http://www.eecs.berkeley.edu/Pubs/TechRpts/2011/EECS-2011-12.html
The above link seems like it could be useful in some research in which I am involved (undergraduate and personal).
Useful Link
http://www.eecs.berkeley.edu/Pubs/TechRpts/2011/EECS-2011-12.html
The above link seems like it could be useful in some research in which I am involved (undergraduate and personal).