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Publications of Yi Ma

Books

3. Generalized Principal Component Analysis: Modeling & Segmentation of Multivariate Mixed Data, (a draft version),
Rene Vidal, Yi Ma, and Shankar Sastry, Springer, expected 2010.

2. Dynamical Vision,
Rene Vidal, Anders Heyden, and Yi Ma, Lecture Notes in Computer Science (LNCS #4358), Springer, 2007.

1. An Invitation to 3-D Vision: From Images to Geometric Models,
Yi Ma, Stefano Soatto, Jana Kosecka, and Shankar Sastry, Interdisciplinary Applied Mathematics (IAM #26), Springer, November 2003.

Research Topics

5. Low-Rank Matrix Recovery via Convex Optimization (with Wright and Candes).

4. Face Recognition via Sparse Representation (with Wright, Ganesh, and Yang).

3. Clustering and Classification via Lossy Compression (with Wright and Yang).

2. Generalized Principal Component Analysis (with Huang and Vidal).

1. Multiple-View Geometry and 3D Reconstruction (with Kosecka, Soatto, and Sastry).

Journal Papers

Preprints and Reports:

32. Segmentation of Natural Images by Texture and Boundary Compression,
Hossein Mobahi, Shankar Rao, Allen Yang, Shankar Sastry, and Yi Ma, submitted to the International Journal of Computer Vision (IJCV), March 2010.

31. Robust Principal Component Analysis?
Emmanuel Candes, Xiaodong Li, Yi Ma, and John Wright, submitted to the Journal of the ACM, December, 2009.

30. The Augmented Lagrange Multiplier Method for Exact Recovery of Corrupted Low-Rank Matrices,
Zhouchen Lin, Minming Chen, Leqin Wu and Yi Ma, UIUC Technical Report UILU-ENG-09-2215, submitted to Mathematical Programming, October 26, 2009.

29. Fast Convex Optimization Algorithms for Exact Recovery of a Corrupted Low-Rank Matrix,
Zhouchen Lin, Arvind Ganesh, John Wright, Leqin Wu, Minming Chen, and Yi Ma, UIUC Technical Report UILU-ENG-09-2214, July 2009. Conference version published in International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, December 2009.

28. Computation and Relaxation of Conditions for Equivalence between l1 and l0 Minimization,
Yoav Sharon, John Wright, and Yi Ma, UIUC Technical Report UILU-ENG-07-2008, May 2007. Conference version published in American Conference on Control, 2009.

Refereed:

27. Image Super-Resolution via Sparse Representation,
Jianchao Yang, John Wright, Thomas Huang, and Yi Ma, to appear in IEEE Transactions on Image Processing, 2010.

26. Dense Error Correction via l1 Minimization, (significantly revised version)
John Wright and Yi Ma, UIUC Technical Report UILU-ENG-08-2210, accepted by IEEE Transactions on Information Theory (IT), 2010.

25. Motion Segmentation in the Presence of Outlying, Incomplete, and Corrupted Trajectories,
Shankar Rao, Roberto Tron, Rene Vidal, and Yi Ma, to appear in IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2010.

24. Sparse Representation for Computer Vision and Pattern Recognition,
John Wright, Yi Ma, Julien Mairal, Guillermo Sapiro, Thomas Huang, and Shuicheng Yan, the Proceedings of the IEEE, June 2010.

23. On the Role of Sparse and Redundant Representation in Image Processing,
Michael Elad, Mario A.T. Figueiredo, and Yi Ma, the Proceedings of the IEEE, June 2010.

22. Robust Algebraic Segmentation of Mixed Rigid-Body and Planar Motions,
Shaknar Rao, Allen Yang, Shankar Sastry, and Yi Ma, International Journal of Computer Vision (IJCV), vol.88, pages 425-446, 2010.

21. Classification via Minimum Incremental Coding Length (MICL),
John Wright, Yi Ma, Yangyu Tao, Zhouchen Lin, and Heung-Yeung Shum, SIAM Journal on Imaging Science, 2009.

20. Robust Face Recognition via Sparse Representation, and its online supplementary material
John Wright, Allen Yang, Arvind Ganesh, Shankar Sastry, and Yi Ma, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), vol. 31. no.2, February 2009.

19. Estimation of Subspace Arrangements with Applications in Modeling and Segmenting Mixed Data, with comments from the editor.
Yi Ma, Allen Yang, Harm Derksen, and Robert Fossum, SIAM Review, vol.50, no. 3, August 2008.

18. Unsupervised Segmentation of Natural Images via Lossy Data Compression,
Allen Yang, John Wright, Yi Ma, and Shankar Sastry, Computer Vision and Image Understanding (CVIU), vol. 110, no. 2, pages 212-225, May 2008.

17. Segmentation of Multivariate Mixed Data via Lossy Coding and Compression,
Yi Ma, Harm Derksen, Wei Hong, and John Wright, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), vol. 29, no. 9, pages 1546-1562, September 2007.

16. Multi-Scale Hybrid Linear Models for Lossy Image Representation,
Wei Hong, John Wright, Kun Huang, and Yi Ma, IEEE Transactions on Image Processing (TIP), vol. 15, no. 12, pages 3655-3671, December 2006.

15. A Unified Algebraic Approach to 2-D and 3-D Motion Segmentation and Estimation,
Rene Vidal and Yi Ma, Journal of Mathematical Imaging & Vision (JMIV), vol. 25, pages 403-421, November 2006.

14. Two-View Multibody Structure from Motion,
Rene Vidal, Yi Ma, Stefano Soatto, and Shankar Sastry, International Journal of Computer Vision (IJCV), special issue on Dynamic Vision, vol. 68, no. 1, pages 7-25, June 2006.

13. Generalized Principal Component Analysis (GPCA),
Rene Vidal, Yi Ma, and Shankar Sastry, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), vol. 27, no. 12, pages 1945-1959, December 2005.

12. Symmetry Based Photo Editing,
Kun Huang, Wei Hong, Yi Ma, Pattern Recognition (PR), the Special Issue on Image Understanding for Digital Photos, vol. 38, pages 825-834, 2005.

11. Symmetry-Based 3-D Reconstruction from Perspective Images,
Allen Yang, Kun Huang, Shankar Rao, and Yi Ma, Computer Vision and Image Understanding (CVIU), vol. 99, issue 2, pages 210-240, August 2005

10. A Survey of Geometric Vision,
Kun Huang, Yi Ma, invited book chapter, Robotics and Automation Handbook, edited by Thomas Kurfess, chapter 22, pages 1-25, CRC press, 2005.

9. On Symmetry and Multiple View Geometry: Structure, Pose and Calibration from a Single Image,
Wei Hong, Yang Yang, Yi Ma, the International Journal of Computer Vision (IJCV), vol. 60, no. 3, pages 241-265, December, 2004.

8. Rank Conditions on the Multiple View Matrix,
Yi Ma, Kun Huang, Rene Vidal, Jana Kosecka and Shankar S. Sastry, International Journal of Computer Vision (IJCV), vol. 59, no. 2, pages 115-137, September 2004.

7. A Differential Geometric Approach to Multiple View Geometry in Spaces of Constant Curvature,
Yi Ma, International Journal of Computer Vision (IJCV), vol. 58, no.1, pages 37-53, 2004.

6. Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation,
Yi Ma, Jana Kosecka and Shankar S. Sastry, International Journal of Computer Vision (IJCV), vol. 44, no. 3, pages 219-249, 2001.

5. Optimal Motion from Multiple Views by Normalized Epipolar Constraints,
Yi Ma, Rene Vidal, Shawn Hsu and Shankar S. Sastry, Communications in Information and Systems (CIS), vol. 1, no. 1, pages 51-73, 2001.

4. Euclidean Reconstruction and Reprojection up to Subgroups,
Yi Ma, Stefano Soatto, Jana Kosecka and Shankar S. Sastry, the special issue of International Journal of Computer Vision (IJCV) for David Marr's best paper prize, vol. 38, no. 3, pages 217-227, 2000.

3. Linear Differential Algorithm for Motion Recovery: A Geometric Approach,
Yi Ma, Jana Kosecka and Shankar S. Sastry, International Journal of Computer Vision (IJCV), vol. 36, no. 1, pages 71-89, 2000.

2. Landing an Unmanned Aerial Vehicle: Vision Based Motion Estimation and Nonlinear Control,
Omid Shakernia, Yi Ma, John Koo and Shankar S. Sastry, Asian Journal of Control (AJC), vol. 1, no. 3, pages 128-145, 1999.

1. Vision Guided Navigation for A Nonholonomic Mobile Robot,
Yi Ma, Jana Kosecka and Shankar S. Sastry, the IEEE Transactions on Robotics and Automation (TRA), vol. 15, no. 3, pages 521-537, June 1999.

Conference Papers

63. Stable Principal Component Pursuit,
Zihan Zhou, Xiaodong Li John Wright, Emmanuel Candes, and Yi Ma, International Symposium on Information Theory, June 2010.

62. Dense Error Correction for Low-Rank Matrices via Principal Component Pursuit,
Arvind Ganesh, John Wright, Xiaodong Li, Emmanuel Candes, and Yi Ma, International Symposium on Information Theory, June 2010.

61. Compact Projection: Simple and Efficient Near Neighbor Search with Practical Memory Requirements,
Kerui Min, Linjun Yang, John Wright, Lei Wu, Xian-Sheng Hua, and Yi Ma, in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2010.

60. RASL: Robust Alignment by Sparse and Low-Rank Decomposition for Linearly Correlated Images,
Yigang Peng, Arvind Ganesh, John Wright, and Yi Ma, in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2010.

59. Fast Convex Optimization Algorithms for Exact Recovery of a Corrupted Low-Rank Matrix,
Arvind Ganesh, Zhouchen Lin, John Wright, Leqin Wu, Minming Chen, and Yi Ma, International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, December 2009.

58. Robust Principal Component Analysis: Exact Recovery of Corrupted Low-Rank Matrices via Convex Optimization,
John Wright, Arvind Ganesh, Shankar Rao, and Yi Ma, in Proceedings of the Conference on Neural Information Processing Systems (NIPS), December 2009.

57. Face Recognition with Contiguous Occlusion using Markov Random Fields,
Zihan Zhou, Andrew Wagner, Hossein Mobahi, John Wright, and Yi Ma, in Proceedings of the IEEE International Conference on Computer Vision (ICCV), 2009.

56. Learning Topology of Curves with Applications to Clustering,
Hossein Mobahi, Shankar Rao, and Yi Ma, in Proceedings of AAAI Symposium on Manifold Learning, 2009.

55. Natural Image Segmentation with Adaptive Texture and Boundary Encoding,
Shankar Rao, Hossein Mobahi, Allen Yang, Shankar Sastry, and Yi Ma, the Best Student Paper Award (the Sang Uk Lee Award), in Proceedings of the Asian Conference on Computer Vision, September 2009.

54. Data-Driven Image Completion by Image Patch Subspaces,
Hossein Mobahi, Shankar Rao, and Yi Ma, in Proceedings of the Picture Coding Symposium, 2009.

53. Distributed Video Coding Using Compressive Sampling,
Josep Prades-Nebot, Yi Ma, Thomas Huang, in Proceedings of the Picture Coding Symposium, 2009.

52. Towards a Practical Face Recognition System: Robust Registration and Illumination via Sparse Representation,
Andrew Wagner, John Wright, Arvind Ganesh, Zihan Zhou, and Yi Ma, in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2009.

51. Separation of A Subspace-Sparse Signal: Algorithms and Conditions,
Arvind Ganesh, Zihan Zhou, and Yi Ma, in Proceedings of ICASSP, April 2009.

50. Dense Error Correction via L1-Minimization,
John Wright and Yi Ma , in Proceedings of ICASSP, April 2009.

49. Minimum Sum of Distances Estimator: Rubustness and Stability,
Yoav Sharon, John Wright, and Yi Ma, in Proceedings of American Conference on Control, 2009.

48. Nearest-Subspace Patch Matching for Face Recognition Under Varying Pose and Illumination,
Zihan Zhou, Arvind Ganesh, John Wright, Shen-Fu Tsai, and Yi Ma, in Proceedings of IEEE Conference on Face and Gesture Recognition, 2008.

47. Face Hallucination via Sparse Coding,
Jianchao Yang, Hao Tang, Yi Ma, and Thomas Huang, in Proceedings of International Conference on Image Processing (ICIP), 2008.

46. Motion Segmentation via Robust Subspace Separation in the Presence of Outlying, Incomplete, or Corrupted Trajectories,
Shankar Rao, Roberto Tron, Rene Vidal, and Yi Ma, in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2008.

45. Image Super-Resolution as Sparse Representation of Raw Image Patches,
Jianchao Yang, John Wright, Thomas Huang, and Yi Ma, in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2008.

44. Classification via Minimum Incremental Coding Length (MICL),
John Wright, Yangyu Tao, Zhouchen Lin, Yi Ma, and Heung-Yeung Shum, in Proceedings of the Conference on Neural Information Processing Systems (NIPS), December 2007.

43. Segmentation of Multivariate Mixed Data via Lossy Coding and Compression,
John Wright, Wei Hong, Yi Ma, and Harm Derksen, SPIE conference on Visual Communications and Image Processing (VCIP), January 2007.

42. The Algebra and Statistics of Generalized Principal Component Analysis,
Shankar Rao, Harm Derksen, Robert Fossum, Yi Ma, Andrew Wagner, and Allen Yang, SPIE conference on Visual Communications and Image Processing (VCIP), January 2007.

41. Database-Guided Simultaneous Multi-Slice 3-D Segmentation for Volumetric Data,
Wei Hong, Bogdan Georgescu, Xiang Sean Zhou, Sriram Krishnan, Yi Ma, and Dorin Comaniciu, European Conference on Computer Vision (ECCV), Graz, Austria, May 2006.

40. Robust Statistical Estimation and Segmentation of Multiple Subspaces,
Allen Y. Yang, Shankar R. Rao, and Yi Ma, CVPR workshop on 25 years of RANSAC, June 2006.

39. Homographies and Matching of Ellipses with Application to Forensic Bloodspatter Reconstruction,
John Wright, Andrew Wagner, Shankar Rao, and Yi Ma, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2006.

38. Segmentation of Hybrid Motions via Generalized Principal Surface Analysis,
Shankar Rao, Allen Yang, Andrew Wagner, and Yi Ma, International Conference on Computer Vision (ICCV), Beijing, China, October 2005.

37. Hilbert Functions and Applications to the Estimation of Subspace Arrangement,
Allen Yang, Yi Ma and Robert Fossum, International Conference on Computer Vision (ICCV), Beijing, China, October 2005.

36. A Multi-Scale Hybrid Linear Model for Lossy Image Representation,
Wei Hong, John Wright, Yi Ma and Kun Huang, International Conference on Computer Vision (ICCV), Beijing, China, October 2005.

35. Segmentation of a piece-wise planar scene from perspective images,
Allen Y. Yang, Shankar Rao, Andrew Wagner and Yi Ma, in the proceedings of IEEE Confernece on Computer Vision and Pattern Recognition (CVPR), 2005.

34. Indentification of Deterministic Hybrid ARX Systems via the Identification of Algebraic Varieties,
Yi Ma and Rene Vidal, the workshop on Hybrid Systems: Computation and Control (HSCC), Zurich, Switzerland, 2005.

33. Sparse Representation of Image with Hybrid Linear Models,
Kun Huang, Allen Yang, Yi Ma, International Conference on Image Processing (ICIP), Singapore, October 2004.

32. Clustering Subspaces By Fitting, Differentiating and Dividing Polynomials,
Rene Vidal and Yi Ma, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Washington DC, 2004.

31. Minimum Effective Dimension for Mixtures of Subspaces: A Robust GPCA Algorithm and its Applications,
Kun Huang, Yi Ma, and Rene Vidal, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Washington DC, 2004.

30. Reconstruction of 3-D Symmetric Curves from Perspective Images without Discrete Features,
Wei Hong, Yi Ma, and Yizhou Yu, in Proceedings of the European Conference on Computer Vision (ECCV), Prague, 2004.

29. A Unified Algebraic Approach to 2-D and 3-D Motion Segmentation via Polynomial Fitting and Differentiating,
Rene Vidal and Yi Ma, Honorable Mention for the Best Paper Award (the Longuet-Higgins Prize), in Proceedings of the European Conference on Computer Vision (ECCV), Prague, 2004.

28. Identification of Hybrid Linear Time-Invariant Systems via Subspace Embedding and Segmentation,
Kun Huang, Andrew Wagner, and Yi Ma, in Proceedings of IEEE Conference on Decision and Control (CDC), Bahamas, 2004.

27. Large Baseline Matching and Reconstruction from Symmetry Cells,
Kun Huang, Allen Yang Yang, Wei Hong Yi Ma, in Proceedings of the International Conference on Robotics and Automation (ICRA), New Orleans, 2004.

26. On Exploiting Occlusions in Multiple-View Geometry,
Paolo Favaro, Alessandro Duci, Yi Ma, Stefano Soatto, International Conference on Computer Vision (ICCV), October 2003.

25. Geometric Segmentation of Perspective Images Based on Symmetry Groups,
Yang Yang, Shankar Rao, Wei Hong, Yi Ma, International Conference on Computer Vision (ICCV), October 2003.

24. Generalized Principal Component Analysis (GPCA): an analytic solution to segmentation of mixtures of subspaces,
Rene Vidal, Yi Ma and Shankar Sastry, Finalist for the Best Paper Award, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2003.

23. An Algebraic Geometric Approach to the Identification of a Class of Linear Hybrid Systems,
Rene Vidal, Stefano Soatto, Yi Ma and Shankar Sastry, Finalist for the Best Paper Award, in Proceedings of IEEE Conference on Decision and Control (CDC), Hawaii, 2003.

22. Structure and Pose from Single Images of Symmetric Objects with Applications to Robot Navigation,
Allen Yang Yang, Wei Hong Yi Ma, in Proceedings of the International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, 2003.

21. Introduction to Multiview Rank Conditions and their Applications: A Review,
Jana Kosecka, Yi Ma, invited paper, 2002 Tyrrhenian International Workshop on Digital Communications (IWDC 2002), Advanced Methods for Multimedia Signal Processing, Palazzo dei Congressi, Capri, Italy, September 2002.

20. Interpretation of Dynamic Scenes from the Multibody Fundamental Matrix,
Rene Vidal, Stefano Soatto, Yi Ma and Shankar Sastry, in Proceedings of the Workshop on Vision and Modelling of Dynamic Scenes, the European Conference on Computer Vision (ECCV), Copenhagen, Denmark, May 2002.

19. Classifications of Rank Conditions for Multiple View Geometry of Dynamical Scenes,
Yi Ma, Kun Huang, and Yang Yang, in Proceedings of the Workshop on Vision and Modelling of Dynamic Scenes, the European Conference on Computer Vision (ECCV), Copenhagen, Denmark, May 2002.

18. Generalized Rank Conditions in Multiple View Geometry with Applications to Dynamical Scenes,
Kun Huang , Robert Fossum and Yi Ma, in Proceedings of the European Conference on Computer Vision (ECCV), Copenhagen, Denmark, May 2002.

17. Rank Deficiency Condition of the Multiple View Matrix for Mixed Point and Line Features,
Yi Ma, Jana Kosecka and Kun Huang, oral presentation at the fifth Asian Conference on Computer Vision (ACCV), Melbourne, Australia, January 2002.

16. Multiple View Motion Estimation and Control for Landing an Unmanned Aerial Vehicle,
Omid Shakernia, Courtney S. Sharp, Rene Vidal, David H. Shim, Yi Ma, Shankar Sastry, International Conference on Robotics and Automation (ICRA) 2002.

15. Recognition of Human Gait,
Alessandro Bissocco, Alessandro Chiuso, Yi Ma and Stefano Soatto, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Hawaii, December 2001.

14. Optimal Motion Estimation from Multiview Normalized Epipolar Constraint,
Rene Vidal, Yi Ma, Jana Kosecka and Shankar Sastry, oral presentation at International Conference on Computer Vision (ICCV), Vancuver, Canada, July 2001.

13. Kruppa's Equations Revisited: its Degeneracy, Renormalization and Relations to Chirality,
Yi Ma, Rene Vidal, Jana Kosecka and Shankar Sastry, in the Proceedings of European Conference on Computer Vision (ECCV), Trinity College Dublin, Ireland, 2000.

12. Optimization Criteria, Sensitivity and Robustness of Motion and Structure Estimation,
Yi Ma, Jana Kosecka and Shankar Sastry, in Proceedings of ICCV workshop "Vision Algorithms", 1999.

11. Euclidean Reconstruction and Reprojection Up to Subgroups,
Yi Ma, Stefano Soatto, Jana Kosecka and Shankar Sastry, the Best Paper Award (the David Marr Prize), in Proceedings of the 7th IEEE International Conference on Computer Vision (ICCV), 1999.

10. Vision Guided Landing of an Unmanned Aerial Vehicle,
Omid Shakernia, Yi Ma, Joao Hespanha and Shankar Sastry, in the Proceedings of CDC, 1999.

9. A Lie Theoretic Approach to Structure and Motion in Computer Vision,
Yi Ma, Omid Shakernia, Jana Kosecka, Shankar Sastry, in Proceedings of the World Conference of IFAC, Beijing, China, 1999.

8. Optimal Motion from Image Sequences: A Riemannian Viewpoint,
Yi Ma, Jana Kosecka, Shankar Sastry, in Proceedings of Mathematical Theory of Networks and Systems (MTNS), Padova, Italy, 1998.

7. Motion Estimation from Two Frames as Optimization on Stiefel Manifolds,
Yi Ma, Jana Koseka and Shankar Sastry, in Proceedings of IEEE Conference on Decision & Control (CDC), Florida, USA, 1998.

6. Motion Recovery from Image Sequences: Discrete Viewpoint vs. Differential Viewpoint,
Yi Ma, Jana Kosecka and Shankar S. Sastry, in Proceedings of European Conference on Computer Vision (ECCV), Freiburg, Germany, 1998.

5. Controller Verification and Synthesis for Hybrid Systems on Lie Groups,
Claire Tomlin, John Lygeros, Yi Ma, Shankar S. Sastry, submitted to Controlo, 1998.

4. Hierarchical Hybrid System Design on Berkeley Unmanned Autonomous Aerial Vehicle,
T. J. Koo, D. H. Shim, O. Shakernia, B. Sinopoli, Yi Ma, F. Hoffmann, S. Sastry, International Aerial Robotics Competition, Richland, Washington, USA, 1998.

3. Free Flight in 2000: Games on Lie Groups,
Claire Tomlin, Yi Ma, Shankar S. Sastry, in Proceedings of IEEE Conference on Decision & Control (CDC), Florida, USA, 1998.

2. Vision Guided Navigation for A Nonholonomic Mobile Robot,
Yi Ma, Jana Kosecka and Shankar S. Sastry, in Proceedings of IEEE Conference in Decision & Control (CDC), San Diego, USA, 1997.

1. SmartATMS: A Simulator for Air Traffic Management Systems,
John Koo, Yi Ma, George Pappas and Claire Tomlin, in Proceedings of Winter Simulation Conference (WSC), Atlanta, Georgia, USA, 1997.

Patents

Rcognition via High-Dimensional Data Classification, USPTO No. 61025039, January 31, 2008.

Theses

PhD Thesis: A Differential Geometric Approach to Computer Vision and its Applications in Control, EECS Department, UC Berkeley, August 2000.

M.A. Thesis: Average of Curves: Analysis, Algorithms and Simulations, Mathematics Department, UC Berkeley, May 2000.

M.S. Thesis: Vision Guided Navigation for A Nonholonomic Mobile Robot, EECS Department, UC Berkeley, May 1997.

B.E. Thesis: A Comparative Study of PID, Fuzzy and Robust Control Designs for an Electrical Generator, Automation Department, Tsinghua, June 1995.