Visiting Professor at the the Center of Dynamics and Control of Villanova University, Pensilvania (USA). The Goal of the visit was to conduct a research on the following topic; "Wavelets in Modelling and Observation using Kalman Filter". During the visiting period the following presentation was held: "A Trajectory Generation Algorithm for Optimal Consumption in Electromagnetic Actuators”. The Visiting period was organized by Prof. Peyton-Jones.