-ear electrooculography. PLoS ONE, 13(1), e0190420. (doi: 10.1371/journal.pone.0190420) (PMID:29304120) (PMCID:PMC5755791)

2017

Meng, Lin, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Gollee, Henrik ORCID: https://orcid.org/0000-0002-4286-9113 (2017) Technical developments of functional electrical stimulation to restore gait functions: Sensing, control strategies and current commercial systems. Yiqi Yibiao Xuebao = Chinese Journal of Scientific Instrument, 2017(6), pp. 1319-1334.

Hladek, Lubos, Brimijoin, William and Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2017) Electro-oculography based horizontal gaze tracking: A perspective for attention-driven hearing aids. Journal of the Acoustical Society of America, 141(5), p. 3571. (doi: 10.1121/1.4987591)

Meng, Lin, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X, Macleod, Catherine A. and Gollee, Henrik ORCID: https://orcid.org/0000-0002-4286-9113 (2017) A functional electrical stimulation system for human walking inspired by reflexive control principles. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 231(4), pp. 315-325. (doi: 10.1177/0954411917693879) (PMID:28332444)

Hládek, L., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Brimijoin, W.O. (2017) Effect of Width of Acoustic Beam in Eye-Controlled Beamforming in a Dynamic ‘Cocktail Party’. BSA Basic Auditory Science Meeting, Nottingham, UK, 04-05 Sep 2017. p. 13.

Hládek, L., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Brimijoin, W.O. (2017) Electro-Oculography Based Horizontal Gaze Tracking: a Perspective for Attention-Driven Hearing Aids. 173rd Meeting of the Acoustical Society of America and the 8th Forum Acusticum, Boston, MA, USA, 25-29 Jun 2017.

Hládek, Ľuboš, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Brimijoin, W. Owen (2017) Effect of Eye-Controlled Beamforming in a Dynamic ‘Cocktail Party’, a Pilot Study. 3rd Workshop on Cognitive Neuroscience of Auditory and Cross-Modal Perception, Košice, Slovakia, 29-31 May 2017.

2016

Kirwan, Ryan, Miller, Alice ORCID: https://orcid.org/0000-0002-0941-1717 and Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2016) Model checking learning agent systems using Promela with embedded C code and abstraction. Formal Aspects of Computing, 28(6), pp. 1027-1056. (doi: 10.1007/s00165-016-0382-2)

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2016) “Truthful” acting emerges through forward model development. Constructivist Foundations, 11(3), pp. 612-613.

Brimijoin, W. Owen, Tilbury, Emily, Akeroyd, Michael A. and Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2016) Measuring vowel percepts in human listeners with behavioral response-triggered averaging. Journal of the Acoustical Society of America, 139(4), p. 1990. (doi: 10.1121/1.4949822)

Hládek, L., Brimijoin, W.O. and Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X (2016) Horizontal Eye Tracking Using EOG: a Step Towards Attention Driven Hearing Aids. Basic Auditory Science, Cambridge, UK, 05-06 Sep 2016.

Sutherland, Marc and Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2016) Modelling the Effect of Dorsal Raphe Serotonin Neurons on Patience for Future Rewards. In: 14th International Conference on Simulation of Adaptive Behavior (SAB 2016), Aberystwyth, UK, 23-26 Aug 2016, pp. 256-266. ISBN 9783319434872 (doi: 10.1007/978-3-319-43488-9_23)

2014

Macleod, Catherine A., Meng, Lin, Conway, Bernard and Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2014) Reflex control of robotic gait using human walking data. PLoS ONE, 9(10), e109959. (doi: 10.1371/journal.pone.0109959) (PMID:25347544) (PMCID:PMC4210155)

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Di Prodi, Paolo (2014) Subsystem formation driven by double contingency. Constructivist Foundations, 9(2), pp. 199-222.

2013

Kirwan, Ryan, Miller, Alice ORCID: https://orcid.org/0000-0002-0941-1717, Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Di Prodi, P. (2013) Formal modeling of robot behavior with learning. Neural Computation, 25(11), pp. 2976-3019. (doi: 10.1162/NECO_a_00493)

Ewing, Samuel G., Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Pratt, Judith (2013) Deep brain stimulation of the mediodorsal thalamic nucleus yields increases in the expression of zif-268 but not c-fos in the frontal cortex. Journal of Chemical Neuroanatomy, 52, pp. 20-24. (doi: 10.1016/j.jchemneu.2013.04.002) (PMID:23660497)

Ewing, S.G., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X, Riddell, J.S. ORCID: https://orcid.org/0000-0001-6366-6545, Winter, C. and Grace, A.A. (2013) SaBer DBS: a fully programmable, rechargeable, bilateral, charge-balanced preclinical microstimulator for long-term neural stimulation. Journal of Neuroscience Methods, 213(2), pp. 228-235. (doi: 10.1016/j.jneumeth.2012.12.008)

Brimijoin, W.O., Akeroyd, M.A., Tilbury, E. and Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X (2013) The internal representation of vowel spectra investigated using behavioral response-triggered averaging. Journal of the Acoustical Society of America, 133(2), EL118-EL122. (doi: 10.1121/1.4778264)

Glen, J., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X, Hamilton, R. and Tait, L. (2013) A proof of concept evaluation of the electroencephalophone as a discriminator between wakefulness and general anaesthesia. British Journal of Anaesthesia, (doi: 10.1093/bja/aet067)

Miller, A. ORCID: https://orcid.org/0000-0002-0941-1717, Kirwan, R., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Di Prodi, P. (2013) Model checking for improved adaptive behaviour. In: Proceedings of the Institution of Engineering and Technology Conference on Control and Automation, Birmingham, England, 4-5 Jun 2013,

2012

Hattan, G. and Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X (2012) A computational model of the role of serotonin in reversal learning. Lecture Notes in Computer Science, 7426, pp. 279-288. (doi: 10.1007/978-3-642-33093-3_28)

2011

Archibald, David ORCID: https://orcid.org/0000-0003-1490-1611, Archibald, Daniel [co-directors], Burn, Tam Dean [narrator], Clark, Martin [cinematography] and Porr, Bernd [editor] ORCID: https://orcid.org/0000-0001-8157-998X (2011) The Mathematics of a Dream (Abridged) [Film]. [Performance]

Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X, McCabe, L., Di Prodi, P., Kolodziejski, C. and Woergoetter, F. (2011) How feedback inhibition shapes spike-timing-dependent plasticity and its implications for recent Schizophrenia models. Neural Networks, 24(6), pp. 560-567. (doi: 10.1016/j.neunet.2011.03.004)

2010

Kulvicius, T., Kolodziejski, C., Tamosiunaite, M., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Wörgötter, F. (2010) Behavioral analysis of differential hebbian learning in closed-loop systems. Biological Cybernetics, 103(4), pp. 255-271. (doi: 10.1007/s00422-010-0396-4)

Tamosiunaite, M., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Wörgötter, F. (2010) Erratum to: Self-influencing synaptic plasticity: recurrent changes of synaptic weights can lead to specific functional properties. Journal of Computational Neuroscience, 28(3), p. 621. (doi: 10.1007/s10827-010-0218-7)

Di Prodi, P., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Worgotter, F. (2010) A Novel Information Measure for Predictive Learning in a Social System Setting. In: International Conference on Simulation of Adaptive Behavior, Paris, France, 25-28 August 2010, pp. 511-522.

Thompson, A., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Worgotter, F. (2010) Learning and Reversal Learning in the Subcortical Limbic System: A Computational Model. Adaptive Behavior, 18(3-4), pp. 211-236. (doi: 10.1177/1059712309353612)

2009

Di Prodi, P., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Worgotter, F. (2009) A novel information measure for adaptive controllers in swarm systems. In: Stoica, A. (ed.) AT-EQUAL 2009: 2009 ECSIS Symposium on Advanced Technologies for Enhanced Quality of Life (LAB-RS and ARTIPED 2009): Proceedings, 22-26 July 2009, Iasi, Romania. IEEE Computer Society: Los Alamitos, USA, pp. 136-137. ISBN 9780769537535 (doi: 10.1109/AT-EQUAL.2009.35)

Di Prodi, P., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Wörgötter, F. (2009) A novel information measure to understand differentiation in social systems. In: Bernstein Conference on Computational Neuroscience, Frankfurt am Main, Germany, 30 Sept - 2 Oct 2009,

Kolodziejski, C., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Worgotter, F. (2009) On the asymptotic equivalence between differential hebbian and temporal difference learning. Neural Computation, 21(4), pp. 1173-1202. (doi: 10.1162/neco.2008.04-08-750)

Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Woergoetter, F. (2009) Modeling spike timing dependent plasticity with a retrograde transmitter. BMC Neuroscience, 10(Suppl), P194. (doi: 10.1186/1471-2202-10-S1-P194)

Thompson, A., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Wörgötter, F. (2009) Behavioral inhibition during reversal learning in the limbic system: a computational model. BMC Neuroscience, 10(Suppl), P8. (doi: 10.1186/1471-2202-10-S1-P8)

Thompson, A.M., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Wörgötter, F. (2009) Reversal learning in the sub-cortical limbic system: a computational model. In: 20th National Meeting of the British Neuroscience Association, Liverpool, UK, 19-22 April 2009,

Waddell, C., Pratt, J.A., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Ewing, S. (2009) Deep brain stimulation artifact removal through under-sampling and cubic-spline interpolation. In: 2nd International Congress on Image and Signal Processing (CISP), Tianjin, China, 17-19 Oct 2010, pp. 3953-3957.

Worgotter, F., Agostini, A., Kruger, N., Shylo, N. and Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X (2009) Cognitive agents - a procedural perspective relying on the predictability of Object-Action-Complexes (OACs). Robotics and Autonomous Systems, 57(4), pp. 420-432. (doi: 10.1016/j.robot.2008.06.011)

2008

Tamosiunaite, M., Ainge, J., Kulvicius, T., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X, Dudchenko, P. and Worgotter, F. (2008) Path-finding in real and simulated rats: assessing the influence of path characteristics on navigation learning. Journal of Computational Neuroscience, 25(3), pp. 562-582. (doi: 10.1007/s10827-008-0094-6)

Di Prodi, P., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Worgotter, F. (2008) Adaptive communication promotes sub-system formation in a multi agent system with limited resources. In: ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems, Edinburgh, UK, 6-8 Aug 2008, pp. 89-96. (doi: 10.1109/LAB-RS.2008.19)

Kolodziejski, C., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Woergoetter, F. (2008) Mathematical properties of neuronal TD-rules and differential Hebbian learning: a comparison. Biological Cybernetics, 98(3), pp. 259-272. (doi: 10.1007/s00422-007-0209-6)

Kolodziejski, C., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Wörgötter, F. (2008) On the equivalence between differential Hebbian and temporal difference learning. In: Computational and Systems Neuroscience Meeting, Salt Lake City, USA, 28 Feb - 4 Mar 2008,

Thompson, A.M., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X, Kolodziejski, C. and Worgotter, F. (2008) Second order conditioning in the sub-cortical nuclei of the limbic system. In: Asada, M., Hallam, J.C.T., Meyer, J.A. and Tani, J. (eds.) From Animals to Animats 10, Proceedings. Series: Lecture notes in computer science: Lecture notes in artificial intelligence (5040). Springer-Verlag: Berlin, pp. 189-198. ISBN 9783540691334

Wörgötter, F., Kolodziejski, C., Kulvicius, T., Di Prodi, P, Tamosiunaite, M. and Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X (2008) On the analysis and evaluation of closed loop learning systems. In: Bernstein Symposium 2008, Munich, Germany, 8-10 Oct 2008,

Wörgötter, F. and Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X (2008) Reinforcement learning. Scholarpedia, 3(3), p. 1448. (doi: 10.4249/scholarpedia.1448)

2007

Tamosiunaite, M., Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X and Worgotter, F. (2007) Self-influencing synaptic plasticity: recurrent changes of synaptic weights can lead to specific functional properties. Journal of Computational Neuroscience, 23(1), pp. 113-127. (doi: 10.1007/s10827-007-0021-2)

Kulvicius, T, Porr, B and Worgotter, F (2007) Development of receptive fields in a closed-loop behavioural system. Neurocomputing, 70, pp. 2046-2049. (doi: 10.1016/j.neucom.2006.10.132)

Manoonpong, P., Geng, T., Kulvicius, T., Porr, B. and Worgotter, F. (2007) Adaptive, fast walking in a biped robot under neuronal control and learning. PLoS Computational Biology, 3(7), e134. (doi: 10.1371/journal.pcbi.0030134) (PMID:17630828) (PMCID:PMC1914373)

Porr, B, Kulvicius, T and Worgotter, F (2007) Improved stability and convergence with three factor learning. Neurocomputing, 70, pp. 2005-2008. (doi: 10.1016/j.neucom.2006.10.137)

Porr, B and Worgotter, F (2007) Fast heterosynaptic learning in a robot food retrieval task inspired by the limbic system. BioSystems, 89, pp. 294-299. (doi: 10.1016/j.biosystems.2006.04.026)

Porr, B and Worgotter, F (2007) Learning with "relevance": Using a third factor to stabilize Hebbian learning. Neural Computation, 19, pp. 2694-2719.

Tamosiunaite, M, Porr, B and Worgotter, F (2007) Developing velocity sensitivity in a model neuron by local synaptic plasticity. Biological Cybernetics, 96, pp. 507-518. (doi: 10.1007/s00422-007-0146-4)

2006

Geng, T, Kulvivius, T, Porr, B and Worgotter, F (2006) Neural control and synaptic plasticity in a planar biped walking robot. In: Computational Neuroscience meeting, CNS2006, Edinburgh, UK,

Geng, T, Porr, B and Worgotter, F (2006) Fast biped walking with a sensor-driven neuronal controller and real-time online learning. International Journal of Robotics Research, 25, pp. 243-259. (doi: 10.1177/0278364906063822)

Geng, T, Porr, B and Worgotter, F (2006) A reflexive neural network for dynamic biped walking control. Neural Computation, 18, pp. 1156-1196.

Kolodziejski, C, Porr, B and Worgotter, F (2006) Fast, flexible and adaptive motor control achieved by pairing neuronal learning with recruitment. In: Computational Neuroscience meeting, CNS2006, Edinburgh, UK,

Porr, B (2006) Fast biped walking with a reflexive controller and real-time policy searching. Advances in Neural Information Processing Systems, 18, pp. 427-434.

Porr, B (2006) Temporally changing synaptic plasticity. Advances in Neural Information Processing Systems, 18, pp. 1337-1344.

Porr, B (2006) Towards closed loop information: Predictive information. Constructivist Foundations, 1(2), pp. 83-90.

Porr, B and Worgotter, F (2006) How to stabilise Hebbian learning with a third factor ? In: 5th Forum of European Neuroscience, Vienna, Austria,

Porr, B and Worgotter, F (2006) Strongly improved stability and faster convergence of temporal sequence learning by using input correlations only. Neural Computation, 18, pp. 1380-1412.

Soell, S and Porr, B (2006) A VCO based digital microphone utilizing a FIR sigma delta converter. In: Proceedings of MIXDES 2006 Conference, Gdynia, Poland, pp. 223-227. ISBN 83 922632 1 9

Thompson, A.M., Porr, B. and Worgotter, F. (2006) Stabilising Hebbian learning with a third factor in a food retrieval task. Lecture Notes in Computer Science, 2006, pp. 313-322. (doi: 10.1007/11840541_26)

This list was generated on Thu Apr 2 02:19:24 2026 BST.

Jump to: Articles | Book Sections | Conference or Workshop Item | Conference Proceedings | Performance

Number of items: 76.

Articles

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X (2016) “Truthful” acting emerges through forward model development. Constructivist Foundations, 11(3), pp. 612-613.

Porr, Bernd ORCID: https://orcid.org/0000-0001-8157-998X and Di Prodi, Paolo (2014) Subsystem formation driven by double contingency. Constructivist Foundations, 9(2), pp. 199-222.

Wörgötter, F. and Porr, B. ORCID: https://orcid.org/0000-0001-8157-998X (2008) Reinforcement learning. Scholarpedia, 3(3), p. 1448. (doi: 10.4249/scholarpedia.1448)

Kulvicius, T, Porr, B and Worgotter, F (2007) Development of receptive fields in a closed-loop behavioural system. Neurocomputing, 70, pp. 2046-2049. (doi: 10.1016/j.neucom.2006.10.132)

Porr, B, Kulvicius, T and Worgotter, F (2007) Improved stability and convergence with three factor learning. Neurocomputing, 70, pp. 2005-2008. (doi: 10.1016/j.neucom.2006.10.137)

Porr, B and Worgotter, F (2007) Fast heterosynaptic learning in a robot food retrieval task inspired by the limbic system. BioSystems, 89, pp. 294-299. (doi: 10.1016/j.biosystems.2006.04.026)

Porr, B and Worgotter, F (2007) Learning with "relevance": Using a third factor to stabilize Hebbian learning. Neural Computation, 19, pp. 2694-2719.

Geng, T, Porr, B and Worgotter, F (2006) A reflexive neural network for dynamic biped walking control. Neural Computation, 18, pp. 1156-1196.

Porr, B (2006) Fast biped walking with a reflexive controller and real-time policy searching. Advances in Neural Information Processing Systems, 18, pp. 427-434.

Porr, B (2006) Temporally changing synaptic plasticity. Advances in Neural Information Processing Systems, 18, pp. 1337-1344.

Porr, B (2006) Towards closed loop information: Predictive information. Constructivist Foundations, 1(2), pp. 83-90.

Porr, B and Worgotter, F (2006) Strongly improved stability and faster convergence of temporal sequence learning by using input correlations only. Neural Computation, 18, pp. 1380-1412.

Book Sections

Conference or Workshop Item

Conference Proceedings

Geng, T, Kulvivius, T, Porr, B and Worgotter, F (2006) Neural control and synaptic plasticity in a planar biped walking robot. In: Computational Neuroscience meeting, CNS2006, Edinburgh, UK,

Porr, B and Worgotter, F (2006) How to stabilise Hebbian learning with a third factor ? In: 5th Forum of European Neuroscience, Vienna, Austria,

Soell, S and Porr, B (2006) A VCO based digital microphone utilizing a FIR sigma delta converter. In: Proceedings of MIXDES 2006 Conference, Gdynia, Poland, pp. 223-227. ISBN 83 922632 1 9

Performance

This list was generated on Thu Apr 2 02:19:24 2026 BST.

Supervision

Lafratta, Giulia
Implementing Core Knowledge for On-The-Fly Casual Reasoning in Robotic Navigation

Teaching

Digital Signal Processing
Realtime Embedded Programming (C++/Linux)
Bioethics
Coordinator of the BEng projects at the School of Engineering
Electronics with Music contact at the School of Engineering
Supervision of biomedical-, electronics-, computer science and electronics with music projects: PhD, BEng, MEng and MSc

Research datasets

Jump to: 2022 | 2021 | 2018 | 2016

Number of items: 5.

2022

Muñoz Bohollo, L., Porr, B. and Dahiya, R. (2022) EEG and P300 database to determine the signal to noise ratio during a variety of realistic tasks. [Data Collection]

2021

Suwanban, L. and Porr, B. (2021) Measuring Einthoven II ECG and reference EMG simultaneously to be able to benchmark noise reduction algorithms. [Data Collection]

2018

Howell, L. and Porr, B. (2018) High precision ECG Database with annotated R peaks, recorded and filmed under realistic conditions. [Data Collection]

Porr, B. (2018) Measuring EMG and EEG simultaneously to determine the EMG pollution in the EEG during a variety of tasks. [Data Collection]

2016

Kirwan, R., Miller, A. and Porr, B. (2016) Model checking learning agent systems using Promela with embedded C code and abstraction. [Data Collection]

This list was generated on Wed Apr 1 14:59:44 2026 BST.

Additional information

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James Watt School of Engineering

Dr Bernd Porr

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Additional information