Curriculum Vitae Updated: 12 June, 2001

Transcription

1 Curriculum Vitae Updated: 12 June, 2001 PERRY Y. LI 1076, Lovell Ave Home:(651) Roseville, MN Work:(612) URL: Education: Ph.D. in Mechanical Engineering, May 1995 University of California at Berkeley Berkeley, CA Dissertation Title: Self Optimizing Control and Passive Velocity Field Control of Intelligent Machines Research Advisor: Professor Roberto Horowitz Major Field: Control systems Minor Fields: Signal processing and Bioengineering G.P.A.: 4.0/4.0 (Major and minors), 3.93/4.0 (overall) Completed all course requirements for the MA degree in Mathematics University of California at Berkeley Berkeley, CA MS in Biomedical Engineering, January, 1990 Boston University Boston, MA Master's Thesis: Analytical Design and Experimental Evaluation of Running Shoes Research Advisor: Professor Zvi Ladin Areas: Biomechanics and Signal Processing G.P.A.: 3.93 / 4.0 B.A.(Hons.) in Electrical and Information Sciences, June, 1987 Cambridge University Concentration: Control systems, Artificial Intelligence, computer organization. Cambridge, England Research Area: Control and mechatronic systems as applied to robotics, fluid power systems, man-machine systems, transportation, manufacturing, imaging and printing systems. Work Experience: 3/16/97-present University of Minnesota Minneapolis, MN Nelson Assistant Professor of Mechanical Engineering Research and teaching in dynamic systems and control, and fluid power. 9/95-3/97 Xerox Corporation, Webster, NY Member of the Research and Technology Staff II, Controls and Diagnostics Lab, Wilson Center for Research and Technology Design, modeling and control of xerographic processes and paper/media handling systems. NSF funded research on mechatronic design and control of media handling system (in collaboration with U.C. Berkeley)

2 5 inventions granted/pending patent in the area of color printing process control and media handling devices 9/93-9/95 University of California at Berkeley Berkeley CA Graduate Student Researcher / Post-Doctoral Researcher, PATH program, Control design for Intelligent Vehicle Highway Systems under degraded conditions; Link layer highway traffic flow control strategy; Safety oriented control laws for automated vehicle maneuvers 9/90-8/93 University of California at Berkeley Berkeley CA Graduate Student Researcher, Robotics Lab., Dept. of Mechanical Engineering Passivity based control Self-optimizing exercise machines Adaptive and learning control 1/90-8/90 Massachusetts General Hospital Boston, MA Research Engineer, Anesthesia Bioengineering Unit Developed a signal conditioning, data collection and retrieval system for comprehensive physiologic data collected during surgical operations. 1/90-8/90 Reebok International Ltd. Stoughton, MA Research Consultant, Human Performance Lab. Experimental and theoretical investigation of the interaction between running shoes' sole material properties and dynamics of running. 9/88-12/89 Boston University Boston, MA Research assistant, Motion Analysis Lab, Neuromuscular Research Center Developed software for gait analysis; Designed and performed gait and posture experiments; Theoretical and experimental studies of effect of running shoes on biomechanics of running Summer 86 TECOM Indianapolis, IN Electrical Engineer: Tested and modified telephone products Summer 85 Video Technology (Computers) Hong Kong Testing Engineer: Developed testing equipment and testing software for personal computer components Honors: Visiting lecturer, Department of Mechanical Engineering, University of Bath, UK (Spring, 2001) Young Investigator Award, Japan-USA Symposium on Flexible Automation ( ) Bush Faculty Development Program for Excellence and Diversity in Teaching ( ) Special Recognition Award, Xerox Corporation (1997) Achievement Award, Xerox Corporation (1996) Teaching Fellowship, Boston University ( ) Exhibitioner, Downing College, Cambridge University ( ) Whitby Scholarship, Downing College, Cambridge University ( ) 2

3 Patents and patent applications: "Adaptive Exercise Machines" US Patent # , 1997 "Sensorless quality control apparatus for printing systems", U.S. Patent. #6,021,285, Feb 1 st, "Inter-paper spacing control in a media handling system", Patent filed, Sept "An apparatus for digitizing scanners", Patent filed, Sept Research Grants and Gifts: Federal and State 1."Control of Moisture Content for Paper Manufacturing", P.I., National Science Foundation. DMII , (9/15/2000-8/31/2003) 2."Instability and Passivity Concept for Fast and Safe Electrohydraulic Systems", P.I., National Science Foundation CMS , (9/15/2000-9/14/2003) 3."Passive control of Mechanical Systems with Coordination Requirements", P.I. National Science Foundation CMS , (6/1/98-5/31/01) 4."Using Adaptive Cruise Control (ACC) vehicles to control traffic flow on semi-autonomous highways", P.I. Center for Transportation Studies / Minnesota Department of Transportation, (12/16/98-12/15/00) 5."GOALI: Mechatronic Design and Control of Media Handling Systems for Printing Engines" National Science Foundation CMS , Sept 1996-Aug 1999 (As Xerox Co-investigator with M. Tomizuka and R. Horowitz at UC Berkeley) Industry 6."Process control for the pulp and paper industry: pre-emptive and adaptive strategy, and the use of surrogate measurements", P.I. TAPPI Foundation, $40,000 (direct cost) (8/1/99-7/31/00) 7."Development of a Bench-top Dental Model Digitizer", (Co-PI with A. G. Erdman) IRIS Corporation / Minnesota Technology Fund, $88,127 (direct cost) (1/98-8/00) 8."Diagnostics and control for Xerographic Printing", Xerox-UAC grant, The Document Company, Xerox. (6/99-6/01) 9."Fluid Power Education and Research Initiatives", A Consortium of MN fluid power companies including, Eaton Corporation, MTS Systems, Sauer-Danfoss, and Toro Co. (1/ /2000) Others 10. "Design and Control of Human Powered Swimming Machines", Office of the V.P. For Research - Grant-In- Aid, University of Minnesota, (12/16/98-12/15/99). 11."Machines that co-operate with Humans", Office of the V.P. For Research - Grant-In-Aid, University of Minnesota, (12/16/97-12/15/98). 3

4 Professional Activities: Professional Societies: Member, IEEE Member, ASME Member, IS&T Faculty representative for U. of Minnesota - Associate Member, National Fluid Power Association Vice Chair Fluid Power Technical Panel within the Dynamic Systems and Control Division of ASME (to begin term in June, 2001) Served as referee for numerous technical journals and conferences including IEEE Transactions, ASME Journals, American Control Conference, Transportation Research, etc. Session organizer: American Control Conference Sessions on "Coordinated Control", 1998 and 1999 ASME Dynamic Systems and Control Division Sponsored sessions on "Advances in Transportation Systems" (four sessions in total), 2000 Session on "Electrohydraulic Systems", 2001 ASME IMECE Session on "Modeling and Control of Electrohydraulic Systems", Session chairs at : American Control Conference, 1998,1999, 2000, 2001 Japan / USA Symposium on Flexible Automation, 1996 IEEE Conference on Decision and Control, 1996 Technical Book review: Reviewed: Rao and Bopardikar "Wavelet Transform" for Addison Wesley, published in Industry outreach: Sept 98 - present "Fluid Power Education and Research Initiatives", Project Director. Teaching Graduate Students Advising Current students: 4 PhD students and 4 M.S. students. Graduates: 4 M.S. advisees. Courses taught: University of Minnesota: 1.ME 3281, "Systems Dynamics and Control", Spring 2000 (new course) 2.ME 5232/4232, "Fluid Power Control Lab", Spring 99, Fall 99, Spring 2000, Fall 2000 (new course) 3.ME 3201, "Mechanical Engineering Systems Analysis, Fall 98, Winter 99 4.ME 5254/4241, "Design Morphology", Projects advisor, Fall 97, Winter 98, Fall ME 5285, "Control Systems Laboratory", Fall, 97 6.ME 8280, "Multivariable Control Systems I", Spring 97, Winter ME 8281, "Multivariable Control Systems II", Spring 98 4

5 Invited Lectures 1."Towards Human Friendly Hydraulics: A passivity approach", Engineering Department, University of Cambridge, U.K. 7 th May "Towards Human Friendly Hydraulics: A passivity approach", Department of Mechanical Engineering, University of Bath, U.K. 11 th April "Using Dynamics Systems Concepts to the Design and Control Electrohydraulic Valves", Department of Mechanical Engineering, University of Bath, U.K. 7 th March "Human friendly electrohydraulics a passivity approach", National Fluid Power Association (NFPA) / Construction Industry Manufacturer Association (CIMA) conference on current issues in electrohydraulics. December 15, Rosemount, IL. 5."New concepts in electrohydraulic devices and control", Control Science and Dynamical Systems Seminar series, University of Minnesota, 14 th April, "Highway Traffic Flow Control and Adaptive Cruise Control Vehicles", Center for Transportation Studies, University of Minnesota. 13 th April, "Passive Control of Mechanical Systems and the Application to Smart Exercise Machines", College of Engineering Control Seminar Series, University of Michigan, Ann Arbor. 15 th Jan, "Control of Intelligent Exercise Machines", Biomedical Engineering Seminar Series, University of Minnesota, Minneapolis. 17 th Feb, Passive Control of Mechanical Systems", Department of Mechanical Engineering Seminar Series, University of Minnesota, Minneapolis. 19 th Nov, "Control Systems for the California PATH Automated Highway System Architecture", Center for Transportation Studies seminar series, University of Minnesota, Minneapolis. 12 th Nov, "Passive Velocity Field Control of Mechanical Systems", Department of Systems and Control, Tokyo Institute of Technology, Tokyo, Japan. 9 th Dec, "Control of Intelligent Machines", Department of Mechanical Engineering, University of Minnesota, Minneapolis. 28 th June, "Passive Control of Mechanical Systems ", College of Engineering Colloquium, University of California at Berkeley, Berkeley, CA, 26 th April, "Control of Intelligent Exercise Machines", The Wilson Center for Research and Technology, Xerox Corporation, Webster, NY, August,

6 15."Control of Intelligent Machines: The Smart Exercise Machine Example", Thayer School of Engineering and Applied Science, Dartmouth College, Hanover, NH, June, "Control of Intelligent Exercise Machines", Mechanical Engineering Department, University of Illinois at Chicago, Chicago, April "Control of Intelligent Exercise Machines", Department of Mechanical Engineering, University of Utah, Salt Lake City, UT, June "Control of Intelligent Exercise Machines", Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Tai Po, Hong Kong, 24 th April, "Smart Exercise Machines", VA Rehabilitation Research Center, Palo Alto, CA, April "Smart Exercise Machines", Biomechanics Seminar Series, University of California at Berkeley, Berkeley, CA, March,

7 Publications: Some of the following articles are available from Journal Publications (Journal in preparation, to be submitted in June 2001) 1.P. Y. Li and D. J. Lee, "Passive feedforward approach to bilateral teleoperated manipulators" to be submitted to the IEEE Transactions on Robotics and Automation. 2.D. J. Lee and P. Y. Li, "Passive Adaptive / Robust Control Approaches to Bilateral Teleoperated Manipulators and Experimental Assessment of Kinestic Coupling", to be submitted to the IEEE Transactions on Robotics and Automation. 3.S. Saimek and P. Y. Li, "Motion Planning and Control of a Swimming Machine", to be submitted to the IEEE Transactions on Robotics and Automation. 4.J. Li and P. Y. Li, " Passive velocity field control (PVFC) approach to the simultaneous robot force control and contour following", to be submitted to the IEEE/ASME Transactions on Mechatronics. 5.C. H. Zhong and P. Y. Li, "Bayesian Network Modeling and Diagnosis of Xerographic Printing Systems", To be submitted to the Journal of Imaging Science and Technology. 6.P. Y. Li, "Adaptive Passive Velocity Field Control", To be submitted to the ASME Journal of Dynamic Systems, Measurement and Control. (Journal under review) 7.P. Y. Li, S. Ramaswamy, P. Bjegovic, Preemptive Control of Moisture Content Using Surrogate Measurements in Paper Manufacturing", Submitted to the Transactions of the Institute of Measurements and Control (UK) (Journal accepted) 8.P. Y. Li, Dynamic Redesign of a Two Spool Flow Control Servo Valve ASME Journal of Dynamic Systems, Measurement and Control. 9.R. T. Anderson and P. Y. Li, Mathematical Modeling of a Two Spool Flow Control Servovalve using a Pressure Control Pilot, ASME Journal of Dynamic Systems, Measurement and Control. 10.K. Krishnaswamy and P. Y. Li, On using unstable electrohydraulic valves for control, ASME Journal of Dynamic Systems, Measurement and Control. (To appear) 11.P. Y. Li and R. Horowitz, "Passive Velocity Field Control. Part 1: Geometry and Robustness", To appear in the IEEE Transactions on Automatic Control, November, P. Y. Li and R. Horowitz, "Passive Velocity Field Control. Part 2: Application to Robot Contour Following Problems ", To appear in the IEEE Transactions on Automatic Control, November, P. Y. Li and A. Shrivastava, "Traffic flow stability induced by constant time headway policy for adaptive cruise control (ACC) vehicles" To appear in the Transportation Research - Part C: Emerging Technologies, 2001/2002. (Published) 14.P. Y. Li and S. Dianat, "Robust Stabilization of Tone Reproduction Curves for the Xerographic Process" IEEE Transactions on Control Systems Technology, Vol 9. No. 2, pp , March,

8 15.P. Y. Li, "Towards safe and human friendly hydraulics: the passive valve" ASME Journal of Dynamic Systems, Measurement and Control., Vol. 122, No. 3, pp , Sept L. Alvarez, R. Horowitz and P. Y. Li, "Traffic Flow Control in Automated Highway Systems" Control Engineering Practice. Vol. 7, No. 9, pp , Sept P. Y. Li and R. Horowitz, "Passive Velocity Field Control of Mechanical Manipulators" IEEE Transaction on Robotics and Automation Vol 15 No 4, pages , P. Y. Li and R. Horowitz, "Control of Smart Exercise Machines: Part I, Problem Formulation and Non Adaptive Control", IEEE / ASME Transactions on Mechatronics, Special Issue on Human Friendly Mechatronics, Vol. 2 No. 4, pp , Dec P. Y. Li and R. Horowitz, "Control of Smart Exercise Machines: Part II, Self-Optimizing Control", Submitted to the IEEE / ASME Transactions on Mechatronics, Special Issue on Human Friendly Mechatronics, Vol. 2 No. 4, pp , Dec P. Y. Li, L. Alvarez, R. Horowitz, "AVHS Safe Control Laws for Platoon Leaders", IEEE Transaction on Control Systems Technology, Vol. 5 No. 6, pp , Nov P. Y. Li, R. Horowitz, L. Alvarez, J. Frankel and A. Robertson " An Automated Highway Link Layer Controller for Traffic Flow Stabilization", Transportation Research - Part C (Emerging Technologies) Vol. 5C No.1 pp11-37, Jan J. Frankel, L. Alvarez, R. Horowitz and P. Y. Li, "Safety Oriented Maneuvers for IVHS", Vehicle Systems Dynamics, Vol. 26 N-4 pp , Oct H. Kostyra, M. Tomizuka, P. Y. Li, and S. Endo, "Model Reference Adaptive Control of a Redundant Manipulator Performing a Complete Task", Zeitschrift fur Angewandte Mathematik und Mechanik, Vol. 74, N:4, P. Y. Li and Z. Ladin, "Mathematical Modeling of the Effect of Sole Elasticity Distribution on Pronation", Journal of Biomechanics, Vol. 25, No. 5, pp , D.J. Reinkensmeyer, P.S. Lum, S.L. Lehman, P. Y. Li and L.W. Stark, "Feedforward Stabilization in a Bimanual Unloading Task", Experimental Brain Research, V.89, N1: , April, Invited / Plenary Session Papers and talks 1.P. Y. Li, "Human friendly hydraulics: A passivity Approach", Presented at the NFPA/CIMA Conference, Chicago Dec P. Y. Li*, "Robust control and diagnostics strategy for xerographic printing systems", Invited focused session, 16 th International Conference on Non-Impact Printing (NIP'16) of the Imaging Science and Technology Society, Vancouver, BC, Canada, October R. Horowitz*, P. Y. Li, and J. F. Shield, "Control of Self-Optimizing Exercise Machines", IFAC Workshop on Motion Control, Grenoble, Sept Conference Publications (To appear) 1.P. Y. Li, "Dynamic Redesign of a Flow Control Servo Valve using a Pressure Control Pilot", ASME IMECE P. Y. Li, P. Bjegovic, and S. Ramaswamy, "Modeling and Control of Multi-stage Processes with Transport", ASME IMECE, K. Krishnaswamy and P. Y. Li, "Passive teleoperation of a one degree of freedom electrohydraulic actuator using a passive valve", American Control Conference

9 4.D. J. Lee and P. Y. Li, "Robust and adaptive passive feedforward approach to bilateral teleoperated manupulators", American Control Conference, S. Saimek and P. Y. Li, "Motion planning and control of a swimming machine", American Control Conference, (Published) 6.P. Y. Li and D. J. Lee*, "Passive feedforward approach to bilateral teleoperated manipulators", Symposium on Haptic Interface and Teleoperation at the 2000 ASME IMECE, Orlando FL. Nov R. Anderson and P. Y. Li*, "Modeling of a two spool flow control servovalve using a pressure control pilot", Symposium on Electrohydraulic Modeling and Control at the 2000 ASME IMECE, Orlando FL. Nov C. Zhong and P. Y. Li*, "Bayesian Network Modeling and Diagnosis of Xerographic Printing Systems", Symposium on Motion control and Imaging at the 2000 ASME IMECE, Orlando FL. Nov P. Y. Li*, "Robust Control and Diagnostics Strategies for Xerographic Printing", Proceedings of the IS&T's Non-Impact Printing (NIP-16) 2000 International Conference on Digital Printing Technologies, pp , Vancouver, Canada, October, C. Chen*, P. Y. Li, A. G. Erdman, "Design and Analysis of a Four-Degree-of-Freedom Hybrid Spherical Scanning Apparatus" ASME Biannual Mechanism Conference, Baltimore, MD., September, J. Li and P. Y. Li*, "Passive velocity field control (PVFC) approach to robot force control and contour following", 2000 Japan/USA Symposium on Flexible Automation and Robotics. Ann Arbor, June K. Krishnaswamy* and P. Y. Li "On using unstable electrohydraulic valves for control", In Proceedings of the 2000 American Control Conference, June 2000, pp A. Shrivastava and P.Y.Li*, "Traffic flow stability induced by adaptive cruise control (ACC) vehicles under constant time headway policy", In Proceedings of the 2000 American Control Conference, June pp P. Y. Li*, "Passivity property and passification of electrohydraulic valves", In Proceedings of the 2000 American Control Conference, June 2000, pp D. Hougen et al., "A miniature robotic system for reconnaissance and surveillance", In Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA April, P. Y. Li* and S. Saimek, "Modeling and Estimation of Hydrodynamic Potentials", In Proceedings of the 38 th IEEE Conference on Decision and Control, pp , Pheonix, AZ. Dec P. Y. Li*, "Adaptive Passive Velocity Field Control", In Proceedings of the 1999 American Control Conference, pp San Diego, CA. June, P. Y. Li*, "Coordinated Contour Following Control for Machining Operations - A Survey", In Proceedings of the 1999 American Control Conference, pp , San Diego, CA. June, P. Y. Li* and S. Dianat, "Robust Stabilization of Tone Reproduction Curves for the Xerographic Printing Process", Proceedings of the 1998 Japan/USA Symposium on Flexible Automation, Japan, June P. Y. Li*, "Passive Control of Bilateral Teleoperated Manipulators", In the Proceedings of the American Control Conference, Philadelphia, June C. Cloet*, M. Krucinski, M. Tomizuka, R. Horowitz, P. Y. Li, "Interobject Spacing Control in a Manufacturing Transport System", In Proceedings of the American Control Conference, Philadelphia, June * P. Y. Li and R. Horowitz, "Self Optimizing Control", In the Proceedings of the 36 th IEEE Conference on Decision and Control, San Diego CA, pp , Dec * indicates presenting author 9

10 23. * P. Y. Li and R. Horowitz, "Self Optimizing Control: Application to Smart Exercise Machines", In the Proceedings of the 1997 IEEE International Symposium on Computational Intelligence on Robotics and Automation, Monterey CA, pp , July, * P. Y. Li and R. Horowitz, "Application of Passive Velocity Field Control to Robot Contour Following Problems", In the Proceedings of the 35th IEEE Conference on Decision and Control, Vol. 1 pp Dec * P. Y. Li, L. Alvarez, R. Horowitz, P.Y.Chen, and J. Carbaugh, "A Safe Velocity Tracking Controller for AHS Platoon Leaders", In Proceedings of the 35th IEEE Conference on Decision and Control, Vol. 2 pp Dec * L. Alvarez, R. Horowitz, and P. Y. Li, "A Vehicle Flow Controller for AHS", In Proceedings of the 35th IEEE Conference on Decision and Control, Vol. 2 pp , Dec L. Alvarez, * R. Horowitz, and P. Y. Li, "Safe AHS", 1996 Workshop on Hybrid Systems, Ithaca, NY. Oct P. Y. Li, Alvarez, Luis. Horowitz, Roberto. AHS control laws for platoons leaders Proceedings of the ASME Dynamic Systems and Control Division American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. v ASME, New York, NY, USA. p P. Y. Li and R. Horowitz, "Passive Velocity Field Control Approach to Robot Contour Following" 1996 Japan / USA Symposium on Flexible Automation, v p 25-32, Boston, July * P. Y. Li and R. Horowitz, "Control of Smart Exercise Machines: Part I, Problem Formulation and Non Adaptive Control", Proceedings of the 1996 IFAC Congress, San Francisco, July, * P. Y. Li and R. Horowitz, "Control of Smart Exercise Machines: Part II, Self-Optimizing Control", Proceedings of the 1996 IFAC Congress, San Francisco, July, * L. Alvarez, R. Horowitz and P. Y. Li, "A Link Layer Vehicle Flow Control for the PATH AHS Architecture", Proceedings of the 1996 IFAC Congress, San Francisco, P. Y. Li, and * R. Horowitz, "Intelligent control of an exercise machine", Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE, Mie, Japan Vol. 1 p March P. Y. Li and * R. Horowitz, "Passive Velocity Field Control of Mechanical Manipulators Proceedings of the 1995 IEEE International Conference on Robotics and Automation, pp Vol. 3. Nagoya, Japan J. Frankel, * L. Alvarez, R. Horowitz, P.Y.Li, "Safety Oriented Maneuvers for AVHS", The Proceedings of the 1995 American Control Conference, pp , Seattle, P. Y. Li, R. Horowitz, * L. Alvarez, J. Frankel and A. M. Robertson, "Traffic Flow Stabilization", SAE Systems and Issues in ITS (SP-1106), Future Transportation Technology Conference and Exposition, pp.45-52, Costa Mesa, CA, Aug, P. Y. Li, R. Horowitz, L. Alvarez, J. Frankel and A. M. Robertson, "Traffic Flow Stabilization", Proceedings of the 1995 American Control Conference, pp Vol. 1, Seattle, * P. Y. Li and R. Horowitz, "On the Optimizing Adaptive Control Problem", Proceedings of the 1994 American Control Conference, Baltimore, MD, Vol 2. pp , June, * P. Y. Li, J. Shields and R. Horowitz, "Self Tuning Control of an Exercise Machine", in Symposium on Mechatronic. Eds. T-C. Tsao, J-S. Hu, N. Olagac, S.Y. Liang, G.J. Wiens, ASME Winter Annual Meeting, New Orleans, LA, DSC-Vol 50 / PED-Vol. 63, pp Nov., * P. Y. Li and R. Horowitz, "On Velocity Field Control of Mechanical Systems", Proceedings of the 32 nd IEEE Conference on Decision and Control, San Antonio, TX, Vol. 2. pp , Dec,

11 41. * P. Y. Li, J. Shields and R. Horowitz, "Adaptive Control of an Exercise Machine", Proceedings of the 15th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vol-3., pp San Diego, CA, Oct., * R. Horowitz and P. Li, "Multi-Task Robot Learning", Proceedings of the 1992 American Control Conference, Chicago, IL, Vol-4, pp , * P. Y. Li and Z. Ladin, "Validation of a Mathematical Model of the Effect of Sole Elasticity Distribution on Pronation", Proceedings of the 15th Annual Meeting of the American Society of Biomechanics, pp.90-91, Tempe, AZ, * P. Y. Li, "Impact Impulse Analysis for a Two Link Kinematics Chain Running Model", Proceedings of the 12th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vol-5., pp , Philadelphia, PA, * P. Y. Li and Z. Ladin, "An Energy Minimization Approach to the Design of Elastic Soles for Running Shoes", Proceedings of the 13th Annual Meeting of the American Society of Biomechanics, pp.90-91, Burlington, VT, Technical Reports 1.P. Y. Li and S. Dianat, " Robust TRC Stabilization", Xerox Internal Report #970006, P. Y. Li "Notes on Nonlinear Dynamical Systems, Analysis and Control", Xerox Internal Report, Y. Zhang and P. Y. Li "On-line Minimization and Patch Scheduling", Xerox Internal Report, P. Y. Li, R. Horowitz, A. Alvarez, J. Frankel and A. Robertson " An AVHS Link Layer Controller for Traffic Flow Stabilization", U.C. Berkeley Institute of Transportation Studies -PATH Tech. Report.,TN-95-07, J. Frankel, L. Alvarez, R. Horowitz and P. Y. Li, "Safety Oriented Maneuvers for IVHS", U.C. Berkeley Institute of Transportation Studies -PATH Technical Memo Invention Proposals 1.P. Y. Li and S. Dianat, "Robust TRC Stabilizing Control", Xerox Invention Proposal IP# , P. Y. Li " Closed Loop Registration Control for Agile Nip Registration System ", Xerox Invention Proposal, IP# , P. Y. Li " Dynamic State Observation for the Control of Agile Nip Registration", Xerox Invention Proposal, IP# , Y. Zhang and P. Y. Li "The Control of TRC using On-line Adaptive Least Square Minimization and Patch Scheduling" Xerox Invention Proposal IP# , L.K. Mestha, S. Dianat, Y-R Wang, M.J. Rice and P. Y. Li, "Robust Operation of Process Control In the Presence of Electrostatic Sensor Failure", Xerox Invention Proposal, IP# , D/96739,