Dr Jon Selig
Telephone:020 7815 7461
School/Division:Engineering / Mechanical Engineering and Design
Jon Selig graduated from the University of York, with a BSc in Physics in 1980. He went on to study in the Department of Applied Mathematics and Theoretical Physics at the University of Liverpool and was awarded a PhD in 1984. From 1984 to 1987 he was a postdoctoral research fellow in the design discipline of the Open University, studying robot gripping. He joined the Department of Electrical and Electronic Engineering at South Bank Polytechnic in 1987. In 1992 the Polytechnic became a University, and in 1999 he transferred to the School of Computing, Information Systems and Mathematics. In 2008 this school became part of the Faculty of Business, and in 2015 he transferred to the School of Engineering. Jon's research interests can be summarised as the applications of modern geometry to problems in robotics.
Jon has taught across a wide range of subjects and at all levels from pre-degree to postgraduate. In 1992 he taught two sophomore mechanical engineering classes at City College, New York. In 2011 he gave a 10 hour lecture course to Undergraduates at Politechnika Wrocławska Instytut Informatyki, Automatyki i Robotyki, Poland. He is a regular lecturer on the international summer school series on Screw-Theory Based Methods in Robotics.
Jon's work concentrates on the applications of modern geometry to problems in robotics and the theory of mechanisms. In recent work some classical algebraic geometry was used to investigate typical geometric constraints imposed by simple linkages. This also has application in the kinematics of simple mechanisms, in particular enumerating the number of postures for a general 6R serial manipulator is reduced to a simple homology computation. Another strand to his work recently has been to use differential geometry, in particular Lie theory, to study the typical kinematic equations of vehicles. These left-invariant systems are non-holonomic because the possible forces or controls only occupy a subspace of the Lie algebra to the group of rigid-body displacements. Using these ideas it has been possible to give explicit algorithms to perform rational interpolation for planning motions of car-like mobile robots.
For a full list of Jon's publications, see his Google scholar page.
Most recent publications
Selig, JM Hyperbolic pseudoinverses for kinematics in the Euclidean group. SIAM Journal on Matrix Analysis and Applications,
Selig, JM and Wu, Y and Carricato, M Motion Interpolation in Lie Subgroups and Symmetric Subspaces. In: 7th IFToMM International Workshop of Computational Kinematics, 22 May 2017 - 24 May 2017, Futurescope, Poitiers, France.
Gallet, M and Nawratil, G and Schicho, J and Selig, JM Mobile Icosapods. Advances in Applied Mathematics, 88. 1-25. DOI 10.1016/j.aam.2016.12.002
Selig, JM Some Mobile Overconstrained Parallel Mechanisms. In: Advances in Robot Kinematics, 27 Jun 2016 - 30 Jun 2016, Grasse, France.
Rudnev, M and Selig, JM On the use of the Klein quadric for geometric incidence problems in two dimensions. Siam Journal on Discrete Mathematics, 30. 934 - 954 (21). DOI 10.1137/16M1059412
Selig, JM and Carricato, M Persistent rigid-body motions and Study's "Ribaucour" problem. Journal of Geometry, 108. 149-169. DOI 10.1007/s00022-016-0331-5
Selig, JM Equimomental systems and robot dynamics. In: IMA Conference on Mathematics of Robotics, 9 – 11 September 2015, St Anne’s College, University of Oxford.
Selig, JM Rational interpolation of car motions. Journal of Mechanisms and Robotics, 7. DOI 10.1115/1.4030298
Selig, JM A Class of Explicitly Solvable Vehicle Motion Problems. IEEE Transactions on Robotics, 31. 766 - 777 (11). DOI 10.1109/TRO.2015.2426471
Selig, JM Some Remarks on the RRR Linkage. In: Advances in robot kinematics: analysis and design. Springer International Publishing, Switzerland, pp. 77 - 85 (9). ISBN 978-3-319-06697-4 DOI 10.1007/978-3-319-06698-1_9More publications at LSBU Research Open
Jon is a member of the London Mathematical Society, the Institute for Mathematics and its Applications and the Institute of Physics.
Jon is a member of the IFToMM (International Federation for the Promotion of Mechanism and Machine Science) Technical Committee on Computational Kinematics. He is also an associate editor for ASME Journal of Mechanisms and Robotics.