Dr Kevin Worrall

Senior Lecturer (Autonomous Systems & Connectivity)

telephone: 01413304345
email: Kevin.Worrall@glasgow.ac.uk
pronouns: He/him/his

Room 806, Aerospace Sciences, School of Engineering, James Watt Building, G12 8QQ

Biography

Biography

I am a lecturer in Robotics and Control, based within the Aerospace Division. I am a member of both the Space Engineering and Technology group, and the Centre for Medical and Industrial Ultrasonics. Having graduated from the University of Glasgow in Electronics and Electrical Engineering (2003), I pursued a Masters in Robotics and Embedded Systems at the University of Essex (2004). After this I returned to Glasgow and completed my PhD investigating guidance and search algorithms for mobile robots based on optimisation algorithms (2008). Looking for a different challenge, I worked in the space sector developing mechatronics for satellites. I returned to the University of Glasgow in 2014 as a researcher and was appointed a lecturer in 2018.

Interests

My research is related to developing mechatronic systems for extreme (space, underground, Antarctica), precision (medical), and agricultural environments. This work includes research covering control theory to machine learning and work on robotic manipulators to satellites.

Experience

My work has mainly involved collaboration with industry, either working alongside them to create a new solution or supporting ongoing developments. This has led to a wide range of experience, ranging from working to international standards, through to the development and running of tests in a range of test houses, and in the field.

Publications

List by: Type | Date

Jump to: 2025 | 2024 | 2023 | 2022 | 2021 | 2020 | 2019 | 2018 | 2017 | 2016 | 2015 | 2013 | 2006 | 2003

Number of items: 53.

2025

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2025) Investigation of attitude control actuators for large flexible space structures using inverse simulation. Advances in Space Research, 75(2), pp. 2062-2087. (doi: 10.1016/j.asr.2024.11.010)

Jimenez Cuesta, Claudia ORCID: https://orcid.org/0009-0003-7915-1302, Davies, Jack, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Cammarano, Andrea ORCID: https://orcid.org/0000-0002-8222-8150 and Zare-Behtash, Hossein ORCID: https://orcid.org/0000-0002-4769-4076 (2025) Plume-surface interactions: a review of experimental work. Acta Astronautica, 226(1), pp. 892-912. (doi: 10.1016/j.actaastro.2024.09.021)

2024

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 (2024) Broyden’s method for faster inverse simulation. Journal of Guidance, Control, and Dynamics, 47(9), pp. 1939-1945. (doi: 10.2514/1.G007975)

Lawley, Alistair, Hampson, Rory, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Dobie, Gordon (2024) Using positional tracking to improve abdominal ultrasound machine learning classification. Machine Learning: Science and Technology, 5(2), 025002. (doi: 10.1088/2632-2153/ad379d)

Jimenez Cuesta, Claudia ORCID: https://orcid.org/0009-0003-7915-1302, Davies, Jack, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Cammarano, Andrea ORCID: https://orcid.org/0000-0002-8222-8150 and Zare-Behtash, Hossein ORCID: https://orcid.org/0000-0002-4769-4076 (2024) Development of Diagnostic Techniques for Plume-Generated Dust Clouds. 21st International Planetary Probe Workshop 2024 (IPPW 2024), Williamsburg, Virginia, USA, 08-14 Jun 2024.

Lawley, Alistair, Hampson, Rory, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Dobie, Gordon (2024) Analysis of neural networks for routine classification of sixteen ultrasound upper abdominal cross sections. Abdominal Radiology, 49, pp. 651-661. (doi: 10.1007/s00261-023-04147-x) (PMID:38214722) (PMCID:PMC10830611)

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2024) Effects of model fidelity and uncertainty on a model-based attitude controller for satellites with flexible appendages. Acta Astronautica, 214, pp. 30-45. (doi: 10.1016/j.actaastro.2023.10.011)

Harkness, P. ORCID: https://orcid.org/0000-0002-9930-6012, Houston, C., Souza, C., Timoney, R., Worrall, K. ORCID: https://orcid.org/0000-0001-9762-5274, Rix, J. and Dixon, A. (2024) The Deeper Project: A Testbed for 20m Scale Drilling Technologies. In: ASTRA 2022, Noordwijk, The Netherlands, 01-02 Jun 2022,

2023

Lawley, Alistair, Hampson, Rory, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Dobie, Gordon (2023) Prescriptive Method for Optimizing Cost of Data Collection and Annotation in Machine Learning of Clinical Ultrasound. In: 2023 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Sydney, Australia, 24-27 Jul 2023, ISBN 9798350324471 (doi: 10.1109/EMBC40787.2023.10340858)

Shilliday, Stuart R.K. ORCID: https://orcid.org/0009-0006-3927-3067, Swinton, Sarah ORCID: https://orcid.org/0000-0002-2880-1155, Al Oufi, Salim, McGookin, Euan W. ORCID: https://orcid.org/0000-0002-1262-190X, Thomson, Douglas G. ORCID: https://orcid.org/0000-0003-3588-5710 and Worrall, Kevin J. ORCID: https://orcid.org/0000-0001-9762-5274 (2023) Friction Modelling With Slip For Planetary Exploration Rovers. In: 9th Internation Conference on Control, Decision and Information Technologies (CoDIT) 2023, Rome, Italy, 3-6 July 2023, pp. 1409-1414. ISBN 9798350311402 (doi: 10.1109/CoDIT58514.2023.10284488)

Jimenez Cuesta, Claudia, Pickles, David ORCID: https://orcid.org/0000-0003-2797-3147, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Cammarano, Andrea ORCID: https://orcid.org/0000-0002-8222-8150 and Zare-Behtash, Hossein ORCID: https://orcid.org/0000-0002-4769-4076 (2023) Characterisation of the Dust Cloud During Landing on Lunar and Martian Surfaces. Aerospace Europe Conference 2023 Joint 10th EUCASS - 9th CEAS Conference, Lausanne, Switzerland, 9-13 July 2023.

Loettgen, Jan Luca, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178, Aragon-Camarasa, Gerardo ORCID: https://orcid.org/0000-0003-3756-5569 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2023) Deep Reinforcement Learning for Spacecraft Attitude Tracking Manoeuvres. Aerospace Europe Conference 2023 Joint 10th EUCASS - 9th CEAS Conference, Lausanne, Switzerland, 9-13 July 2023. (doi: 10.13009/EUCASS2023-671)

Jimenez Cuesta, Claudia, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Cammarano, Andrea ORCID: https://orcid.org/0000-0002-8222-8150, Pickles, David ORCID: https://orcid.org/0000-0003-2797-3147 and Zare-Behtash, Hossein ORCID: https://orcid.org/0000-0002-4769-4076 (2023) Plume-regolith Dust Cloud Characterisation. Lunar Surface Innovation Consortium Spring Meeting, Laurel, ‎MD‎, USA, 24-25 Apr 2023.

Alhajeri, Majid A., Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2023) Model-Based Systems Engineering Simulation Tool for the Design and Performance Analysis of Modular Lunar Rovers. In: 74th International Astronautical Congress (IAC), Baku, Azerbaijan, 2-6 Oct 2023, ISBN 9781713885467

2022

Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Li, Xiaoniu, Huang, Tianlu, Feeney, Andrew ORCID: https://orcid.org/0000-0001-7170-1830, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2022) Transportation of Granular Materials with Ultrasonic Augers. In: 2022 IEEE International Ultrasonics Symposium (IUS), Venice, Italy, 10-13 October 2022, ISBN 9781665478137 (doi: 10.1109/IUS54386.2022.9958454)

Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Li, Xiaoniu, Huang, Tianlu, Feeney, Andrew ORCID: https://orcid.org/0000-0001-7170-1830, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2022) Ultrasonic augers for improved transport of granular materials. Acta Astronautica, 201, pp. 1-11. (doi: 10.1016/j.actaastro.2022.07.054)

Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Vedanthu, Aditya ORCID: https://orcid.org/0000-0002-1037-9064, Scott-George, Andrew and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2022) The pulse-elevator: a pump for granular materials. Acta Astronautica, 200, pp. 33-41. (doi: 10.1016/j.actaastro.2022.07.052)

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2022) Attitude Control of Satellites with Flexible Appendages Using Inverse Simulation. In: 73rd International Astronautical Congress (IAC), Paris, France, 18-22 Sept 2022,

Loettgen, Jan Luca, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178, Aragon Camarasa, Gerardo ORCID: https://orcid.org/0000-0003-3756-5569 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2022) Application of Deep Reinforcement Learning for Attitude Control of a Satellite in the Presence of Uncertainties. In: 73rd International Astronautical Congress (IAC), Paris, France, 18-22 Sept 2022, ISBN 0074-1795

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 (2022) Attitude Control of a Nanosatellite using Inverse Simulation. In: 72nd International Astronautical Congress 2021, Dubai, United Arab Emirates, 25-29 Oct 2021, pp. 833-847. ISBN 9781713843078

2021

Moore, Iain ORCID: https://orcid.org/0000-0003-1607-2087, Bailet, Gilles ORCID: https://orcid.org/0000-0003-2292-4792, Beeley, James, Timmons, Thomas ORCID: https://orcid.org/0000-0001-6131-2954, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178, Stamat, Liviu, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and McInnes, Colin R. ORCID: https://orcid.org/0000-0003-0988-8854 (2021) Multi-probe In-situ Detection of GasEous Species (MIDGES): A Low Cost Mission to Detect PH3 in the Venusian Atmosphere. 18th International Planetary Probe Workshop, June-August 2021.

2020

Timoney, Ryan, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Rix, Julius, Ashurst, Daniel, Mulvaney, Robert and Bentley, Michael J. (2020) A low resource subglacial bedrock sampler: the percussive rapid access isotope drill (P-RAID). Cold Regions Science and Technology, 177, 103113. (doi: 10.1016/j.coldregions.2020.103113)

Timoney, R., Worrall, K. ORCID: https://orcid.org/0000-0001-9762-5274, Li, X. ORCID: https://orcid.org/0000-0002-5655-8631, Firstbrook, D. and Harkness, P. ORCID: https://orcid.org/0000-0002-9930-6012 (2020) Development of a robust mating system for use in the autonomous assembly of planetary drill strings. Journal of Aerospace Engineering, 33(4), 04020040. (doi: 10.1061/(ASCE)AS.1943-5525.0001139)

2019

Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Houston, Cameron, Cebecauer, Mikulas, Flessa, Thaleia, McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X, Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710 and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2019) Design and Implementation of a Control System for a Tunneling Robot. In: 2019 IEEE Smart World Congress, Leicester, UK, 19-23 Aug 2019, ISBN 9781728140346 (doi: 10.1109/SmartWorld-UIC-ATC-SCALCOM-IOP-SCI.2019.00084)

2018

Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843, Flessa, Thaleia, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 and Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710 (2018) Ultrasonic Auger for Narrow-Gauge Borehole Drilling. In: IEEE International Ultrasonics Symposium (IUS 2018), Kobe, Japan, 22-25 Oct 2018, (doi: 10.1109/ULTSYM.2018.8579687)

Flessa, Thaleia, Worrall, Kevin James ORCID: https://orcid.org/0000-0001-9762-5274, Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843, McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X, Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710 and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2018) FDIR for a Biologically Inspired Trenchless Drilling Device. In: Control 2018, Sheffield, UK, 05-07 Sep 2018, ISBN 9781538628645 (doi: 10.1109/CONTROL.2018.8516893)

Worrall, Kevin James ORCID: https://orcid.org/0000-0001-9762-5274, Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843, Flessa, Thaleia, McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X, Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710 and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2018) Modelling and Control of a Biologically Inspired Trenchless Drilling Device. In: Control 2018, Sheffield, UK, 05-07 Sep 2018, ISBN 9781538628645 (doi: 10.1109/CONTROL.2018.8516859)

Yemets, Mykhailo, Yemets, Vitaly, Dron, Mykola, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2018) Caseless Throttleable Solid Motor for Small Spacecraft. 69th International Astronautical Congress, Bremen, Germany, 1-5 Oct 2018.

Yemets, Vitaly, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Dron, Mykola, Pashkov, Anatoly, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Middleton, Michael (2018) Autophage engines: towards a throttleable solid motor. Journal of Spacecraft and Rockets, 55(4), pp. 984-992. (doi: 10.2514/1.A34153)

Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Timoney, Ryan and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2018) Ultrasonically Assisted Hammer-Action Penetrators in Planetary Regolith. ASCE Earth and Space Conference, Cleveland, OH, USA, 10-13 Apr 2018.

Firstbrook, David George ORCID: https://orcid.org/0000-0002-3785-2843, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Timoney, Ryan and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2018) Ultrasonically-assisted penetration of granular and cemented materials. In: Badescu, Viorel and Zacny, Kris (eds.) Outer Solar System: Prospective Energy and Material Resources. Springer International Publishing, pp. 261-268. ISBN 9783319738444 (doi: 10.1007/978-3-319-73845-1_7)

Timoney, Ryan, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843 and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2018) Development of a Heuristic Thermal Control System for the Ultrasonic Planetary Core Drill. In: 16th Biennial ASCE International Conference on Engineering, Science, Construction and Operations in Challenging Environments, Cleveland, Ohio, 09-12 Apr 2018, pp. 317-327. ISBN 9780784481899 (doi: 10.1061/9780784481899.032)

Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Timoney, Ryan, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2018) UPCD: Field Trial Results and Further Work. In: 16th Biennial ASCE International Conference on Engineering, Science, Construction and Operations in Challenging Environments, Cleveland, Ohio, 09-12 Apr 2018, pp. 297-306. ISBN 9780784481899 (doi: 10.1061/9780784481899.030)

2017

Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Timoney, Ryan, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631 and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2017) Ultrasonic Planetary Core Drill: Overview and Results from Field Trial. 14th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, The Netherlands, 20-22 Jun 2017.

Ireland, Murray L. ORCID: https://orcid.org/0000-0001-9091-7071, Mackenzie, Rebecca, Flessa, Thaleia, Worrall, Kevin J. ORCID: https://orcid.org/0000-0001-9762-5274, Thomson, Douglas G. ORCID: https://orcid.org/0000-0003-3588-5710 and McGookin, Euan W. ORCID: https://orcid.org/0000-0002-1262-190X (2017) Inverse Simulation as a Tool for Fault Detection and Isolation in Planetary Rovers. In: 10th International ESA Conference on Guidance, Navigation and Control Systems, Salzburg, Austria, 29 May - 02 Jun 2017,

Ireland, Murray L. ORCID: https://orcid.org/0000-0001-9091-7071, Worrall, Kevin J. ORCID: https://orcid.org/0000-0001-9762-5274, Mackenzie, Rebecca, Flessa, Thaleia, McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X and Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710 (2017) A Comparison of Inverse Simulation-Based Fault Detection in a Simple Robotic Rover with a Traditional Model-Based Method. In: 19th International Conference on Autonomous Robots and Agents (ICARA 2017), Madrid, Spain, 26-27 Mar 2017,

Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Timoney, Ryan and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2017) A parametric study for the design of an optimized ultrasonic-percussive planetary drill tool. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 64(3), pp. 577-589. (doi: 10.1109/TUFFC.2016.2633319) (PMID:27913339)

Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Timoney, Ryan, Suñol, Francesc, Gao, Yang and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2017) An experimental study of ultrasonic vibration and the penetration of granular material. Proceedings of the Royal Society of London Series A: Mathematical, Physical and Engineering Sciences, 473(2198), 20160673. (doi: 10.1098/rspa.2016.0673)

Firstbrook, David G. ORCID: https://orcid.org/0000-0002-3785-2843, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Doherty, Philip, Timoney, Ryan, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 and Suñol, Francesc (2017) Ultrasonic Penetration of Granular Materials in Varying Gravity. In: ASCE Earth and Space Conference, Orlando, FL, USA, 11-15 Apr 2016, ISBN 9780784479971

Timoney, Ryan, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Firstbrook, David G. ORCID: https://orcid.org/0000-0002-3785-2843, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2017) Push-and-Twist Drillstring Assemblies. In: ASCE Earth and Space Conference, Orlando, FL, USA, 11-15 Apr 2016, ISBN 9780784479971

2016

Flessa, Thaleia, McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X, Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2016) Numerical Efficiency of Inverse Simulation Methods Applied to a Wheeled Rover. In: 9th EUROSIM Congress on Modelling and Simulation, Oulu, Finland, 12-16 Sep 2016, ISBN 9781509041190 (doi: 10.3384/ecp17142348)

Timoney, Ryan, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Firstbrook, David George ORCID: https://orcid.org/0000-0002-3785-2843, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2016) Preliminary Testing of the European Ultrasonic Planetary Core Drill (UPCD) in Simulated Permafrost Terrain as a Precursor to Arctic Field Trials. 13th International Planetary Probe Workshop, Maryland, USA, 13-17 Jun 2016.

Firstbrook, David ORCID: https://orcid.org/0000-0002-3785-2843, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Timoney, Ryan, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Suñol, Francesc and Gao, Yang (2016) Ultrasonically Assisted Penetration Through Granular Materials. 13th International Planetary Probe Workshop, Laurel, MD, USA, 13-17 Jun 2016.

Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Timoney, Ryan, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Harkness, Patrick and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2016) The European Ultrasonic Planetary Core Drill: Preliminary Results from Field Trials at the Haughton Mars Project. In: Sixth International Conference on Mars Polar Science and Exploration, Reykjavik, Iceland, 5-9 Sept 2016,

2015

Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710, McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X and Flessa, Thaleia (2015) Autonomous Planetary Rover Control Using Inverse Simulation. In: 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015), ESA/ESTEC, Noordwijk, 11-13 May 2015,

Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Thomson, Douglas ORCID: https://orcid.org/0000-0003-3588-5710 and McGookin, Euan ORCID: https://orcid.org/0000-0002-1262-190X (2015) Application of Inverse Simulation to a Wheeled Mobile Robot. In: 6th International Conference on Automation, Robotics and Applications (ICARA 2015), Queenstown, New Zealand, 17-19 Feb 2015,

Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Timoney, Ryan, Bolhovitins, Aleksandrs and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2015) A Motion Control System Design for an Ultrasonic Planetary Core Drill (UPCD) Unit. In: AIAA Space 2015 Conference, Pasadena, CA, USA, 31 Aug - 2 Sept 2015, ISBN 9781624103346

Timoney, Ryan, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Bolhovitins, A. and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2015) European Ultrasonic Planetary Core Drill. In: 12th International Planetary Probe Workshop, Cologne, Germany, 15-19 June 2015,

Timoney, Ryan, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Bolhovitins, Aleksandrs, Cheney, Andy and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2015) The Development of the European Ultrasonic Planetary Core Drill (UPCD). In: AIAA Space 2015 Conference, Pasadena, CA, USA, 31 Aug - 2 Sept 2015, ISBN 9781624103346 (doi: 10.2514/6.2015-4553)

2013

Kim, Jongrae and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2013) Sun Tracking Controller for UKube-1 Using Magnetic Torquer Only. In: 19th IFAC Symposium on Automatic Control in Aerospace, Wurzburg, Germany, 02-06 Sep 2013,

2006

Worrall, K.J. and McGookin, Euan W. ORCID: https://orcid.org/0000-0002-1262-190X (2006) A Mathematical Model of a Lego Differential Drive Robot. In: International Control Conference (ICC2006), Glasgow, UK, 30 Aug-1 Sept 2006,

2003

Hersh, M.A. ORCID: https://orcid.org/0000-0002-4610-8266 and Worrall, K. ORCID: https://orcid.org/0000-0001-9762-5274 (2003) Design Issues in the Development of Communication Devices for Deafblind People. In: IEEE Symposium on Assistive Technology, Glasgow, UK, 2003,

Hersh, M.A. ORCID: https://orcid.org/0000-0002-4610-8266, Worrall, K. ORCID: https://orcid.org/0000-0001-9762-5274 and Johnson, M.A. (2003) Survey of AT for Deafblind People: State of the Art and New Developments. In: 7th Conference of the Association for the Advancement of Assistive Technology in Europe: AAATE 2003, Dublin, Ireland, pp. 495-499.

This list was generated on Sun Jun 15 08:19:47 2025 BST.

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

Number of items: 53.

Articles

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2024) Effects of model fidelity and uncertainty on a model-based attitude controller for satellites with flexible appendages. Acta Astronautica, 214, pp. 30-45. (doi: 10.1016/j.actaastro.2023.10.011)

Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Li, Xiaoniu, Huang, Tianlu, Feeney, Andrew ORCID: https://orcid.org/0000-0001-7170-1830, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012 (2022) Ultrasonic augers for improved transport of granular materials. Acta Astronautica, 201, pp. 1-11. (doi: 10.1016/j.actaastro.2022.07.054)

Book Sections

Conference or Workshop Item

Jimenez Cuesta, Claudia ORCID: https://orcid.org/0009-0003-7915-1302, Davies, Jack, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Cammarano, Andrea ORCID: https://orcid.org/0000-0002-8222-8150 and Zare-Behtash, Hossein ORCID: https://orcid.org/0000-0002-4769-4076 (2024) Development of Diagnostic Techniques for Plume-Generated Dust Clouds. 21st International Planetary Probe Workshop 2024 (IPPW 2024), Williamsburg, Virginia, USA, 08-14 Jun 2024.

Conference Proceedings

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 and Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 (2022) Attitude Control of Satellites with Flexible Appendages Using Inverse Simulation. In: 73rd International Astronautical Congress (IAC), Paris, France, 18-22 Sept 2022,

Gordon, Robert ORCID: https://orcid.org/0000-0002-7760-8984, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274 and Ceriotti, Matteo ORCID: https://orcid.org/0000-0001-6819-7178 (2022) Attitude Control of a Nanosatellite using Inverse Simulation. In: 72nd International Astronautical Congress 2021, Dubai, United Arab Emirates, 25-29 Oct 2021, pp. 833-847. ISBN 9781713843078

Timoney, Ryan, Harkness, Patrick ORCID: https://orcid.org/0000-0002-9930-6012, Worrall, Kevin ORCID: https://orcid.org/0000-0001-9762-5274, Li, Xuan ORCID: https://orcid.org/0000-0002-5655-8631, Bolhovitins, Aleksandrs, Cheney, Andy and Lucas, Margaret ORCID: https://orcid.org/0000-0002-3625-9714 (2015) The Development of the European Ultrasonic Planetary Core Drill (UPCD). In: AIAA Space 2015 Conference, Pasadena, CA, USA, 31 Aug - 2 Sept 2015, ISBN 9781624103346 (doi: 10.2514/6.2015-4553)

This list was generated on Sun Jun 15 08:19:47 2025 BST.

Grants

Interglacial Collapse of Ice Sheets revealed by Subglacial Drilling of Bedrock (2020-2025) led by Durham University, ERC, £2.99m (UofG £339k) (CoI)
Drill for Extensive Exploration of Planetary Environments (2020-2021), ESA, £334k (UofG £253k) (CoI)
“Roving with Rosalind” (2020), UK Space Agency, £30k (CoI)
High Precision Positioning for an autonomous lawnmower (2019) collaboration with Kingdom Technologies, Interface Standard innovation voucher scheme, £4.6k (PI)
Pseudo and Real Image Test Environment (2019) collaboration with Craft Prospect, UofG KE Flexible Fund, £10k (PI)
P-RAID Upgrading and Deployment (2018) collaboration with British Antarctic Survey, UofG STFC IAA, £60k (CoI)
“Get me into Orbit!” (2018) collaboration with Glasgow Science Festival, UK Space Agency, £20k (CoI)
Autophage Thruster: Let’s see how hard we can push (2017), UofG John Robertson Bequest, £1k (PI)
KIT – a miniature tunnelling robot (2017), UofG Chancellors Fund, £2k (CoI)
Mars Sample Return to Terrestrial Polar Science - Planetary drilling concepts applied to subglacial rock sampling in Antarctica (2017) collaboration with British Antarctic Survey, UK Space Agency, £124k (CoI)
Robot for ... Underground ... Operations (2016), EC H2020, £2.94m (UofG £477k) (CoI)

Supervision

Opportunities

Currently open PhD positions can be found on the PhD opportunities page of the division and on the Space and Technology Group page.

Every year, the School of Engineering offers a limited number of scholarships for PhDs. Information, deadlines and how to apply can be found on Postgraduate Research.

On-going

Cameron Houston, Fault Tolerant Algorithms for In-orbit Manufacture, EPSRC DTP, 2020-2024

Al Oufi, Salim Abdulrahman S
MODEL BASED FAULT DETECTION, ISOLATION AND RECOVERY FOR THE GUIDANCE, NAVIGATION AND CONTROL OF PLANETARY ROVERS
Jimenez Cuesta, Claudia
Plume-Surface Interactions (PSIs) on Spacecraft Structures During Landings
Koursari, Eftychia
Bridge Scour: Monitoring, Prediction and Remediation

Teaching

Advanced Control 5 (ENG5009)
Robotics 4 (ENG4118)
Creativity 2

Research datasets

Jump to: 2018

Number of items: 1.

2018

Yemets, V., Harkness, P., Dron, M., Pashkov, A., Worrall, K. and Middleton, M. (2018) Autophage Engines: Toward a Throttleable Solid Motor. [Data Collection]

This list was generated on Sun Jun 15 08:19:48 2025 BST.

A portrait photograph of Dr Kevin Worrall

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Dr Kevin Worrall

Biography

Publications

2025

2024

2023

2022

2021

2020

2019

2018

2017

2016

2015

2013

2006

2003

Articles

Book Sections

Conference or Workshop Item

Conference Proceedings

Grants

Supervision

Opportunities

On-going

Teaching

Research datasets

2018