He received a
B.S. in
Mathematics and a
M.S. and
Ph.D. in
Industrial Engineering and Operations Research, all from the
University of Michigan in 1963, 1964 and 1965, respectively. His dissertation,
Analysis of Systems of Queues in Parallel, was supervised by Ralph L. Disney. In 1965, he joined the department of Industrial Engineering and Management Sciences as an assistant professor at
Northwestern University. During 1971–1972, he was a visiting professor in the department of Management Science and Engineering at
Stanford University, and became full professor of Operations Research in 1972 at
Northwestern. He then joined the department of Civil Engineering and
Operations Research as a professor at
Princeton University in 1985. == Research areas ==