Editorials
5. G. AlRegib, "SPS Global Presence and Extinct Technologies [From the Editor]", Signal Processing Magazine, IEEE vol. 28 , issue: 3, pp. 2, May 2011.
4. Andres Kwasinski and Ghassan AlRegib, "Gadgets and Signal Processing: the 2010 International CES", IEEE Signal Processing Magazine, May 2010.
3. G. AlRegib, "From Admiration, Celebration, and Guessing to Innovation [From the Editor]", Signal Processing Magazine, IEEE vol. 27 , issue: 3, pp. 2, May 2010.
2. G. AlRegib, "Immersive Telecommunications; Why Now?" IEEE COMSOC MMTC E-Letter, vol. 4, no. 3, April 2009.
1. G. AlRegib, "Quality matters, especially in sharing knowledge [From the Editor]", Signal Processing Magazine, IEEE vol. 26 , issue: 2, pp. 2, March 2009.
Journal Publications
[2011]
23. M. Santoro, G. AlRegib, and Y. Altunbasak, "A Joint Framework for Motion Validity and Estimation Based on Block Overlap." under review for publication in the IEEE Transactions on Image Processing.
22. Mashhour Solh, and Ghassan AlRegib "3VQM: A Vision-based Quality Measure for DIBR-Based 3D Videos" , under review for publication in the IEEE Transactions on Image Processing.
21. Mashhour Solh and Ghassan AlRegib “Hierarchical Hole-Filling For Depth-based View Synthesis in Free Viewpoint Television (FTV) and 3D Video”, under review for publication in the IEEE Journal of Selected Topics in Signal Processing.
20. F. Porikli, A. Bovik, C. Plack, G. AlRegib, J. Farrell, P. Le Callet, Quan Huynh-Thu, S. Moller, and S. Winkler, "Multimedia Quality Assessment [DSP Forum]," IEEE Signal Processing Magazine, vol. 28, no. 6, pp. 164-177, Nov. 2011. [pdf]
19. Mashhour Solh and Ghassan AlRegib “MIQM: A Multi-Camera Image Quality Measure”, to appear in the IEEE Transactions on Image Processing. [pdf]
[2009]
18. Junlin Li and Ghassan AlRegib, “Distributed Estimation in Energy-Constrained Wireless Sensor Networks,” IEEE Transactions on Signal Processing, VOL. 57, NO. 10, pp. 3746-3578, Oct. 2009. [pdf]
17. Junlin Li and Ghassan AlRegib, “Network lifetime maximization for estimation in multi-hop wireless sensor networks,” IEEE Trans. on Signal Processing, Vol. 57, No. 7, pp. 2456-2466, July 2009.[pdf]
[2008]
16. Fred Stakem, Ghassan AlRegib, and Fred Juang, “Empirical study of CVE transmission algorithms,” IEEE Trans. on Multimedia, submitted April 2008. [pdf]
15. Junlin Li and Ghassan AlRegib, “Function-based network lifetime for estimation in wireless sensor networks,” IEEE Signal Processing Letters, Vol. 15, pp. 533-536, 2008.[pdf]
14. Ghassan AlRegib, Monson Hayes, Elliott Moore, and Doug Williams, “Technology and Tools to Enhance Distributed Engineering Education,” Proc. of the IEEE, Vol. 96, No. 6, pp. 951 – 969, Jun. 2008.[pdf]
[2007]
13. Dihong Tian and Ghassan AlRegib, "BaTex3: bit-allocation for progressive transmission of textured 3D models," IEEE Transactions on Circuits and Systems for Video Technology, Vol. 99, No. 99, pp. 1-13, Aug. 2007. [pdf]
12. Dihong Tian, Junlin Li, and Ghassan AlRegib, “Joint Source and Channel Coding for 3D Scene Databases Using Vector Quantization and Embedded Parity Objects,” IEEE Trans. on Image Processing, Vol. 16, No. 6, pp. 1675-1685, Jun. 2007. [pdf]
11. Dihong Tian and Ghassan AlRegib, "Multi-streaming of 3D scenes with optimized transmission and rendering scalability," IEEE Transactions on Multimedia, Vol. 9, No. 4, pp 736-745, Jun. 2007. [pdf]
10. Junlin Li and Ghassan AlRegib, “Rate-constrained distributed estimation in wireless sensor networks”, IEEE Transactions on Signal Processing, Vol. 55, No. 5, pp. 1634-1643, May 2007. [pdf]
[2006]
9. Junlin Li, Dihong Tian, and Ghassan AlRegib, "Vector quantization in multi-resolution mesh compression," IEEE Signal Processing Letters, vol. 13, no. 10, pp. 616–619, Oct. 2006. [pdf]
8. Dihong Tian and Ghassan AlRegib, "Parity streams - a novel FEC scheme with the stream control transmission protocol," IEEE Communications Letters, Vol. 10, No. 6, pp. 498-500, Jun. 2006. [pdf]
7. Dihong Tian and Ghassan AlRegib, "On-demand transmission of 3D models over lossy networks," EURASIP Journal on Signal Processing: Image Communication, vol. 21, pp. 396–415, Jun. 2006. [pdf]
[2005]
6. Ghassan AlRegib and Yucel Altunbasak, “3TP: An application-layer protocol for streaming 3-D graphics,” IEEE Trans. on Multimedia, Vol. 7, No. 6, pp. 1149-1156, Dec. 2005. [pdf]
5. Ghassan AlRegib, Yucel Altunbasak, and Jarek Rossignac, “An unequal error protection method for progressively compressed 3D models,” IEEE Trans. on Multimedia, Vol. 7, No. 4, pp. 766-776, Aug. 2005. [pdf]
4. Ghassan AlRegib, Yucel Altunbasak, and Jarek Rossignac, “Error-resilient transmission of 3-D models,” ACM Trans. on Graphics, Vol. 24(2), pp. 182-208, Apr. 2005. [pdf]
3. Ghassan AlRegib, Yucel Altunbasak, and Russell Mersereau, “Bit allocation for joint source and channel coding of progressively compressed 3D meshes,” IEEE Trans. on Circuits and Systems for Video Technology, Vol. 15, No. 2, pp. 256-268, Feb. 2005. [pdf]
[2003]
2. Ghassan AlRegib, Yucel Altunbasak, and Russell Mersereau, “Hierarchical motion estimation with content-based meshes," IEEE Trans. on Circuits and Systems for Video Technology, Vol. 13, No. 10, pp. 1000-1005, Oct. 2003. [pdf]
[1999]
1. M. Kousa and G. AlRegib, “Coding-quantization exchange for constant-bit-rate image transmission over wireless channels,” Journal for Science and Engineering, vol. 24(2C) pp 115-124, Dec. 1999.
Conference Publications
[2012]
61. M. Santoro, G. AlRegib, and Y. Altunbasak, "Motion Estimation using Block Overlap Minimization." submitted to IEEE International Workshop on Multimedia Signal Processing (MMSP 2012), Banff, Canada, Sept. 17-19, 2012.
60. M. Santoro, G. AlRegib, and Y. Altunbasak, "Misalignment Correction for Depth Estimation using Stereoscopic 3-D Cameras." submitted to IEEE International Workshop on Multimedia Signal Processing (MMSP 2012), Banff, Canada, Sept. 17-19, 2012.
59. M. Santoro, G. AlRegib, and Y. Altunbasak, "Block-Overlap-Based Validity Metric for Hybrid De-Interlacing," to appear in the IEEE International Conference on Image Processing (ICIP 2012), Orlando, Florida, USA, Sept. 30 – Oct. 3, 2012.
58. M. Chen, G. AlRegib, and B.-H. Juang, "6D Motion Gesture Recognition Using Spatio-Temporal Features", IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP 2012), Kyoto, Japan, May 25-30, 2012. [pdf]
57. M. Santoro, G. AlRegib, and Y. Altunbasak, "Adaptive Search-Based Hierarchical Motion Estimation Using Spatial Priors," International Conference on Computer Vision Theory and Applications (VISAPP 2012), Rome, Italy, Feb. 24-26, 2012. [pdf]
56. M. Chen, G. AlRegib, and B.-H. Juang, "6DMG: A New 6D Motion Gesture Database", ACM Multimedia Systems Conference (MMSys'12), Chapel Hill, North Carolina, USA, Feb 22-24, 2012. [pdf]
55. M. Aabed, G. AlRegib, "Statistical Modeling of Social Networks Activities", The 1st International Conference on Emerging Signal Processing Applications, IEEE ESPA 2012, Las Vegas, Nevada, USA, Jan. 12-14, 2012. [pdf]
54. M. Chen, G. AlRegib, "A New 6D Motion Gesture Database and the Benchmark Results of Feature-Based Statistical Recognition", The 1st International Conference on Emerging Signal Processing Applications, IEEE ESPA 2012, Las Vegas, Nevada, USA, Jan. 12-14, 2012. [pdf]
53. H. Al Marzouqi, G. AlRegib, "Curvelet transform with adaptive tiling", Visual Information Processing and Communication III Conference, part of IS&T/SPIE Electronic Imaging'2012, Burlingame, California, United States, Jan. 2012.
52. M. Solh, G. AlRegib, "Depth adaptive hierarchical hole filling for DIBR-based 3D videos", Visual Information Processing and Communication III Conference, part of IS&T/SPIE Electronic Imaging'2012, Burlingame, California, United States, Jan. 2012. [pdf]
51. N. Kamaci, G. AlRegib, "Impact of Encoding Parameters on DCT Coefficient Distribution for H.264-Like Video Coders", Visual Information Processing and Communication III Conference, part of IS&T/SPIE Electronic Imaging'2012, Burlingame, California, United States, Jan. 2012. [pdf]
[2011]
50. M. Chen, G. AlRegib, and B.-H. Juang, "An Integrated Framework for Universal Motion Control", The 10th International Conference on Virtual Reality Continuum and Its Applications in Industry (VRCAI 2011), Hong Kong, China, Dec 11-12, 2011. [pdf]
49. M. Solh and G. AlRegib, "The Mosaic Camera: Streaming, Coding and Compositing Experiments", IEEE International Workshop on Video Panorama 2011, California, December 5-7,2011. [pdf]
48. N. Kamaci, G. AlRegib, "Improved DCT coefficient Distribution Modeling for H.264-like Video Coders Based on Block Classification", IEEE International Conference on Image Processing (ICIP 2011), Brussels, Belgium Sep. 2011. [pdf]
47. M. Solh and G. AlRegib, "A No-reference Quality Measure for DIBR-Based 3D Videos" IEEE International Workshop on Hot Topics in 3D, Barcelona, Spain, July 11-15,2011. [pdf]
46. M. Solh, J. Martinez Bauza, and G. AlRegib, "3VQM: A Vision Based Quality Metric for DIBR-based 3D Videos", IEEE International Conference on Multimedia and Expo (ICME 2011), Barcelona, Spain, July 11-15, 2011. [pdf]
45. M. Chen, G. AlRegib, and B.-H. Juang, "Trajectory Triangulation: 3D Motion Reconstruction with L1 Optimization," IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP 2011), Prague, Czech, May 22-27, 2011. [pdf]
[2010]
44. M. Chen, G. AlRegib, and B.-H. Juang, "Characteristics of Spatio-Temporal Signals Acquired by Optical Motion Tracking," IEEE International Conference on Signal Processing (ICSP 2010), Amsterdam, The Netherlands, September 28-30, 2010.[pdf]
43. M. Solh and G. AlRegib, "Hierarchical Hole-Filling (HHF): Depth Image Based Rendering without Depth Map Filtering for 3D-TV," 2010 IEEE International Workshop on Multimedia Signal Processing (MMSP'10), Saint-Malo, France, October 4-6, 2010.[pdf]
[2009]
42. J. Li, G. AlRegib, D. Tian, W. H. Chen, and P. S. Chang, “Context-Adaptive Hybrid Variable Length Coding in H.264/AVC,” IEEE International Conference on Image Processing (ICIP 2009), Cairo, Egypt, Nov. 7-11, 2009.
41. M. Solh and G. AlRegib, “MIQM: A Novel Multi-View Images Quality Measure,” in the First International Workshop on Quality of Multimedia Experience (QOMEX), San Diego, CA, July 29-31, 2009.[pdf]
40. F. Stakem and G. AlRegib, “An Adaptive Approach to Exponential Smoothing for CVE State Prediction,” in Proc. Of the Second International Conference on Immersive Telecommunications (IMMERSCOM), Berkeley, CA, May 27-29, 2009.
39. M. Solh and G. AlRegib, “Characterization of Image Distortion in Multi-Camera Systems,” in Proc. Of the Second International Conference on Immersive Telecommunications (IMMERSCOM), Berkeley, CA, May 27-29, 2009.[pdf]
[2008]
38. Junlin Li and Ghassan AlRegib, “Optimal weighted data gathering in multi-hop heterogeneous sensor networks,” Military Communications Conference (MILCOM 2008), San Diego, CA, Nov. 17-19 2008.
37. Fred Stakem and Ghassan AlRegib, “Arm movement prediction using neural networks,” the First IEEE Inter. Workshop on IP Multimedia Communications (IPMC), August 2008.
36. Junlin Li, Ghassan AlRegib, “Maximizing network lifetime for estimation in multi-hop wireless sensor networks,” the First IEEE Inter. Workshop on Sensor Networks (SN), August 2008.
35. Junlin Li, Ghassan AlRegib, Dihong Tian, Pi Sheng Chang, and Wen H. Chen, “Three-dimensional position and amplitude VLC coding in H.264,” the First IEEE Inter. Workshop on IP Multimedia Communications (IPMC), August 2008.
34. Junlin Li, Ghassan AlRegib, Dihong Tian, Pi Sheng Chang, and Wen H. Chen, “Three-dimensional position and amplitude VLC coding in H.264/AVC,” IEEE Inter. Conf. on Image Processing (ICIP), August 2008.
33. Fred Stakem and Ghassan AlRegib, “Neural networks for human movement prediction,” the 4th Symp. on 3D Data Processing, Visualization, and Transmission, accepted March 2008.
32. Junlin Li, Ghassan AlRegib, Dihong Tian, Pi Sheng Chang and Wen H. Chen, “Joint Position and amplitude Coding in Hybrid Variable Length Coding for Video Compression,” IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), pp. 1053 - 1056, 2008.[pdf]
[2007]
31. Junlin Li, Ghassan AlRegib, “Energy-Constrained Distributed Estimation in Wireless Sensor Networks,” Military Communications Conference (MILCOM), Orlando, FL, Oct. 29-31, 2007. [pdf]
30. Fred Stakem, Ghassan AlRegib, and Biing-Hwang Juang, “Towards modeling human arm movements in a CVE,” Proc. of the First Inter. Conf. on Immersive Communications (IMMERSCOM), Bussolengo, Italy, October 2007. [pdf]
29. Fred Stakem, Ghassan Alregib, and Biing-Hwang (Fred) Juang, "Towards Modeling Human Movement in CVE," First International Conference on Immersive Communications (IMMERSCOM), Oct. 2007, Bussolengo, Italy. [pdf]
28. Dihong Tian, Wen Chen, Pi Sheng Chang, Ghassan AlRegib, and Russell M. Mersereau, “Hybrid Variable Length Coding for Image and Video Compression,” IEEE International Conference on Acoustic, Speech, and Signal Processing (ICASSP), Vol. 1, pp. 1133–1136, Honolulu, HI, Apr. 2007. [pdf]
[2006]
27. Fred Stakem, Ghassan AlRegib, Fred Juang, and Mourad Bouzit, "Design of a Transmission Protocol for a CVE," IEEE International Conference on Image Processing (ICIP), Oct. 2006, Atlanta, GA. [pdf]
26. Junlin Li, Ghassan AlRegib, “Energy-Efficient Cluster-based Distributed Estimation in Wireless Sensor Networks,” Military Communications Conference (MILCOM), Washington, DC, Oct. 23-25, 2006. [pdf]
25. Junlin Li, Ghassan AlRegib, “Rate-Constrained Distributed Estimation in Wireless Sensor Networks,” International Conference on Computer Communications and Networks (ICCCN), pp. 317-322, Arlington, VA, Oct. 8-11, 2006. (Nominated for Best Paper Award) [pdf]
24. Junlin Li, Dihong Tian, and Ghassan AlRegib, “Adaptive Multi-Resolution Coding for 3D Scenes using Vector Quantization,” IEEE International Conference on Image Processing (ICIP), pp. 545-548, Atlanta, GA, Oct. 8-11, 2006. [pdf]
23. Ghassan AlRegib and Dihong Tian, "Multi-streaming of visual scenes with scalable partial reliability," IEEE International Conference on Image Processing (ICIP), pp. 3065–3068, Atlanta, GA, Oct. 2006. [pdf]
22. Dihong Tian and Ghassan AlRegib, "Parity-object embedded streaming for synthetic graphics," IEEE International Conference on Image Processing (ICIP), pp. 813–816, Atlanta, GA, Oct. 2006. [pdf]
21. Ghassan AlRegib and Dihong Tian, "Latency-minimized delivery for multi-resolution mesh geometry," IEEE International Conference on Acoustic, Speech, and Signal Processing (ICASSP), Vol. 5, pp. V369-V372, Toulouse, France, May 2006. [pdf]
20. Dihong Tian and Ghassan AlRegib, "PODS: partially ordered delivery of 3D scenes in resource-constrained environments," IEEE International Conference on Acoustic, Speech, and Signal Processing (ICASSP), Vol. 5, pp. V413-V416, Toulouse, France, May 2006. [pdf]
[2005]
19. Aytac Azgin, Yucel Altunbasak, and Ghassan AlRegib, “Cooperative MAC and Routing Protocols for Wireless Ad Hoc Networks,” IEEE Global Communication Conference (GLOBECOM), Vol. 5, pp. 2854-2859, St. Louis, MO, Nov. 2005. [pdf]
18. Israfil Bahceci, Ghassan AlRegib, and Yucel Altunbasak, “Parallel Distributed Detection for Wireless Sensor Networks: Performance Analysis and Design,” IEEE Global Communication Conference (GLOBECOM), Vol. 4, pp. 2420-2424, St. Louis, MO, Nov. 2005. [pdf]
17. Israfil Bahceci, Ghassan AlRegib, and Yucel Altunbasak, “Serial Distributed Detection for Wireless Sensor Networks,” IEEE International Symposium on Information Theory (ISIT), pp. 830-834, Adelaide, Australia, Sep. 2005. [pdf]
16. Mourad Bouzit, Biing-Hwang Juang, and Ghassan AlRegib, “MMK: 3D Manipulation Using Macro-Micro Kinematics,” HCII Conference, Las Vegas, NV, Jul. 2005.
15. Dihong Tian and Ghassan AlRegib, “Progressive streaming of textured 3-D models over bandwidth-limited channels,” IEEE Int. Conf. Acoustic, Speech, and Signal Processing (ICASSP), Vol. 2, pp. 1089-1092, Philadelphia, PA, May 2005. [pdf]
[2004]
14. Dihong Tian and Ghassan AlRegib, “FQM: A fast quality measure for efficient transmission of textured 3D models,” ACM-Multimedia, pp. 686-692, New York, NY, Oct. 2004. [pdf]
13. Dihong Tian, Yen-Chi Lee, Ghassan Al-Regib, and Yucel Altunbasak, “Packetized media streaming over multiple wireless channels,” IEEE International Conference on Communications (ICC), vol. 3, pp. 1335-1339, Jun. 2004. [pdf]
12. Sibel Yaman and Ghassan AlRegib, “A Low-Complexity Video Encoder with Decoder Motion Estimator,” Int. Conf. on Acoustics, Speech, and Signal Processing (ICASSP), Montréal, Canada, vol. 3, pp. 157-160, May 2004. [pdf]
11. Ghassan AlRegib and Yucel Altunbasak, “3TP: 3-D Models Transport Protocol,” 9th Inter. Conf. on 3D Web Technology, pp. 155-163, Monterey, CA, Apr. 2004. [pdf]
10. Dihong Tian, Xiaohuan Li, Ghassan AlRegib, Yucel Altunbasak, and Joel Jackson, “Optimal packet scheduling for wireless video streaming with error-prone feedback,” IEEE Int. Conf. on Wireless Communications and Networking, vol. 2, pp. 1287-1292, Atlanta, GA, Mar. 2004. [pdf]
[2003]
9. Ghassan Al-Regib and Yucel Altunbasak, “3TP: an application-layer protocol for streaming 3-D graphics - experimental approach,” IEEE Int. Conf. on Multimedia and Expo, vol. 1, pp. 421 -424, Baltimore, MD, Jul. 2003. [pdf]
[1999 - 2002]
8. Ghassan Al-Regib, Yucel Altunbasak, and Jarek Rossignac, “A joint source and channel coding approach for progressively compressed 3D mesh transmission,” International Conference on Image Processing, Vol. 2, pp. 161 -164, Rochester, NY, Sept. 2002. [pdf]
7. Ghassan Al-Regib, Yucel Altunbasak, Jarek Rossignac, and Russell Mersereau, “Encoding of 3D animations for efficient delivery,” International Conference on Multimedia and Expo, Vol. 1, pp. 353 -356, Lausanne, Switzerland, Aug. 2002. [pdf]
6. Ghassan Al-Regib and Yucel Altunbasak, “An unequal error protection method for packet loss resilient 3D mesh transmission,” Twenty-First Annual Joint Conf. of the IEEE Computer and Communications Societies INFOCOM, Vol. 2, pp. 743-752, New York, NY, Jun. 2002. [pdf]
5. Ghassan Al-Regib, Yucel Altunbasak, and Jarek Rossignac, “An unequal error protection method for progressively compressed 3D models,” Int. Conf. on Acoustics, Speech, and Signal Processing, Vol. 2, pp. 2041-2044, Orlando, FL, May 2002. [pdf]
4. Ghassan Al-Regib and Yucel Altunbasak, “A system level framework for streaming 3D meshes over packet networks,” International Conference on Networking, pp.745-753, Jul. 2001. [pdf]
3. Ghassan Al-Regib and Yucel Altunbasak, “Two-dimensional motion estimation with hierarchical content-based meshes,”International Conference on Acoustics, Speech, and Signal Processing, vol. 3, pp. 1621-1624, May 2001. [pdf]
2. Adnan Alattar and Ghassan Al-Regib, “Evaluation of selective encryption techniques for secure transmission of MPEG video bit-streams,” IEEE International Symposium on Circuits and Systems, vol. 4, pp. IV-340-IV-343, 1999. [pdf]
1. Adnan Alattar, Ghassan Al-Regib, and Saud Al-Semari, “Improved selective encryption techniques for secure transmission of MPEG video bit-streams,” IEEE International Conference on Image Processing, vol. 4, pp. 256-260, 1999. [pdf]
Patents and Invention Disclosures
9. Mingyu Chen, Ghassan AlRegib, and Biing-Hwang Juang, "An Integrated Universal Interface and Control," provisional patent application (GTRC ID 5916) filed with Georgia Tech on February 15, 2012.
8. Mashhour Solh and Ghassan AlRegib, “Hierarchical Hole-Filing (HHF): Depth Image Based Rendering without Depth Map Filtering for 3D-TV.” US patent application (USPA 13/294,533) filed with Georgia Tech on November 11, 2011.
7. Mashhour Solh and Ghassan AlRegib, “MIQM: A Novel Multi-View Image Quality Measure.” provisional patent application (GTRC ID 5259; 61/348,989) filed with Georgia Tech on May 27, 2010.
6. Mashhour Solh and Ghassan AlRegib, “Hierarchical Hole-Filing (HHF): Depth Image Based Rendering without Depth Map Filtering for 3D-TV.” invention disclosure (GTRC ID 5260) filed with Georgia Tech in April 2010.
5. Junlin Li, Ghassan AlRegib, Dihong Tian, and Wen H. Chen, “Context Adaptive Hybrid Variable Length Coding,” U.S. Patent Pending with Cisco, No. 12/336364, Dec. 2008).
4. Junlin Li, Ghassan AlRegib, Wen H. Chen, Dihong Tian and Pi Sheng Chang, “Reduced Code Table Size in Joint Amplitude and Position Coding of Coefficients for Video Compression,” U.S. Patent filed February 13, 2008. (U.S. Patent Application 12/030,821)
3. Junlin Li, Ghassan AlRegib, Wen H. Chen, Dihong Tian and Pi Sheng Chang, "Variable Length Coding of Coefficient Clusters for Image and Video Compression,", U.S. Patent Application No. 12/030821, Feb. 2008.
2. Ghassan AlRegib and Dihong Tian, “Perceptual Evaluation of Progressively Compressed Textured 3D Models,” invention disclosure (GTRC ID 3300) filed with Georgia Tech in April 2005.
1. Biing-Hwang Juang, Ghassan AlRegib, and Mourad Bouzit, “Macro-Micro Kinematics: A New Approach to 3D Object Manipulation and Assembly,” invention disclosure (GTRC ID 3306) filed with Georgia Tech in October 2004.