Peng Pan

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Smooth, frictionless, kinematic constraints on the motion of a grasped object reduce the motion freedoms at the hand, but add force freedoms, that is, force directions that do not affect the motion of the object. We are studying how subjects make use of these force freedoms in static and dynamic manipulation tasks. In this study, subjects were asked to use(More)
| W e describe a one-joint planar arm which r e-peatedly throws and catches parts on its surface, and we demonstrate that proper choice of the throw v elocity a n d arm geometry guarantees that the part will enter a unique recurrent motion pattern from a large set of initial conngu-rations. The resulting system resembles an open-loop stable juggler of(More)
In recent years, there has been a massive explosion of multimedia content on the web, multi-modal examples such as images associated with tags can be easily accessed from social website such as Flickr. In this paper, we consider two classification tasks: supervised and semi-supervised multi-modal image classification, to take advantage of the increasing(More)
In this paper, a semantic model for cross-modal and multi-modal retrieval is studied. We assume that the semantic correlation of multimedia data from different modalities can be depicted in a probabilistic generation framework. Media data from different modalities can be generated by the same semantic concepts, and the generation process of each media data(More)