Dr Kevin Worrall

  • Lecturer (Aerospace Sciences)

Publications

List by: Type | Date

Jump to: 2019 | 2018 | 2017 | 2016 | 2015 | 2013 | 2006 | 2003
Number of items: 30.

2019

Worrall, K. , Houston, C., Cebecauer, M., Flessa, T., McGookin, E. , Thomson, D. and Harkness, P. (2019) Design and Implementation of a Control System for a Tunneling Robot. In: 2019 IEEE Smart World Congress, Leicester, UK, 19-23 Aug 2019, (Accepted for Publication)

2018

Yemets, M., Yemets, V., Dron, M., Harkness, P. and Worrall, K. (2018) Caseless Throttleable Solid Motor for Small Spacecraft. 69th International Astronautical Congress, Bremen, Germany, 1-5 Oct 2018.

Flessa, T., Worrall, K. J. , Firstbrook, D. , McGookin, E. , Thomson, D. and Harkness, P. (2018) FDIR for a Biologically Inspired Trenchless Drilling Device. Control 2018, Sheffield, UK, 05-07 Sep 2018.

Worrall, K. J. , Firstbrook, D. , Flessa, T., McGookin, E. , Thomson, D. and Harkness, P. (2018) Modelling and Control of a Biologically Inspired Trenchless Drilling Device. Control 2018, Sheffield, UK, 05-07 Sep 2018.

Firstbrook, D. , Flessa, T., Worrall, K. , McGookin, E. , Harkness, P. and Thomson, D. (2018) Ultrasonic Auger for Narrow-Gauge Borehole Drilling. In: IEEE International Ultrasonics Symposium (IUS 2018), Kobe, Japan, 22-25 Oct 2018, (Accepted for Publication)

Yemets, V., Harkness, P. , Dron, M., Pashkov, A., Worrall, K. and Middleton, M. (2018) Autophage engines: towards a throttleable solid motor. Journal of Spacecraft and Rockets, 55(4), pp. 984-992. (doi:10.2514/1.A34153)

Firstbrook, D. , Worrall, K. , Timoney, R. and Harkness, P. (2018) Ultrasonically Assisted Hammer-Action Penetrators in Planetary Regolith. ASCE Earth and Space Conference, Cleveland, OH, USA, 10-13 Apr 2018.

Firstbrook, D. G. , Harkness, P. , Li, X. , Timoney, R. and Worrall, K. (2018) Ultrasonically-assisted penetration of granular and cemented materials. In: Badescu, V. and Zacny, K. (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, R., Worrall, K. , Firstbrook, D. and Harkness, P. (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, K. , Timoney, R., Li, X. , Harkness, P. and Lucas, M. (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, K. , Timoney, R., Harkness, P. , Li, X. and Lucas, M. (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, M. L. , Mackenzie, R., Flessa, T., Worrall, K. J. , Thomson, D. G. and McGookin, E. W. (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, M. L. , Worrall, K. J. , Mackenzie, R., Flessa, T., McGookin, E. and Thomson, D. (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, X. , Harkness, P. , Worrall, K. , Timoney, R. and Lucas, M. (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, D. , Worrall, K. , Timoney, R., Suñol, F., Gao, Y. and Harkness, P. (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, D. G. , Worrall, K. , Doherty, P., Timoney, R., Harkness, P. and Suñol, F. (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, R., Li, X. , Worrall, K. , Firstbrook, D. G. , Harkness, P. and Lucas, M. (2017) Push-and-Twist Drillstring Assemblies. In: ASCE Earth and Space Conference, Orlando, FL, USA, 11-15 Apr 2016, ISBN 9780784479971

2016

Timoney, R., Worrall, K. , Li, X. , Firstbrook, D. G. , Harkness, P. and Lucas, M. (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, D. , Worrall, K. , Timoney, R., Harkness, P. , Suñol, F. and Gao, Y. (2016) Ultrasonically Assisted Penetration Through Granular Materials. 13th International Planetary Probe Workshop, Laurel, MD, USA, 13-17 Jun 2016.

Flessa, T., McGookin, E. , Thomson, D. and Worrall, K. (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 (Accepted for Publication)

Worrall, K. , Timoney, R., Li, X. , Harkness, P. and Lucas, M. (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, K. , Thomson, D. , McGookin, E. and Flessa, T. (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, K. , Thomson, D. and McGookin, E. (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, X. , Worrall, K. , Harkness, P. , Timoney, R., Bolhovitins, A. and Lucas, M. (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, R., Harkness, P. , Worrall, K. , Li, X. , Bolhovitins, A. and Lucas, M. (2015) European Ultrasonic Planetary Core Drill. In: 12th International Planetary Probe Workshop, Cologne, Germany, 15-19 June 2015,

Timoney, R., Harkness, P. , Worrall, K. , Li, X. , Bolhovitins, A., Cheney, A. and Lucas, M. (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, J. and Worrall, K. (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, E.W. (2006) A Mathematical Model of a Lego Differential Drive Robot. In: UNSPECIFIED, Glasgow, UK,

2003

Hersh, M.A. and Worrall, K. (2003) Design Issues in the Development of Communication Devices for Deafblind People. In: IEEE Symposium on Assistive Technology, Glasgow, UK, 2003,

Hersh, M.A. , Worrall, K. 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 Nov 17 20:55:10 2019 GMT.
Number of items: 30.

Articles

Yemets, V., Harkness, P. , Dron, M., Pashkov, A., Worrall, K. and Middleton, M. (2018) Autophage engines: towards a throttleable solid motor. Journal of Spacecraft and Rockets, 55(4), pp. 984-992. (doi:10.2514/1.A34153)

Li, X. , Harkness, P. , Worrall, K. , Timoney, R. and Lucas, M. (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, D. , Worrall, K. , Timoney, R., Suñol, F., Gao, Y. and Harkness, P. (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)

Book Sections

Firstbrook, D. G. , Harkness, P. , Li, X. , Timoney, R. and Worrall, K. (2018) Ultrasonically-assisted penetration of granular and cemented materials. In: Badescu, V. and Zacny, K. (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)

Conference or Workshop Item

Yemets, M., Yemets, V., Dron, M., Harkness, P. and Worrall, K. (2018) Caseless Throttleable Solid Motor for Small Spacecraft. 69th International Astronautical Congress, Bremen, Germany, 1-5 Oct 2018.

Flessa, T., Worrall, K. J. , Firstbrook, D. , McGookin, E. , Thomson, D. and Harkness, P. (2018) FDIR for a Biologically Inspired Trenchless Drilling Device. Control 2018, Sheffield, UK, 05-07 Sep 2018.

Worrall, K. J. , Firstbrook, D. , Flessa, T., McGookin, E. , Thomson, D. and Harkness, P. (2018) Modelling and Control of a Biologically Inspired Trenchless Drilling Device. Control 2018, Sheffield, UK, 05-07 Sep 2018.

Firstbrook, D. , Worrall, K. , Timoney, R. and Harkness, P. (2018) Ultrasonically Assisted Hammer-Action Penetrators in Planetary Regolith. ASCE Earth and Space Conference, Cleveland, OH, USA, 10-13 Apr 2018.

Worrall, K. , Timoney, R., Harkness, P. , Li, X. and Lucas, M. (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.

Timoney, R., Worrall, K. , Li, X. , Firstbrook, D. G. , Harkness, P. and Lucas, M. (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, D. , Worrall, K. , Timoney, R., Harkness, P. , Suñol, F. and Gao, Y. (2016) Ultrasonically Assisted Penetration Through Granular Materials. 13th International Planetary Probe Workshop, Laurel, MD, USA, 13-17 Jun 2016.

Conference Proceedings

Worrall, K. , Houston, C., Cebecauer, M., Flessa, T., McGookin, E. , Thomson, D. and Harkness, P. (2019) Design and Implementation of a Control System for a Tunneling Robot. In: 2019 IEEE Smart World Congress, Leicester, UK, 19-23 Aug 2019, (Accepted for Publication)

Firstbrook, D. , Flessa, T., Worrall, K. , McGookin, E. , Harkness, P. and Thomson, D. (2018) Ultrasonic Auger for Narrow-Gauge Borehole Drilling. In: IEEE International Ultrasonics Symposium (IUS 2018), Kobe, Japan, 22-25 Oct 2018, (Accepted for Publication)

Timoney, R., Worrall, K. , Firstbrook, D. and Harkness, P. (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, K. , Timoney, R., Li, X. , Harkness, P. and Lucas, M. (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)

Ireland, M. L. , Mackenzie, R., Flessa, T., Worrall, K. J. , Thomson, D. G. and McGookin, E. W. (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, M. L. , Worrall, K. J. , Mackenzie, R., Flessa, T., McGookin, E. and Thomson, D. (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,

Firstbrook, D. G. , Worrall, K. , Doherty, P., Timoney, R., Harkness, P. and Suñol, F. (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, R., Li, X. , Worrall, K. , Firstbrook, D. G. , Harkness, P. and Lucas, M. (2017) Push-and-Twist Drillstring Assemblies. In: ASCE Earth and Space Conference, Orlando, FL, USA, 11-15 Apr 2016, ISBN 9780784479971

Flessa, T., McGookin, E. , Thomson, D. and Worrall, K. (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 (Accepted for Publication)

Worrall, K. , Timoney, R., Li, X. , Harkness, P. and Lucas, M. (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,

Worrall, K. , Thomson, D. , McGookin, E. and Flessa, T. (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, K. , Thomson, D. and McGookin, E. (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, X. , Worrall, K. , Harkness, P. , Timoney, R., Bolhovitins, A. and Lucas, M. (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, R., Harkness, P. , Worrall, K. , Li, X. , Bolhovitins, A. and Lucas, M. (2015) European Ultrasonic Planetary Core Drill. In: 12th International Planetary Probe Workshop, Cologne, Germany, 15-19 June 2015,

Timoney, R., Harkness, P. , Worrall, K. , Li, X. , Bolhovitins, A., Cheney, A. and Lucas, M. (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)

Kim, J. and Worrall, K. (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,

Worrall, K.J. and Mcgookin, E.W. (2006) A Mathematical Model of a Lego Differential Drive Robot. In: UNSPECIFIED, Glasgow, UK,

Hersh, M.A. and Worrall, K. (2003) Design Issues in the Development of Communication Devices for Deafblind People. In: IEEE Symposium on Assistive Technology, Glasgow, UK, 2003,

Hersh, M.A. , Worrall, K. 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 Nov 17 20:55:10 2019 GMT.

Grants

  • 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)
  • EU H2020 Advanced Capabilities – Robot for ... Underground ... Operations (2016) European Commission, £2.94m (UofG £477k) (CoI)

Teaching

  • Advanced Control 5 (ENG5009)
  • Robotics 4 (ENG4118)

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 Nov 17 05:56:16 2019 GMT.