DepartmentDepartment of Physics and Engineering
Biola AffiliationsFaculty
Office LocationLIM #312



  • Ph.D., Electrical and Computer Engineering, University of Waterloo, Canada
  • M.Eng., Electrical Engineering, National University of Singapore, Singapore
  • B.Eng., Information and Control Engineering, Xi’an Jiaotong University, China


After receiving her Ph.D. in Electrical and Computer Engineering from the University of Waterloo in Canada, Grace Ni developed patented haptic technologies (force-feedback using motorized devices) for virtual reality and telepresence at a Canadian high-tech startup. She then devoted the next 16 years to engineering education before joining Biola University. She has spent the past 13 years at California Baptist University, where she taught a broad spectrum of engineering courses and served as the department chair of Electrical and Computer Engineering for six years. Prior to that, she worked at the University of Wisconsin – Platteville as an assistant professor of Electrical Engineering. Ni’s research interests include mobile robotics, mechatronics, control systems, haptics/telehaptics as well as engineering education. Her most recent research projects involve the integration of computer vision and machine learning into robotic/mechatronic systems. She is passionate to educate students on the integration of principles in God’s creation of the natural world into innovative engineering design and the practice of servant leadership for the betterment of human society.


  • Senior member of the Institute of Electrical and Electronics Engineers (IEEE)
  • Member of the IEEE Robotics and Automation Society


  • Mingxin Li, Liya Grace Ni, “Small Scale Mobile Robot Auto-parking Using Deep Learning, Image Processing, and Kinematics-Based Target Prediction” in Intelligent Systems and Applications. IntelliSys 2021. Lecture Notes in Networks and Systems, vol 296, ed. Kohei Arai, Springer, 2022, pp 313-322.
  • Stanley Fok, David W. L. Wang, Liya Grace Ni, and George. Freeman, “A Pilot Study of Video Compression Techniques for Stereoscopic Telepresence Applications”, PRESENCE: Teleoperators & Virtual Environments (MIT Press), Vol. 18, No. 2, April, 2009, pp. 139-155.
  • Kamyar Ziaei, Liya Grace Ni and David W. L. Wang, “QFT Based Force and Contact Transition Controllers for a Flexible Link Manipulator”, Control Engineering Practice, Vol. 17, No. 3, March 2009, pp. 329-344.
  • Liya Grace Ni, David W. L. Wang, Adam Dubrowski, Heather Carnahan, “A User-friendly Interface for Surgeons to Create Haptic Effects in Medical Simulation”, Studies in Health Technology and Informatics, Vol. 125, 2007, pp. 349-351.
  • Liya Grace Ni and David W. L. Wang, “A Human-to-human Force-reflecting Teleoperation System Using Fuzzy Logic Controller Tuning”, Journal of Intelligent and Robotic Systems, Vol. 48, No. 2, February, 2007, pp. 209-224.
  • Liya Grace Ni and David W. L. Wang, “A Gain-switching Control Scheme for Position-error-based Bilateral Teleoperation: Contact Stability and Controller Design," The International Journal of Robotics Research, Vol. 23, No. 3, March 2004, pp. 255-274.
  • Weng Khuen Ho, Khiang Wee Lim, Chang Chieh Hang, Liya Grace Ni, “Getting More Phase Margin and Performance out of PID Controllers,” Automatica, vol. 35, 1999, pp.1579-1585.


  • Proc. ASEE 2022 Annual Conference & Exposition, Minneapolis, MN. “Improving Student Learning Experience with MATLAB Grader and Live Scripts.” June 2022.
  • Proc. Intelligent Systems Conference (IntelliSys2021), Virtual conference. “Small Scale Mobile Robot Auto-Parking using Deep Learning, Image Processing, and Kinematics-Based Target Prediction.” September 2021.
  • Proc. 2020 ASEE Pacific South-West (PSW) Regional Conference, Virtual Conference. “A Learning-by-Doing Approach in Teaching Introduction to the Internet of Things.” November 2020.
  • Artificial Intelligence International Conference (A2IC) 2018, Barcelona, Spain. “A ROS-based Autonomous Tour Guide Robot with a NAO T14 Humanoid on a Mobile Platform.” November 2018
  • Proc. 2nd International Conference on Robotics and Automation Engineering (ICRAE), Shanghai China. “A Robotic Tour Guide Using a NAO T14 Humanoid with a Wheeled Mobile Platform.” December 2017
  • Proc. 123rd ASEE Annual Conference & Exposition, New Orleans, LA. “Growing Together with the Community through Service Learning.” June 2016.
  • Proc. 122nd ASEE Annual Conference & Exposition, Seattle, WA. “Enhancing First Year
  • Proc. IEEE International Symposium on Radio-Frequency Integration Technology, Hefei, China. “Analyzing the Nonlinearity of Binary Phase Detector in Phase-Locked Loops.” August 2014
  • Proc. the 6th Annual First Year Engineering Experience Conference (FYEE), College Station, TX. “Use of Robotics in First-Year Engineering Math Laboratory.” August 2014
  • Proc. the 5th Annual First Year Engineering Experience Conference (FYEE), Pittsburgh, PA. “Use of Online Tools in Teaching C++ Programming to Freshmen in All Engineering Majors.” August 2013.

Research Interests

  • Haptics
  • Robotics (Robotics Engineering)
  • Mechatronics
  • Controls
  • Engineering Education


  • PHSC 311 - Computer Techniques in Science and Engineering
  • PHSC 321 - Circuits and Instrumentation I
  • PHSC 420- Directed Research: Mechatronics Project
  • GNST 102 First Year Seminar

Areas of Expertise for Media Interviews

  • Robotics
  • Mechatronics
  • Control Systems
  • Engineering Education
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