Dr Kevin Worrall

  • Lecturer (Aerospace Sciences)

Teaching

  • Robotics 4

Publications

List by: Type | Date

Jump to: 2018 | 2017 | 2016 | 2015 | 2013 | 2006 | 2003
Number of items: 25.

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, (doi:10.2514/1.A34153) (Early Online Publication)

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.

Timoney, R., Worrall, K., Firstbrook, D. and Harkness, P. (2018) Development of a Heuristic Thermal Control System for the Ultrasonic Planetary Core Drill. ASCE Earth and Space Conference, Cleveland, OH, USA, 10-13 Apr 2018.

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, (Accepted for Publication)

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)

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

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 Sat Jul 21 16:26:05 2018 BST.
Number of items: 25.

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, (doi:10.2514/1.A34153) (Early Online Publication)

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

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.

Timoney, R., Worrall, K., Firstbrook, D. and Harkness, P. (2018) Development of a Heuristic Thermal Control System for the Ultrasonic Planetary Core Drill. 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., 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, (Accepted for Publication)

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

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 Sat Jul 21 16:26:05 2018 BST.