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Dr. Seddik M. DjouadiDr. Seddik M. Djouadi
is a faculty member of the Department of Electrical Engineering and Computer Science
at the University of Tenneessee,
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Ph.D. in Electrical Engineering - 1999
McGill University, Montréal, Québec, Canada
Field of study: Systems & Control, GPA: 4/4
Thesis: Optimization of Highly Uncertain Feedback Systems in H-infinity
Supervisors: Dr. George Zames (deceased, here is an obituary) (formerly
MacDonald Professor of EE, IEEE fellow, Fellow of the Canadian Institute of Advanced Research, and the Royal Society of
Canada) inventor of H-infinity control theory (here is a nice paper on his legacy), Prof. C.D. Charalambous
and Prof. P.E. Caines (MacDonald Professor, Fellow IEEE, and Fellow CIAR.)
M.A.Sc. in Electrical Engineering - 1992
Ecole Polytechnique,
University of Montreal, Montréal, Québec, Canada
GPA: 4/4
B.Sc. in Electrical Engineering - (First Class Honors) 1989
Ecole Nationale Polytechnique, Algiers, Algeria
Assistant
Professor
01/2001-07/2003
Systems Engineering Department, University of Arkansas at Little Rock, AR
National Research Council/AFOSR Postdoctoral Fellow
06/2000-12/2000
Air Force Research Laboratory, Wright-Patterson Air Force Base, Dayton, OH
Postdoctoral Fellow and Part-time Research
Engineer 01/1999-05/2000
Georgia Institute of Technology, Atlanta, GA, and American Flywheel Systems, Inc.,
Medina, WA
Robust and distributed control, information theory for uncertain
channels, power control,
modeling, estimation and identification for wireless
systems, control of networked systems, preferential image
segmentation and video tracking, model reduction and control of fluid
flows.
My research is supported by the National Science Foundation, the Air Force office of Scientific Research, Oak Ridge National Laboratory and the Tenessee Valley Authority.
ECE 512 Multivariable Linear Control System Design
ECE 415 Automatic Control Systems I
ECE 313 Probability and Random Variables
S.M.
Djouadi, Optimal Disturbance Rejection and Robustness
for LTV Systems, submitted to the IEEE Transactions on Automatic Control.
S.M. Djouadi and C.D. Charalambous, Time-Varying Optimal Disturbance Minimization in the Presence of Plant Uncertainty, accepted subject to minor changes in the SIAM Journal on Optimization and Control.
S.M. Djouadi, M.M. Olama and Y. Li, Optimal Approximation of the Impulse Response of Wireless Channels by Stochastic Differential Equations, accepted for publication in the IEEE Signal Processing Letters.C.D. Charalambous, S.M. Djouadi and C. Kourtellaris, Statistical Analysis of Multipath Fading Channels using Generalizations of Shot-Noise, EURASIP Journal on Wireless Communications and Networking, , vol. 2008, Article ID 186020, 9 pages.
J. Sun and S.M. Djouadi, Robust Stabilization over Communication Channels in the Presence of Unstructured Uncertainty, in press IEEE Transactions on Automatic Control.
S.Z. Denic, C.D. Charalambous and S. M. Djouadi, Information Theoretic Bounds for Compound MIMO Gaussian Channels, in press IEEE Transactions on Information Theory.
S.M. Djouadi, On the Optimality of the Proper Orthogonal Decomposition and Balanced Truncation,Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico, December 2008, pp. 4221- 4226.
M. Olama, S.M. Djouadi, C.D. Charalambous, Position and Velocity Tracking in Mobile Networks Using Particle and Kalman Filtering with Comparison, IEEE Transactions on Vehicular Technology, Vol. 57, No. 2, March 2008, pp. 1001-1010.
X. Ma, S.M. Djouadi, T. Kuruganti and J. Nutaro, Estimation over Unreliable Communication Links without Arrival Information of Packet Losses, accepted for presentation in the 2nd Mediterranean Conference on Intelligent Systems and Automation (CISA'09).M. Olama, Y. Li, S.M. Djouadi and C.D. Charalambous, Stochastic Wireless Channel Modeling, Estimation and Identification from Measurements, Proceedings of 1st Mediterranean Conference on Intelligent Systems and Automation, June 30-July 2, 2008. (Best paper award.)
Y. Pan, J.D. Birdwell and S.M. Djouadi, Preferential Image Segmentation using the Trees of Shapes, accepted for publication in the IEEE Transactions on Image Processing.
S.M. Djouadi, R.C. Camphouse and J.H. Myatt, Empirical Reduced Order Modeling for Boundary Feedback Flow Control, Journal of Control Science and Engineering Volume 2008 (2008), Article ID 154956, 11 pages. doi:10.1155/2008/154956.
S.M. Djouadi, On Robustness in the Gap Metric and Coprime Factor Uncertainty for LTV Systems, submitted for publication to Systems & Control Letters.
Y. Li, M. Olama,
S.M. Djouadi, A. Fathy, S.M. Djouadi and T. Kuruganti, , UWB Indoor
Wireless Channel Modeling and Estimation from Received Signal
Measurements, accepted for presenttation in the IEEE the Radio and Wireless Symposium,
2009.
M. Olama, S.M.
Djouadi, C.D. Charalambous, Stochastic Differential Equations for
Modeling, Estimation and Identification of Mobile-to-Mobile
Communication Channels, accepted for publication in the IEEE Transactions on Wireless
Communications.
S.M.
Djouadi and J.D. Birdwell, J.D. Duality Theory of the
Optimal Two-Block H-infinity Problem, International Journal of Robust and Non-linear Control. Volume 18, issue 12, Date: August 2008, Pages: 1302-1316.
C.D.
Charalambous and S.M. Djouadi,
Stochastic H-infinity Control of Nonlinear Discrete-Time Partially Observable
Systems and Dissipation Inequalities: An Action Functional Approach, submitted
to the IEEE Transactions on Automatic Control.
C. D. Charalambous, S.Z. Denic and S. M. Djouadi, Capacity of a Gaussian Noise Channel with H-infinity Normed Channel and Noise Uncertainties, submitted to the IEEE Transactions on Automatic Control.
Y. Pan, J.D. Birdwell and S.M. Djouadi, Efficient Bottom-Up Image Segmentation Using Region Competition and the Mumford-Shah Model for Color and Textured Images, submitted International Journal of Image and Graphics.
S.M. Djouadi and Y. Li, On Optimal Robustness in the Gap Metric for LTV Systems, Systems & Control Letters. Vol. 56, Issues 11-12, November-December 2007, pp. 753-758.
M. Olama, K.K. Jaladhi, S.M. Djouadi and C.D. Charalambous, Recursive Estimation and Identification of Time-Varying Long-Term Fading Channels, Research Letters in Signal Processing, vol. 2007, Article ID 17206, 5 pages, 2007.
M.
Olama, S.M. Djouadi, C.D. Charalambous, Stochastic
Power Control for Time-Varying Long-Term Fading Wireless Networks, EURASIP
journal on Applied Signal Processing. Volume
2006, Article ID 89864, Pages 1–13.
C.D. Charalambous, S.M. Djouadi and S.Z. Denic, Stochastic Power Control for Wireless Networks via SDE's: Probabilistic QoS Measures, IEEE Transactions on Information Theory, vol. 51, No. 2, pp. 4396-4401, December 2005.
S.M. Djouadi, R.C. Camphouse and J.H. Myatt, Reduced Order Models for Boundary Feedback Flow Control, Proceedings of the 2008 American Control Conference, Seattle, June 11-13, 2008, pp. 4005-4010.
S.M. Djouadi, Robustness in the Gap Metric and Coprime Factor Perturbations for LTV Systems, IEEE Control and Decision Conference, New Orleans, December 12-14, 2007, pp. 6400 - 6405.
M. Olama, S.M. Djouadi and C.D. Charalambous, I.G. Papageorgiou, Estimation of Position and Velocity in Multipath Wireless Networks from Received Signal Measurements, accepted for presentation in the IEEE Control and Decision Conference 2007.
S.M. Djouadi, R. Chris Camphouse and James H. Myatt, On the Optimality of Proper Orthogonal Decomposition and Balanced Truncation with Application to the 2-D Burgers' Equation, IEEE Control and Decision Conference, New Orleans, December 12-14, 2007, pp. 3507 - 3512.
M. Olama, S.M. Djouadi and C.D. Charalambous, A General Framework for Continuous Time Power Control in Time Varying Long term Fading Wireless Networks, Proc. of the 9th IASTED International Conference on Control and Applications, Montreal, pp. 69-74, 2007.
S.M. Djouadi ad C.D. Charalambous, Time-Varying Optimal
Disturbance Rejection in Presence of Plant Uncertainty, Proceedings of the European Control Conference 2007, Kos, Greece, July 2-5, 2007, pp. 2395-2401.
M. Olama, K. Jaladhi, S.M. Djouadi, C.D. Charalambous, Estimation and Identification of Time-Varying Long-Term Fading Wireless Channels with Application to Power Control, Proceedings of the European Control Conference 2007, Kos, Greece, July 2-5, 2007, pp. 1886-1893.
S.Z.
Denic, C.D. Charalambous and
S. M. Djouadi, Channel
Capacity Subject to Frequency Domain Normed
Uncertainties - SISO and MIMO Cases, 17th International Symposium on Mathematical Theory
of Networks and Systems, July 24-28, 2006, Kyoto, Japan.
S.M.
Djouadi and Y. Li, On Robust Stabilization in the Gap
Metric for LTV Systems, Proceedings of the IEEE Conference on Decision and
Control, San-Diego December 2006.
R.C.
Camphouse, S.M. Djouadi and
J.H. Myatt, Feedback Control for Aerodynamics, Proceedings
of the IEEE Conference on Decision and Control, San-Diego December 2006.
M.M.
Olama, S.M. Djouadi, and
C.D. Charalambous, Position and Velocity Tracking in
Cellular Networks Using Particle and Kalman Filtering
with Comparison, Proceedings of the IEEE Conference on Decision and Control,
San-Diego December 2006.
S.M.
Djouadi, Disturbance
Rejection and Robustness for LTV Systems, Proceedings of the American Control Conference, pp. 3648-2653-6080,
June 14-26, 2006.
J.
Sun and S.M. Djouadi, On Robust Stabilization Over
Communication Channels in the Presence of Unstructured Uncertainty, Proceedings
of the American Control Conference, pp. 3648-2653-6080, June 14-26, 2006, pp.
3488-3493.
M.
Olama, S.M. Djouadi, C.D. Charalambous, Stochastic Channel Modeling for Ad Hoc Mobile
Wireless Networks, Proceedings of the American Control Conference, pp.
6075-6080, June 2006.
M.
Olama, S.M. Djouadi, C.D. Charalambous,
Time Varying Channel Modeling for Ad-hoc
Mobile Wireless Networks, Proceedings of the IEEE Wireless
Communications and Networking Conference, Volume 3, April
3-6, 2006, pp. 1277 – 1282.
M.
Olama, S.M. Djouadi, C. Pendley,
Position and Velocity Tracking in Mobile Cellular
Networks Using the Particle Filter, Proceedings of the IEEE Wireless
Communications and Networking Conference, April 3-6, 2006, pp. 165 -
170.
Y.
Pan, J.D. Birdwell and S.M. Djouadi, Bottom-Up
Hierarchical Image Segmentation Using Region Competition and the Mumford-Shah
Functional. Proceedings of the 18th International Conference on Pattern
Recognition (ICPR’06), Volume 2,
20-24 Aug. 2006 Page(s):117 - 121.
Y.
Pan, Douglas J. Birdwell, Seddik M, Djouadi, Efficient Bottom-Up Image Segmentation Using
Region Competition and the Mumford-Shah Model for Color and Textured
Images, International Symposium on
Multimedia 2006, San Diego, CA, USA,
Dec. 11-13, 2006.
Y.
Pan, J.D. Birdwell and S.M. Djouadi, An Efficient
Bottom-Up Image Segmentation Method Based on Region Growing, Region Competition
and the Mumford Shah Functional, Proceedings of the International Workshop On
Multimedia Signal Processing 2006,
Victoria, BC, Canada, Oct. 03-06, 2006.
Y.
Pan, J.D. Birdwell and S.M. Djouadi, Efficient
Implementation of the Chan-Vese Models Without
Solving PDEs, Proceedings of the International Workshop On Multimedia Signal
Processing 2006, Victoria, BC, Canada, Oct. 03-06, 2006.
Y.
Pan, J.D. Birdwell, and S.M. Djouadi, Image Segmentation Using Curve
Evolution and Anisotropic Diffusion, IEEE International Symposium of
Multimedia (ISM2005) Irvine, California, pp. 387-394, December 2005.
Y.
Pan, J.D. Birdwell, and S.M. Djouadi, Probabilistic
Curve Evolution Using the Particle Filter, joint IEEE Conference on
Decision and Control and Europen Control Conference,
S.M
Djouadi, MIMO Disturbance and Plant
Uncertainty Attenuation by Feedback, IEEE Transactions on Automatic
Control, Vol. 49, No. 12, 14 pages, December 2004.
S.M. Djouadi, Operator
Theoretic Approach to the Optimal Two-Disk Problem, IEEE Transactions on
Automatic Control, Vol. 49, No. 10, pp. 1607-1622, October 2004.
M. Olama, S.M. Shajaat,
S.M. Djouadi and C.D. Charalambous,
Stochastic Power Control for Time-Varying
Long Term Fading Wireless Channels, Proceedings of the American Control
Conference, pp. 1817-1822
June 2005.
M.
M. Olama, S.M. Djouadi,
C.D. Charalambous, Stochastic
Power Control for Time- Varying Wireless Fading Communication Networks,
Proceedings of the Joint 13th IEEE Mediterranean Conference on
Control and Automation and the 20th IEEE ISIC’05 held in Limassol, June, 2005..
M.
M. Olama; S. M. Shajaat; S.
M. Djouadi; C. D. Charalambous, Stochastic Power Control for Time-Varying Short
Term Flat Fading Wireless Channels, Proceedings of the 16th IFAC
World Congress held in Prague, from July 4 to July 8, 2005.
C. D. Charalambous,
S.Z. Denic; S. M. Djouadi, Robust Capacity for Additive Colored Gaussian
Uncertain Channels, Proceedings of the 16th IFAC World Congress
held in Prague, from July 4 to July 8, 2005.
S.M. Djouadi and
J.D. Birdwell, J.D. On the Optimal
Two-Block H-infinity Problem, Proceedings of the American Control
Conference, pp. 4289-4294, June 2005.
C. D. Charalambous,
S.Z. Denic; S. M. Djouadi, Robust Capacity of a Gaussian Noise Channel
with Channel and Noise Uncertainty, Proceedings of the American Control
Conference, pp. 1829-1834 June 2005.
S.M.
Djouadi, Optimal
Robust Disturbance Attenuation for Continuous Time-Varying Systems, International
journal of robust and non-linear control, Volume 13, pp.1181-1193, 2003.
C.
D. Charalambous, S.Z. Denic;
S. M. Djouadi, Robust
Capacity of White Gaussian Noise Channels with Uncertainty, Proc. of the
IEEE 43th Conference on Decision and Control,
Paradise Island, Bahamas, pp. 4880-4884, December 14-17, 2004.
Y. Pan, J.D. Birdwell, and S.M. Djouadi, A New Gradient and
Region Based Geometric Snake, Proceedings of the IEEE International
Conference on Acoustics, Speech, and Signal Processing. Vol. II, pp. 745-748,
2005
S.M Djouadi,
Comments on “Is the Frobenius
Matrix Norm Induced”, IEEE Transactions on Automatic Control,
Volume: 48 Issue: 3, pp. 518-519, 2003.
S.M. Djouadi and G.
Zames, On Optimal Robust Disturbance Attenuation, Systems
& Control Letters, vol. 46, pp. 343-351, 2002.
S.M. Djouadi and
C.D. Charalambous, On Optimal Performance for Linear-Time
Varying Systems, Proc. of the IEEE 43th
Conference on Decision and Control, Paradise Island, Bahamas, pp. 875-880,
December 14-17, 2004.
S.Z. Denic and C.D.
Charalambous and S.M. Djouadi,
“Capacity of Gaussian Channels with
Noise Uncertainty”, Canadian Conference on Electrical and Computer
Engineering,
C.D. Charalambous, R. Farzad
and S.M. Djouadi, Characterization
of the Optimal Disturbance Attenuation for Nonlinear Stochastic Uncertain
Systems, in the Proceedings of the IEEE Conference on Decision and Control,
vol. 4, pp. 4260-4264, December 2003.
S.M Djouadi, Operator
Theoretic Solution to the MIMO Extension of ORDAP, in the Proceedings of
the European Control Conference, September 2003.
C.D. Charalambous and S. Djouadi,
“Burkers Model of
Turbulence: Probabilistic Representations Free Energy and Relative Entropy,”
11th Mediterranean Conference on Control and Automation,
C.D. Charalambous and S.M. Djouadi,
Large Deviations and Deterministic Measures of
Information, In the Proceedings of the European Control Conference,
September 2003
S.M. Djouadi, Optimal Robust Disturbance Attenuation
for Continuous Time-Varying Systems, International journal of robust and
non-linear control, Vol.13, pp.1181-1193, 2003.
C.D. Charalambous, S.M. Djouadi
and A. Farhadi, Action
Functional Stochastic H-infinity Estimation for NonLinear
Discrete Time Systems, Proceedings of the IEEE Conference on Decision and
Control, pp. 1028-1033, December 2002.
S.M. Djouadi and C.D. Charalambous,
MIMO Disturbance and Plant Uncertainty
Attenuation by Feedback, Proceedings of the IEEE Conference on Decision and
Control, pp. 1040-1045, December 2002.
C.D. Charalambous,
S.M. Djouadi and N. Ahmed, Stochastic H-infinity Control of
Nonlinear Discrete Time Partially Observable Systems and Dissipative Inequalities,
Estimation for NonLinear Discrete Time Systems,
Proceedings of the IEEE Conference on Decision and Control, pp. 592-597,
December 2002
S.M. Djouadi and G.
Zames, On Optimal Robust Disturbance Attenuation,
Systems & Control Letters, vol. 46, pp. 343-351, 2002.
S.M. Djouadi, C.D. Charalambous and D.W. Repperger, A Convex Programming Approach to the Multiobjective H2/H-infinity Problem, Proceedings
of the ACC, pp. 4315-4320, 2002.
S.M. Djouadi, C.D. Charalambous, and D.W. Repperger,
Multiobjective H2/ Hinfinity
by Banach Space Operator Theory, Proceedings of the
40th IEEE Conference on Decision and Control, pp. 3982-3984, December 2001.
C. D. Charalambous,
S. Z. Denic, S.M. Djouadi
and N. Menemenlis, Stochastic Power Control for
Short-Term Flat Fading Wireless Networks: Almost Sure QoS
Measures, in Proceedings of the 40th IEEE Conference on Decision and Control,
pp. 1049-1052, December 2001.
C.D. Charalambous
and S.M. Djouadi, Stochastic Nonlinear Minimax
Linear Filtering in Continuous Time, " in Proceedings of the 40th IEEE
Conference on Decision and Control, pp. 2520-2525, December 2001.
C. D. Charalambous, S. Z. Denic,
and S.M. Djouadi, N. Menemenlis,
Stochastic Power Control for Large Scale
Shadowing Wireless Networks: An Average Power Measure, in Proceedings of
the 40th IEEE Conference on Decision and Control, pp. 1049-1052, December 2001.
S.M. Djouadi, D.W. Repperger,
J.E. Berlin, Gain-Scheduling H-infinity Control of a Pneumatic Muscle
Using Wireless MEMS Sensors, 44th IEEE’s Midwest Symposium of
Circuits and Systems, Dayton, Ohio 2001.
S.M. Djouadi, C.D. Charalambous and D. W. Repperger,
On Multiobjective H2/
H-infinity Optimal Control, in Proceedings of the 2001 American
Control Conference, pp. 4091-4096, 2001.
K. Iqbal and S.M. Djouadi,
Coordination between a human arm and a robot manipulator, Proceeding 32nd
International Symposium on Robotics (ISR 2001), Seoul Korea, 19-21 April 2001.
D.W. Repperger and
S.M. Djouadi, An
Adaptive Learning System Yielding Unbiased Parameter Estimates, Proceedings
of the 15th IEEE International Symposium On Intelligent Control, pp.139
–144, (ISIC 2000.)
R. Bartlett, J. Coyner, S.M. Djouadi,
E. Zorzi, P. Allaire, E.
Hilton, J. Luo, P. Tsiotras,
F. Maher, R. Strunce, A Simulation of Spacecraft
Energy Momentum Wheels Using Advanced Magnetic Bearing Controllers, Aerospace
Flywheel Workshop, NASA Glenn Research center, Cleveland, Ohio, October 19-20,
1999.
S.M. Djouadi, MIMO
Disturbance Rejection for Uncertain Plants, Proceedings of the 38th IEEE
Conference on Decision and Control, pp. 4050 -4055 vol.4, 1999.
S.M. Djouadi, Optimal
Robust Disturbance Attenuation for MIMO Uncertain Systems in H-infinity ,
in Proceedings of the American Control Conference, pp. 1856 –1860 vol.3,
June 1999.
S.M. Djouadi, Exact
Solution to the Non-Standard H-infinity Problem, Proceedings of the
37th IEEE Conference on Decision and Control, vol. 3, pp. 2843-2848, December
1998.
S.M. Djouadi, Optimal
Robust Disturbance Attenuation for Continuous Linear Time-Varying Systems,
in Proceedings of the 37th IEEE Conference on Decision and Control, pp. 3819
-3824 vol.4, December 1998.
S.M. Djouadi, Performance Optimization of Uncertain Unstable
systems: An Operator Theoretic Approach, Proceedings of the International
Federation of Automatic Control Conference on System Structure and Control,
Nantes, France, June 1998
S.M. Djouadi and G. Zames,
On Optimal Robust Disturbance Minimization, in Proceedings of the
American Control Conference, pp.1531 -1535 vol.3, June 1998.
S.M. Djouadi and G. Zames,
Operator Theoretic Solution to the Optimal Robust Disturbance Attenuation
Problem, Proceedings of the World Multiconference on Systemics, Cybernetics and Informatics, Caracas, Venezuela,
July 1997.
S.M. Djouadi, D. Dochain, A.B. Turgeon, Adaptive Generalized Predictive
Control of Internally Delayed Systems. Proceedings of the European Control
Conference, pp. 1279-1284, 1993.
Patent No.:
AF Invention # AFD-0683, "Highly Sensitive Nonlinear Target Recognition Device Based on Principles of Potential Energy and Force,” granted November 13, 2003, with D.W. Repperger and E. Alderman.
Mr. Anis Drira, (with Dr. Abidi) Ph.D. Topic: Controlled Video Tracking.
Ms. Tasha Fernandez, M.Sc. Topic: Control of Fluid Flows.
Mr. Samir Sahyoun, Ph.D. Topic: Model Reduction and Boundary Control of Fluid Flows.
Mr. Samir Sahyoun, M.Sc. Thesis: Plume Source Localization and Boundary Prediction, May 2009. Currently a Ph.D. candidate with the University of Tennessee.
Mr.
Mohammed Dkhiri, M.Sc. Project: Finite Element Galerkin Approach To The
Two-Dimensional Burgers, Equation, April 2009. Cutrrently with the
Tennessee Valley Authority.
Ms. Yanyan Li, Ph.D. Thesis: Stochastic Modeling and Estimation of Wireless Channels with Application to Ultra Wide Band Systems, August 2008. Currently with Oak Ridge National Laboratory.
Mr. Mohammed Olama, Ph.D. Thesis: Stochastic Signal Processing and Power Control for Wireless Communication Systems, October 2007. Currently with Oak Ridge National Laboratory.
Mr. Yongsheng Pan, (with Dr. Birdwell) Ph.D. Thesis: Image Segmentation using PDE, Variational, Morphological and Probabilistic Methods, November 2007. Currently with University of Utah.
Mr. Jason Foster, M.Sc. Thesis: Model Reduction Techniques for Fluid Dynamical Flow Based PDE Control Problems, August 2007. Currently with Dynetics.
Mr. Kiran Jaladhi, M.Sc. Project: Stochastic Modeling, Estimation and Adaptive Power Control For Time Varying Long Term Fading Wireless Channels. November 2006. Currently with Motorola.
Mr. Shoaib Shajaat, M.Sc. Thesis: Optimal Power Control For Stochastic Wireless Fading Channels, April 2004. Works for a software company in Pakistan.
IEEE Control Systems Society, Information
Theory, Communications and Signal Processing, and the Image Processing
Societies.
The American Mathematical Society.
Mathematical Association of America.
Société Mathématique de France.
My academic genealogy or here.
Chess player (formerly a member of the
Algerian National chess team.)
Soccer and Swimming
One of my favorite plaques (from
Quote: "Great spirits have always encountered violent opposition from mediocre minds" Albert Einstein.