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

Import to contacts

ORCID iDhttps://orcid.org/0000-0001-9762-5274

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, R. , Ceriotti, M. and Worrall, K. (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, C. , Davies, J., Worrall, K. , Cammarano, A. and Zare-Behtash, H. (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, R. , Worrall, K. and Ceriotti, M. (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, A., Hampson, R., Worrall, K. and Dobie, G. (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, C. , Davies, J., Worrall, K. , Cammarano, A. and Zare-Behtash, H. (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, A., Hampson, R., Worrall, K. and Dobie, G. (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, R. , Ceriotti, M. and Worrall, K. (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. , Houston, C., Souza, C., Timoney, R., Worrall, K. , 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, A., Hampson, R., Worrall, K. and Dobie, G. (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, S. R.K. , Swinton, S. , Al Oufi, S., McGookin, E. W. , Thomson, D. G. and Worrall, K. J. (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, C., Pickles, D. , Worrall, K. , Cammarano, A. and Zare-Behtash, H. (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, J. L., Ceriotti, M. , Aragon-Camarasa, G. and Worrall, K. (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, C., Worrall, K. , Cammarano, A. , Pickles, D. and Zare-Behtash, H. (2023) Plume-regolith Dust Cloud Characterisation. Lunar Surface Innovation Consortium Spring Meeting, Laurel, ‎MD‎, USA, 24-25 Apr 2023.

Alhajeri, M. A., Ceriotti, M. and Worrall, K. (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, X. , Li, X., Huang, T., Feeney, A. , Worrall, K. and Harkness, P. (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, X. , Li, X., Huang, T., Feeney, A. , Worrall, K. and Harkness, P. (2022) Ultrasonic augers for improved transport of granular materials. Acta Astronautica, 201, pp. 1-11. (doi: 10.1016/j.actaastro.2022.07.054)

Li, X. , Worrall, K. , Vedanthu, A. , Scott-George, A. and Harkness, P. (2022) The pulse-elevator: a pump for granular materials. Acta Astronautica, 200, pp. 33-41. (doi: 10.1016/j.actaastro.2022.07.052)

Gordon, R. , Ceriotti, M. and Worrall, K. (2022) Attitude Control of Satellites with Flexible Appendages Using Inverse Simulation. In: 73rd International Astronautical Congress (IAC), Paris, France, 18-22 Sept 2022,

Loettgen, J. L., Ceriotti, M. , Aragon Camarasa, G. and Worrall, K. (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, R. , Worrall, K. and Ceriotti, M. (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, I. , Bailet, G. , Beeley, J., Timmons, T. , Ceriotti, M. , Stamat, L., Worrall, K. and McInnes, C. R. (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, R., Worrall, K. , Firstbrook, D. , Harkness, P. , Rix, J., Ashurst, D., Mulvaney, R. and Bentley, M. 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. , Li, X. , Firstbrook, D. and Harkness, P. (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, 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, ISBN 9781728140346 (doi: 10.1109/SmartWorld-UIC-ATC-SCALCOM-IOP-SCI.2019.00084)

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, (doi: 10.1109/ULTSYM.2018.8579687)

Flessa, T., Worrall, K. J. , Firstbrook, D. , McGookin, E. , Thomson, D. and Harkness, P. (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, K. J. , Firstbrook, D. , Flessa, T., McGookin, E. , Thomson, D. and Harkness, P. (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, 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.

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, 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, 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

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 (doi: 10.3384/ecp17142348)

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.

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: International Control Conference (ICC2006), Glasgow, UK, 30 Aug-1 Sept 2006,

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 Fri Apr 25 17:56:39 2025 BST.
Jump to: Articles | Book Sections | Conference or Workshop Item | Conference Proceedings
Number of items: 53.

Articles

Gordon, R. , Ceriotti, M. and Worrall, K. (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, C. , Davies, J., Worrall, K. , Cammarano, A. and Zare-Behtash, H. (2025) Plume-surface interactions: a review of experimental work. Acta Astronautica, 226(1), pp. 892-912. (doi: 10.1016/j.actaastro.2024.09.021)

Gordon, R. , Worrall, K. and Ceriotti, M. (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, A., Hampson, R., Worrall, K. and Dobie, G. (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)

Lawley, A., Hampson, R., Worrall, K. and Dobie, G. (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, R. , Ceriotti, M. and Worrall, K. (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, X. , Li, X., Huang, T., Feeney, A. , Worrall, K. and Harkness, P. (2022) Ultrasonic augers for improved transport of granular materials. Acta Astronautica, 201, pp. 1-11. (doi: 10.1016/j.actaastro.2022.07.054)

Li, X. , Worrall, K. , Vedanthu, A. , Scott-George, A. and Harkness, P. (2022) The pulse-elevator: a pump for granular materials. Acta Astronautica, 200, pp. 33-41. (doi: 10.1016/j.actaastro.2022.07.052)

Timoney, R., Worrall, K. , Firstbrook, D. , Harkness, P. , Rix, J., Ashurst, D., Mulvaney, R. and Bentley, M. 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. , Li, X. , Firstbrook, D. and Harkness, P. (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)

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, 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)

Conference or Workshop Item

Jimenez Cuesta, C. , Davies, J., Worrall, K. , Cammarano, A. and Zare-Behtash, H. (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.

Jimenez Cuesta, C., Pickles, D. , Worrall, K. , Cammarano, A. and Zare-Behtash, H. (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, J. L., Ceriotti, M. , Aragon-Camarasa, G. and Worrall, K. (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, C., Worrall, K. , Cammarano, A. , Pickles, D. and Zare-Behtash, H. (2023) Plume-regolith Dust Cloud Characterisation. Lunar Surface Innovation Consortium Spring Meeting, Laurel, ‎MD‎, USA, 24-25 Apr 2023.

Moore, I. , Bailet, G. , Beeley, J., Timmons, T. , Ceriotti, M. , Stamat, L., Worrall, K. and McInnes, C. R. (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.

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.

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

Harkness, P. , Houston, C., Souza, C., Timoney, R., Worrall, K. , 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,

Lawley, A., Hampson, R., Worrall, K. and Dobie, G. (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, S. R.K. , Swinton, S. , Al Oufi, S., McGookin, E. W. , Thomson, D. G. and Worrall, K. J. (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)

Alhajeri, M. A., Ceriotti, M. and Worrall, K. (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

Li, X. , Li, X., Huang, T., Feeney, A. , Worrall, K. and Harkness, P. (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)

Gordon, R. , Ceriotti, M. and Worrall, K. (2022) Attitude Control of Satellites with Flexible Appendages Using Inverse Simulation. In: 73rd International Astronautical Congress (IAC), Paris, France, 18-22 Sept 2022,

Loettgen, J. L., Ceriotti, M. , Aragon Camarasa, G. and Worrall, K. (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, R. , Worrall, K. and Ceriotti, M. (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

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, ISBN 9781728140346 (doi: 10.1109/SmartWorld-UIC-ATC-SCALCOM-IOP-SCI.2019.00084)

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, (doi: 10.1109/ULTSYM.2018.8579687)

Flessa, T., Worrall, K. J. , Firstbrook, D. , McGookin, E. , Thomson, D. and Harkness, P. (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, K. J. , Firstbrook, D. , Flessa, T., McGookin, E. , Thomson, D. and Harkness, P. (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)

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 (doi: 10.3384/ecp17142348)

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: International Control Conference (ICC2006), Glasgow, UK, 30 Aug-1 Sept 2006,

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 Fri Apr 25 17:56:39 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

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 Fri Apr 25 17:56:37 2025 BST.

A portrait photograph of Dr Kevin Worrall

Dr Kevin Worrall on Twitter