B.A. Mathematics, Bucknell University (Lewisburg, Pennsylvania), 1983.
Ph.D. Computer Science, Univ. of Oregon (Eugene, Oregon), 1990.
Institute for Petroleum Research (Trondheim, Norway) - research scientist, 1993-96.
SINTEF Control Theory Department (Trondheim, Norway) - research scientist, 1992-93.
Linkoping University (Linkoping, Sweden) - post-doctoral researcher/teacher in Erik Sandewall's RKLLAB, 1990-92.