I came to Reading in 1977 as an undergraduate and I have not found my way out yet! I have over 100 publications, including four books and specially written text for a custom book on Cybernetics; and I have been involved in research and industry projects worth approaching £2m, many of these being KTP (formerly TCS) projects. Current interests include learning systems for mobile robots, artificial intelligence applications, loop shaping for control and Gaia.