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No, but I have been trying (by recording my dreams; what's the point in having one if you don't remember it?).

I haven't been successful apart from a few cut-short ones. My usual action is to try and hit people with giant fireballs. If it works then I know it's a lucid dream. But I haven't had awareness for more than about 10 seconds, before I wake up.

It is scientifically sound, by the way, but it's usually associated with a lot of pseudoscience so very little research into it has been done. The day they can induce it with technology will be the best moment in human history.