# phd

## KUKA LBR iiwa Examples

While cleaning out old git project from my PhD, I created a repository of programming examples for the KUKA LBR iiwa. These examples cover many basic and advanced applications, such as impedance control, force conditions for collision reactions, and data logging.

## Ph.D. Defence: Officially Dr Nick

It has been quite the adventure, but my academic journey has (for now) come to an end. On December 18th 2019, I successfully defended by Ph.D. thesis, Towards the development of safe, collaborative robotic freehand ultrasound, at École de technologie supérieure.

## Spelling Is Next to Godliness

Spelling and grammar are very important. However, when in a rush, we tend to neglect these important aspects. Search engines and humans readers usually don’t appreciate content that includes spelling or grammatical errors.

## Using MS Word to Check LaTeX Documents

Microsoft Word has great spelling and grammar checking. Use pandoc to convert the LaTeX document to docx and double check your work.

## Big Parenthesis in a LaTeX Equation

\begin{equation*} \left( \sum_{i=0}^{n}{i} \right) \end{equation*} $$\left( \sum_{i=0}^{n}{i} \right)$$ \left( and \right) automatically expand to fit the material between them