Chair of Electrical Engineering and Robotics, Department of Electronic & Computer Engineering

Born in Dublin, Dan is a chartered engineer in Electrical and Systems Engineering. He currently holds the Chair of Electrical Engineering and Robotics in the Department of Electronic & Computer Engineering at the University of Limerick. Dan has worked in the Electrical Power and High Voltage sector with GEC in Britain and in Automation Research and Systems Engineering including major systems engineering reorganization projects in the UK and Ireland. Dan has also worked in AMT consultancy in the electronics industry sector. Subjects taught at UL include: Automation, Robotics, Instrumentation, Avionics, Sensors and Electrical Machines. Dan is the founder and director of the Centre for Robotics & Intelligent Systems the University of Limerick ( He is a Co-PI of the SFI Centre MaREI - Marine & Renewable Energy Ireland ( and an FI in both CONFIRM – the Centre for Smart Manufacturing ( and LERO - the Irish Software Research Centre ( Dan has collaborations with multiple research and industrial partners in Ireland, across Europe and North America in Field Robotics and industrial robotics. He has been chief scientist for numerous off-shore research surveys trialling novel marine robotic systems technologies from Celtic Explorer, Celtic Voyager, INS LÉ Eithne, and other vessels in the challenging North Atlantic. A significant focus of his research is developing smart robotic technologies with real-time imaging and control for operating in challenging environments/situations. He has over 200 publications - journals, book/book chapters, conference proceedings and granted patents in robotics, imaging technology and renewable energy. He has given numerous plenary talks internationally.

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Daniel Toal
Chair of Electrical Engineering and Robotics, Department of Electronic & Computer Engineering
Robotics & Control
061 232264

PhD Marine Robotics, University of Limerick (UL) 2004;
MSc - Manufacturing Systems Engineering, Cranfield University, UK, 1986;
BSc (eng) University of Dublin (TCD) 1984;
Elec Eng, Dublin Institute of Technology (HonDipEE)

Chartered Engineer, CEng, MIEI, MIEEE, International Register of Professional Engineers
Marine Renewable Industry Association, Function/Role: Research Academic Advisor
Mechatronics Forum, UK, Function/Role: Member of Committee
IFAC Technical Committee on Marine Systems. (IFAC - International Federation of Automatic Control), Function/Role: Member of Technical Committee on Marine Systems

Electrical engineering and robotics with the following research focus: Developing smart robotic technologies with real-time imaging and control for operating in challenging environments/situations; developing smart control systems for robots operating at close quarters to hazards in intervention operations sub-sea, in airborne systems, field robotics and industrial robotics. Real time image processing and target referenced flight control of robots intervening and interacting with stationary and moving targets. Target referenced flight control. Collaborative robotics and robots in dynamic environments.

Interacting with 20+ industrial partners across research projects in CONFIRM, MaREI, Lero and H2020 funded programmes.
Daniel Toal has the following patents:
Patent US 8,305,841 B1 : Method and apparatus for determining the topography of a seafloor and a vessel comprising the apparatus
Patent EP 2,165,214 : A method and apparatus for determining the topography of a seafloor and a vessel comprising the apparatus
European Patent Application No. 08763474.7, Submitted 30/11/2011, E Pican, M Leahy, D Toal, Improvements in and relating to wind farms, (Priority Date: 02.12.2010.), European Patent Office, EP2647098. Patent Granted 07,07,2017.

Challenging and dynamic environment / application robots in field robotics and industrial robotics. Marine technology: Renewable ocean energy: Marine, airborne systems & land-based robotics: Controller design; Controller & payload sensor systems development and integration; Obstacle avoidance & imaging sonar; Camera and vision systems, Seabed / Deep ocean mapping. Robot motion control - articulation of limbs and novel control approaches to their implementation. Intervention robotics (for inspection, repair and maintenance (IRM) in challenging marine and remote environments. A significant emphasis of the research application domain focus is in the marine environment and other remote and challenging environments where robot deployment will enable access where not possible before.
Main Research Projects
MRE ROV for Challenging (Wave, Tidal, Wind) Conditions (PI)
MARINET 2 (Collaborator, UL-PI)
Semi-autonomous UAV landing in challenging conditions (PI)
Unmanned Surface Vehicle for Inshore Bathymetric Survey (PI)
OM-MaREI - Observation and monitoring of marine renewable energy infrastructure (PI)
Technologies for routine low cost ocean observation (PI)
AWESCO - Airborne wind energy system modelling, control and optimisation (Collaborator)
RoboVaaS MarTERA ERA-NET-COFUND (Collaborator)
EUMarineRobots H2020 Infrastructure (Collaborator)
EXCELLABUST - TWIN H2020 project (Collaborator)
MORUS - Unmanned system for maritime security and environmental monitoring (Collaborator)

Rossi, M., Trslic, P., Sivcev, S., Rioradan, J., Toal, D., Dooly, G. (2018) 'Real-Time Underwater StereoFusion', Sensor, 18(11), 3936, DOI: 10.3390/s18113936


Sivcev, S., Omerdic. E., Dooly, G., Toal, D. (in review) ‘ANFIS enhanced Position Based Visual Servoing Algorithm for ROV Manipulator Target in Motion Following’, In Journal of Intelligent & Robotic Systems.


Ebrahimi Salari, M., Coleman, J., Toal, D. (2019) ‘Analysis of Direct Interconnection Technique for Offshore Airborne Wind Energy Systems under Normal and Fault Conditions’, in Renewable Energy, 131, 284-296. DOI: 10.1016/j.renene.2018.07.045., ISSN: 0960-1481.


Kakanjo, A, Rao, M., Omerdic, E., Robinson, L., Toal, D., Newe., T., (2018) ' Real-Time latency Measurement between a Robot and its Remote Control station: Causes and Mitigation', Wireless Communications and Mobile Computing Journal. vol.2018 DOI: 10.1155/2018/8638019


Sivcev, S., Rossi, M., Coleman, J., Dooly, G., Omerdic. E., Toal, D. (2018) ‘Fully Automatic Visual Servoing Control for Work-class Marine Intervention ROV’, In Control Engineering Practice, 74, 153-167, Elsevier. DOI: 10.1016/j.conengprac.2018.03.005, ISSN: 0967-0661.