KTH Royal Institute of Technology - Automatic Control, Electrical Engineering 
PhD - October 2014 
 Advisors: Karl H. Johansson and Henrik Sandberg
KTH Royal Institute of Technology - Automatic Control, Electrical Engineering 
Licentiate of Engineering - October 2011 
 Advisors: Karl H. Johansson and Henrik Sandberg
Faculty of Engineering, University of Porto (FEUP) - Electrical and Computer Engineering 
 MSc - June 2008 
 
Visiting researcher - PRECISE Center -University of Pennsylvania (UPenn) 
 Oct 2019 - Nov 2019 
 Collaborator: James Weimer
Postdoctoral researcher - KTH Royal Institute of Technology 
 Oct 2014 - Feb 2015 
  Advisor: Karl H. Johansson
Visiting researcher - University of California, Los Angeles (UCLA) 
 Feb 2012 - Aug 2012 
 Advisor: Paulo Tabuada
Visiting researcher - University of British Columbia (UBC) 
 Sep 2008 - Dec 2008  
 Advisor: Vikram Krishnamurthy (now at Cornell University)
Research assistant - KTH Royal Institute of Technology 
 Jun 2008 - Sep 2008 
  Advisors: Karl H. Johansson and Henrik Sandberg
Teaching assistant - Faculty of Engineering, University of Porto (FEUP)  
 Sep 2006 - May 2007 
 
KTH Royal Institute of Technology, Sweden. "The Emergence of the Internet of Skills". Master's degree course on "Haptics, Tactile and Tangible Interaction" May 2019 and May 2020.
Paderborn University (Automatic Control), Germany, October 2016.
Seoul National University (EE/ME), Seoul, December 2014.
Korea Advanced Institute of Science and Technology (C-Friend), Daejeon, South Korea, December 2014.
Electronics and Telecommunications Research Institute (ETRI), Daejeon, South Korea, December 2014.
Uppsala University (EE), Uppsala, Sweden, November 2014.
University of Porto (EE), Porto, Portugal, November 2014.
Ruhr-Universität Bochum (Automatic Control), Bochum, Germany, April 2014.
UCLA (EE), Los Angeles, United States, February 2012.
Seoul National University (EE/ME), Seoul, South Korea, February 2012.
University of Notre Dame (EE), South Bend, United States, May 2011.
Chalmers University of Technology (EE), Gothenburg, Sweden, April 2011.
University of Porto, Porto, Portugal - Project course in automatic control and communications, December 2010.
University of Porto, Porto, Portugal - Hybrid systems course, December 2009.