September 1978 - August 1980, Test and Aerodynamics Engineer, Pratt & Whitney Canada
September 1983 - December 1986, Research Engineer, Aerospace Studies, University of Toronto
January 1991 - June 1995, Assistant professor, Mechanical Engineering, University of Victoria
July 1995 - June 2001, Associate professor, Mechanical Engineering, University of Victoria
January - June 1997, Visiting professor, Delft University of Technology, Delft, the Netherlands
July - December 1997, Visiting Associate Professor, Technion, Haifa, Israel
Fundamental: Dynamics and control of mechanical systems. Motion measurement. Cable dynamics. Vehicle dynamics.
Aeronautical: Dynamics and control of tethered aerostats, towed instruments, autonomous vehicles, aircraft. Motion measurement using accelerometers, rate gyros, GPS.
Underwater: Dynamics and control of ROVs, AUVs, towed vehicles.
Robotics: Kinematics, dynamics, control of parallel mechanisms, with emphasis on flight simulator platforms. Contact force determination in the simulation of multibody systems.