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Joseph Costello received his B.S. in Physics in 1974 from Harvey Mudd College. He also has a master's degree in Physics from both Yale University and U. C. Berkeley. He started his career at National Semiconductor, which he soon left to found ``Electronic Speech Systems''.
 Joseph Costello, Yale University
Please list all entity pairs containing a certain relationship in the given options.Output format is "word1, word2; word3, word4". 
Option: place of death, place of birth, education degree, education institution 
Text: {0} 
Answer:
 Joseph Costello, Yale University