I don't know what he did with it; try starting with https://ieeexplore.ieee.org/document/5311579 https://ieeexplore.ieee.org/document/5311579 and working forwar

I don't know what he did with it; try starting with https://ieeexplore.ieee.org/document/5311579 https://ieeexplore.ieee.org/document/5311579 and working forward for cites?