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Conversion Of One-Way Street Pairs To Two-Way Operations In Downtown Birmingham, Jugnu Chemmannur Jan 2008

Conversion Of One-Way Street Pairs To Two-Way Operations In Downtown Birmingham, Jugnu Chemmannur

All ETDs from UAB

In recent years, higher-than-ever gas prices and soaring living expenses are driv-ing people back to city centers in search of reduced travel costs and greater proximity to services. This calls for an immediate need to revive downtown areas to make them attrac-tive and increase their efficiency at accommodating a variety of transportation modes, motorized and non-motorized. To help support this revival, researchers are conducting studies countrywide to understand the effects and relevance of conversion of one-way streets to two-way opera-tions. This paper reports the findings of a study that investigated the feasibility and poten-tial impacts of street conversion options on …


Pathogen Best Management Practices (Bmps), Richard K. Koelsch Jan 2008

Pathogen Best Management Practices (Bmps), Richard K. Koelsch

Department of Agricultural and Biological Systems Engineering: Presentations and White Papers

Management practices targeting pathogens focus on establishing multiple barriers between the pathogen source and water, with each barrier designed to lessen the risk of pathogens. The “Agricultural Environmental Management” program developed at Cornell University for dairy producers in New York watersheds promotes a four-barrier approach.


Alkaline Pretreatment Of Coastal Bermudagrass For Bioethanol Production, Ziyu Wang, Deepak R. Keshwani, Arthur P. Redding, Jay J. Cheng Jan 2008

Alkaline Pretreatment Of Coastal Bermudagrass For Bioethanol Production, Ziyu Wang, Deepak R. Keshwani, Arthur P. Redding, Jay J. Cheng

Department of Agricultural and Biological Systems Engineering: Presentations and White Papers

Lignocellulosic materials are regarded as an alternative energy source for bioethanol production to reduce our reliance on fossil fuels. Pretreatment is important for improving the enzymatic digestibility of lignocelluloses to increase the yield of fermentable sugars. Alkaline (sodium hydroxide and lime (calcium hydroxide)) pretreatment of coastal bermudagrass for enhanced reducing sugars recovery was investigated in this study. The effect of NaOH pretreatment at 121°C using 1%, 2% and 3% (w/v) NaOH for 15, 30, 60 and 90 minutes was evaluated first. Lower NaOH concentrations (0.5% and 0.75%) and lower temperatures (50, 80 and 100°C) were then examined. Lime (0.1 g …


Nutrient Transport As Affected By Rate Of Overland Flow, John E. Gilley, W. F. Sabatka, B. Eghball, David B. Marx Jan 2008

Nutrient Transport As Affected By Rate Of Overland Flow, John E. Gilley, W. F. Sabatka, B. Eghball, David B. Marx

Department of Agricultural and Biological Systems Engineering: Faculty Publications

Little information is currently available concerning the effects of varying flow rate on nutrient transport by overland flow. The objective of this study was to measure the effects of overland flow rate on nutrient transport following the application of beef cattle or swine manure to plots containing 0, 2, 4, or 8 Mg ha-1 of corn residue. After addition of residue materials to 0.75 m wide by 2.0 m long plots, beef cattle or swine manure was added and the plots were then either disked or maintained in a no-till condition. Three 30 min simulated rainfall events, separated by …


Rule-Based Mamdani-Type Fuzzy Modeling Of Skin Permeability, Deepak R. Keshwani, David D. Jones, George E. Meyer, Rhonda M. Brand Jan 2008

Rule-Based Mamdani-Type Fuzzy Modeling Of Skin Permeability, Deepak R. Keshwani, David D. Jones, George E. Meyer, Rhonda M. Brand

Department of Agricultural and Biological Systems Engineering: Faculty Publications

Two Mamdani type fuzzy models (three inputs–one output and two inputs–one output) were developed to predict the permeability of compounds through human skin. The models were derived from multiple data sources including laboratory data, published data bases, published statistical models, and expert opinion. The inputs to the model include information about the compound (molecular weight and octonal–H2O partition coefficient) and the application temperature. One model included all three parameters as inputs and the other model only included information about the compound. The values for mole molecular weight ranged from 30 to 600 Da. The values for the log …


Visible/Near-Infrared Hyperspectral Imaging For Beef Tenderness Prediction, Govindarajan Konda Naganathan, Lauren M. Grimes, Jeyamkondan Subbiah, Chris R. Calkins, Ashok Samal, George E. Meyer Jan 2008

Visible/Near-Infrared Hyperspectral Imaging For Beef Tenderness Prediction, Govindarajan Konda Naganathan, Lauren M. Grimes, Jeyamkondan Subbiah, Chris R. Calkins, Ashok Samal, George E. Meyer

Department of Agricultural and Biological Systems Engineering: Faculty Publications

Beef tenderness is an important quality attribute for consumer satisfaction. The current beef quality grading system does not incorporate a direct measure of tenderness because there is currently no accurate, rapid, nondestructive method for predicting tenderness available to the beef industry. The objective of this study was to develop and test a visible/nearinfrared hyperspectral imaging system to predict tenderness of 14-day aged, cooked beef from hyperspectral images of fresh ribeye steaks acquired at 14-day post-mortem. A push-broom hyperspectral imaging system (wavelength range: 400-1000 nm) with a diffuse-flood lighting system was developed and calibrated. Hyperspectral images of beef-steak (n = 111) …


System And Method For Analyzing Material Properties Using Hyperspectral Imaging, Jeyamkondan Subbiah, Chris Richard Calkins, Ashok Samal Jan 2008

System And Method For Analyzing Material Properties Using Hyperspectral Imaging, Jeyamkondan Subbiah, Chris Richard Calkins, Ashok Samal

Department of Agricultural and Biological Systems Engineering: Faculty Publications

Systems and methods are provided for analyzing material properties of an object using hyperspectral imaging. An exemplary method includes obtaining a hyperspectral image of an object; analyzing the hyperspectral image according to an algorithm; and correlating data obtained from the analysis with material properties of the object.


Modeling Of Oversaturated Conditions On Arterial Networks, Abhishek Acharya Jan 2008

Modeling Of Oversaturated Conditions On Arterial Networks, Abhishek Acharya

All ETDs from UAB

Oversaturated conditions on arterial networks are a concern for both transportation agencies and the traveling public. The cost of construction, right-of-way constraints, and a variety of environmental, political, and other social issues often prohibit facility expansion and place extra emphasis on optimizing the operations of existing facilities. One of the options available to urban planners and transportation professionals for handling recurring and non-recurring oversaturation conditions in arterial networks is traffic signal optimization. The objective of this study is to develop a better understanding of traffic signal system performance in oversaturated conditions. The case study reported in this research focuses on …


Traffic Responsive Signal Systems To Address Rain-Related Congestion, Suman Reddy Surabhi Jan 2008

Traffic Responsive Signal Systems To Address Rain-Related Congestion, Suman Reddy Surabhi

All ETDs from UAB

Rainy conditions typically have an impact on the behavior of drivers and in turn can affect traffic flow characteristics in transportation networks. As a result, signal timing plans developed for dry conditions may be unsuitable or sub-optimal during periods of rain, and changes in such plans may be desirable to account for changes in environmental conditions. Current technology in the field of traffic signal control and communications make it possible to change the signal controller settings remotely, a capability that offers opportunities for signal timing adjustments during rain conditions. This study explores the feasibility and benefits of implementing alternative signal-timing …


Analytical Modeling With Decoupled Optimal Control Of Biomechanical Sit -To -Stand Movement, Asif Mahmood Mughal Jan 2008

Analytical Modeling With Decoupled Optimal Control Of Biomechanical Sit -To -Stand Movement, Asif Mahmood Mughal

Theses and Dissertations

Biomechanical movements with multiple degrees of freedom exhibit complex coordination and control mechanisms in the presence of physiological constraints. A human body biomechanical model which can mimic diverse 3D physiological movements is a challenging task. In this study, we develop a mathematical framework to study human sit-to-stand (STS) movement using 2D biomechanical models. This analytical framework models the physiological system for feedback controller design. A 2D 4-segment biomechanical model with optimal feedback controller design provides a motivation to extend this scheme for analytical 3D bipedal modeling. We used a newly developed mathematical modeling toolbox (Maple’s DynaFlexPro) to generate 3D 8-segment …


Lidar Based Emissions Measurement At The Whole Facility Scale: Method And Error Analysis, Gail E. Bingham, Christian C. Marchant, Vladimir V. Zavyalov, Douglas J. Ahlstrom, Kori D. Moore, Derek S. Jones, Thomas D. Wilkerson, Lawrence E. Hipps, Randy S. Martin, Jerry L. Hatfield, John H. Prueger, Richard L. Pfeiffer Jan 2008

Lidar Based Emissions Measurement At The Whole Facility Scale: Method And Error Analysis, Gail E. Bingham, Christian C. Marchant, Vladimir V. Zavyalov, Douglas J. Ahlstrom, Kori D. Moore, Derek S. Jones, Thomas D. Wilkerson, Lawrence E. Hipps, Randy S. Martin, Jerry L. Hatfield, John H. Prueger, Richard L. Pfeiffer

Civil and Environmental Engineering Faculty Publications

Particulate emissions from agricultural sources vary from dust created by operations and animal movement to the fine secondary particulates generated from ammonia and other emitted gases. The development of reliable facility emission data using point sampling methods designed to characterize regional, well-mixed aerosols are challenged by changing wind directions, disrupted flow fields caused by structures, varied surface temperatures, and the episodic nature of the sources found at these facilities. We describe a three-wavelength lidar-based method, which, when added to a standard point sampler array, provides unambiguous measurement and characterization of the particulate emissions from agricultural production operations in near real …


Biomedical Circuits And Systems Dedicated For Sensing And Neurostimulation: Case Study On Urinary Bladder Dysfunctions, Mohamad Sawan, Aguibou Ba, Faycal Mounaim, Jacques Corcos, Mostafa Elhilali Jan 2008

Biomedical Circuits And Systems Dedicated For Sensing And Neurostimulation: Case Study On Urinary Bladder Dysfunctions, Mohamad Sawan, Aguibou Ba, Faycal Mounaim, Jacques Corcos, Mostafa Elhilali

Turkish Journal of Electrical Engineering and Computer Sciences

This paper covers circuits and systems techniques for the construction of high reliability biosensing and neurostimulation smart medical devices. Such microsystems are dedicated for interconnections through the peripheral neural systems. Case study related to applications such as bladder control is discussed. Available electrical neurostimulation techniques for the rehabilitation of urinary bladder functions do not allow an adequate voiding due to dyssynergia between the bladder and the sphincter. A new implantable stimulator, built with commercially available electronic components, was designed to overcome these difficulties. The proposed system performs two types of stimulations: Selective Stimulation for bladder voiding and Permanent Stimulation to …


The Use Of Modeling Tools In The Analysis Of Functional Requirements, Gopi Kamadia Jan 2008

The Use Of Modeling Tools In The Analysis Of Functional Requirements, Gopi Kamadia

All ETDs from UAB

The thesis offers an Object-Oriented analysis methodology to investigate the functional requirements of software systems with modeling technologies, such as Unified Modeling Language (UML) and Systems Modeling Language (SysML). The main focus of the analysis is to discover objects and describe them in the problem domain. The thesis also proposes a validation process for the requirements stage of the development life cycle with an Acclaro Design For Six Sigma (DFSS) approach. A software development experiment is carried out with a case study of a threedimensional graphics game. The game is first implemented without following any sound analysis process and then …


Lipid Productivity Of Algae Grown On Dairy Wastewater As A Possible Feedstock For Biodiesel, Ian C. Woertz Jan 2008

Lipid Productivity Of Algae Grown On Dairy Wastewater As A Possible Feedstock For Biodiesel, Ian C. Woertz

Master's Theses

The objective of this thesis is to develop a biological wastewater treatment system that utilizes algal growth to simultaneously create renewable energy in the form of biodiesel and digester biogas, remove polluting nutrients, and abate greenhouse gases. Research under the Department of Energy Aquatic Species Program during 1978-1996 concluded that cultivating algae for biofuels was cost prohibitive at that time and that an integrated approach should be studied that combined wastewater treatment with algal biofuel production. Nutrient removal, in particular nitrogen and phosphorus, from wastewater is a growing regulatory need and the use of algae cultivation could create a unique …


Mesenchymal Stem Cell Interaction With Nanostructured Biomaterials For Orthopaedic Applications, William Charles Clem Jan 2008

Mesenchymal Stem Cell Interaction With Nanostructured Biomaterials For Orthopaedic Applications, William Charles Clem

All ETDs from UAB

Orthopaedic implants fail when bone loss around the anchoring region of the prosthesis causes the components to loosen. A revision surgery is needed to replace worn components, and bone grafting is often required to fill the void caused by osteolysis. A solution for the problem of osteolysis may be the improvement of wear resistance at the articulating surfaces by substituting materials with greater hardness. This dissertation describes two strategies for increasing the surface hardness of titanium alloy (Ti-6Al-4V) implants, without increasing surface roughness or compromising osseointegration. The first strategy utilizes microwave plasma to induce titanium nitride formation by nitrogen diffusion. …


Site-Specific Effects Of Pecam-1 On Atherosclerosis In Ldl Receptor-Deficient Mice, Shikha Arora, Brian Boylan, Reema Goel, Benjamin R. Schrank, Barbara Fleming, Rose Ann Fleming, Hiroto Mirura, Peter J. Newman, Robert C. Molthen, Debra K. Newman Jan 2008

Site-Specific Effects Of Pecam-1 On Atherosclerosis In Ldl Receptor-Deficient Mice, Shikha Arora, Brian Boylan, Reema Goel, Benjamin R. Schrank, Barbara Fleming, Rose Ann Fleming, Hiroto Mirura, Peter J. Newman, Robert C. Molthen, Debra K. Newman

Biomedical Engineering Faculty Research and Publications

Objective—Atherosclerosis is a vascular disease that involves lesion formation at sites of disturbed flow under the influence of genetic and environmental factors. Endothelial expression of adhesion molecules that enable infiltration of immune cells is important for lesion development. Platelet/endothelial cell adhesion molecule-1 (PECAM-1; CD31) is an adhesion and signaling receptor expressed by many cells involved in atherosclerotic lesion development. PECAM-1 transduces signals required for proinflammatory adhesion molecule expression at atherosusceptible sites; thus, it is predicted to be proatherosclerotic. PECAM-1 also inhibits inflammatory responses, on which basis it is predicted to be atheroprotective.

Methods and Results—We evaluated herein the effect of …


Homography Based Multiple Camera Detection Of Camouflaged Targets, Jesus Flores Guerra Jan 2008

Homography Based Multiple Camera Detection Of Camouflaged Targets, Jesus Flores Guerra

Open Access Theses & Dissertations

This Thesis proposes an improvement on segmentation of camouflaged objects by combining information from multiple static cameras with overlapping views onto a common reference plane. Previous camouflage detection work relies on a single camera and focuses on pattern recognition, gray level co-occurrence matrix (GLCM) computation, convexity detection and operations such as connected components or morphology. These methods make real-time implementation computationally expensive. The proposed work diverges from these techniques, taking advantage of the added information from several viewpoints. Background subtraction is performed on each individual camera and then, the segmentation result is transformed onto a common plane using homography. A …


Analysis Of Number And Mass Concentration Of Coarse And Fine, Nancy Garcia Jan 2008

Analysis Of Number And Mass Concentration Of Coarse And Fine, Nancy Garcia

Open Access Theses & Dissertations

There is currently much concern over particles suspended in the ambient air, their effects on people and the environment throughout the world. The suspended particles can cause adverse health effects, reduce visibility and over the course of time wear buildings. Primary air quality concerns are of particles, their effects and their key characteristics. Particle number concentration (NC) of traffic emissions is an important element of the study, specifically heavy duty diesel engine emissions. Particle number concentration is the number of particles of a specific size in a unit of air; in this study they are measured by the number of …


Screening The Phytoremediation Potential Of Native Plants Growing On Mine Tailings In Arizona, Usa, Md Nazmul Haque Jan 2008

Screening The Phytoremediation Potential Of Native Plants Growing On Mine Tailings In Arizona, Usa, Md Nazmul Haque

Open Access Theses & Dissertations

Mining companies have been playing an important role for the utilization of the Earth's natural resources for the prosperity of human society. However, the mining of resources has generated solid wastes called tailings that have become a serious environmental threat worldwide. Technologies such as soil caping have been used to remediate the problem. Nevertheless, the remediation of mine tailings using conventional technologies is costly and environmentally unpleasant. Since the last few decades, a plant based technology known as phytoremediation has appeared as a promising alternative. Several plant species have demonstrated to have phytoremediation capabilities; though, best results have been obtained …


Treatment Of Aqueous Waste Streams At Eli Lilly - Alternatives To Incineration, Barry Hennessy Jan 2008

Treatment Of Aqueous Waste Streams At Eli Lilly - Alternatives To Incineration, Barry Hennessy

Theses

The aim of this project was to investigate the potential to treat liquid waste (secondary) from production processes at Eli Lilly with the emphasis on minimising the volume of waste sent for thermal oxidation. In addition, the project aimed to investigate if the chosen technology was diverse and potentially capable of handling waste streams from different processes. Membrane technology was identified as one of the most suitable technologies and trials were carried out on secondary waste from three production processes. The literature review and practical thrials aswell as assessment of trial results ran from October 2003 to June 2005.

All …


Electromyographic Characterization In An Animal Model Of Dystonia, Kunal Dilip Chaniary Jan 2008

Electromyographic Characterization In An Animal Model Of Dystonia, Kunal Dilip Chaniary

Theses and Dissertations

Kernicterus causes damage to the auditory system and the basal ganglia in humans. Although the Gunn rat model of kernicterus has been extensively used to characterize the auditory features, this model has not been utilized to systematically investigate the movement disorder. In the present study, spontaneously jaundiced (jj) 16 day old Gunn rat pups were treated with sulfadimethoxine to exacerbate bilirubin neurotoxicity and compared to saline treated jjs and non-jaundiced (Nj) littermates. Electromyographic (EMG) activity was recorded from antagonistic hip muscles in dystonic and in normal appearing rats. Raw EMG signals were decomposed using the Discrete Wavelet Transform based multi-resolution …


Animal Microrna Target Prediction By Incorporating Diverse Sequence-Specific Determinants, Yun Zheng, Weixiong Zhang Jan 2008

Animal Microrna Target Prediction By Incorporating Diverse Sequence-Specific Determinants, Yun Zheng, Weixiong Zhang

All Computer Science and Engineering Research

More recent evidence has shown that access of animal microRNAs (miRNAs) to their complementary sites in target mRNAs is determined by more sequence-specific determinants than the seed regions in the 5' end of miRNAs. Although these factors have been shown to be related to the repressive power of miRNAs and used, in separate programs, to predict the efficacy of miRNA complementary sites, it remains unclear whether these factors can help to improve miRNA target prediction. We develop a new miRNA target prediction algorithm, called Hitsensor, by incorporating more sequence-specific features that determine complementarities between miRNAs and their targets, in addition …


Machine Annotation Of Sets Of Traditional Irish Dance Tunes, Bryan Duggan, Brendan O'Shea, Mikel Gainza, Padraig Cunningham Jan 2008

Machine Annotation Of Sets Of Traditional Irish Dance Tunes, Bryan Duggan, Brendan O'Shea, Mikel Gainza, Padraig Cunningham

Conference papers

A set in traditional Irish music is a sequence of two or more dance tunes in the same time signature, where each tune is repeated an arbitrary number of times. A turn in a set represents the point at which either a tune repeats or a new tune is introduced. Tunes in sets are played in a segue (without a pause) and so detecting the turn is a significant challenge. This paper presents the MATS algorithm, a novel algorithm for identifying turns in sets of traditional Irish music. MATS works on digitised audio files of monophonic flute and tin-whistle music. …


How Are Nasa Engineers Motivated? An Analysis Of Factors That Influence Nasa Goddard Engineers’ Level Of Motivation, Howard Eric Kea Jan 2008

How Are Nasa Engineers Motivated? An Analysis Of Factors That Influence Nasa Goddard Engineers’ Level Of Motivation, Howard Eric Kea

Antioch University Dissertations & Theses

NASA is an organization known for pushing the envelope of engineering and scientific achievement. It can be argued that engineers working for NASA are intrinsically highly motivated due to the nature of the work and the mission of NASA. This study explores how supervisor behaviors, both intrinsic and extrinsic and demographic factors influence motivation of NASA Goddard engineers in their current environment. Recent Congressional and Office of Management and Budget (OMB) policies, such as full cost accounting, levy strict oversight of project spending. As a result of these policies, NASA engineers must now focus their attention on getting assigned work …


Proportional Feedback Control Of Duty Cycle For Dc Hybrid Active Power Filter, Govind N. Malleichervu Jan 2008

Proportional Feedback Control Of Duty Cycle For Dc Hybrid Active Power Filter, Govind N. Malleichervu

University of Kentucky Master's Theses

This thesis deals with the design and implementation of a feedback control scheme for a DC Hybrid Active Power Filter used to filter harmonics from a Switched Reluctance Motor (SRM) Drive load. Power electronic systems are non-linear & dynamic [1,3,5]. Power electronic systems employ switching circuits to maximize their efficiency at the penalty that switching circuits generate electrical noise called ripple current and voltage or conducted electromagnetic interference (EMI). The ripple current drawn by the power electronic systems needs to be attenuated to an acceptable level. Filters attenuate this to an acceptable level. Traditionally filters with passive inductors and capacitors …


Catalytic Wet Air Oxidation Of Mono Azo Dye Orange Ii: Catalyst Selection, Reaction Kinetics, And Modeling, Pinar Ozdural Jan 2008

Catalytic Wet Air Oxidation Of Mono Azo Dye Orange Ii: Catalyst Selection, Reaction Kinetics, And Modeling, Pinar Ozdural

Civil & Environmental Engineering Theses & Dissertations

Wastewaters generated as byproducts of dyeing processes are not treatable with conventional methods. It has been estimated that among the 900,000 tons of different dyes produced annually in the world, approximately 10–15% are lost in wastewater streams during manufacturing and processing operations. Once in rivers and streams, dyes cause major problems, such as reducing light penetration, or displaying toxic effects on aquatic life. Therefore, it is essential that dyes are removed from wastewaters before being discharged into the environment.

This study focuses on the catalytic wet air oxidation (CWAO) of Orange II, a mono azo dye used in large amounts …


Rapid Prototyping For Virtual Environments, Emre Baydogan Jan 2008

Rapid Prototyping For Virtual Environments, Emre Baydogan

Electrical & Computer Engineering Theses & Dissertations

Development of Virtual Environment (VE) applications is challenging where application developers are required to have expertise in the target VE technologies along with the problem domain expertise. New VE technologies impose a significant learning curve to even the most experienced VE developer. The proposed solution relies on synthesis to automate the migration of a VE application to a new unfamiliar VE platform/technology. To solve the problem, the Common Scene Definition Framework (CSDF) is developed, that serves as a superset/model representation of the target virtual world. Input modules are developed to populate the framework with the capabilities of the virtual world …


Virtual Prototyping With Surface Reconstruction And Freeform Geometric Modeling Using Level-Set Method, Weihan Zhang Jan 2008

Virtual Prototyping With Surface Reconstruction And Freeform Geometric Modeling Using Level-Set Method, Weihan Zhang

Doctoral Dissertations

"More and more products with complex geometries are being designed and manufactured by computer aided design (CAD) and rapid prototyping (RP) technologies. Freeform surface is a geometrical feature widely used in modern products like car bodies, airfoils and turbine blades as well as in aesthetic artifacts. How to efficiently design and generate digital prototypes with freeform surfaces is an important issue in CAD. This paper presents the development of a Virtual Sculpting system and addresses the issues of surface reconstruction from dexel data structures and freeform geometric modeling using the level-set method from distance field structure. Our virtual sculpting method …


Design And Evaluation Of A Virtual Reality Training System For New Underground Rockbolters, David Nutakor Jan 2008

Design And Evaluation Of A Virtual Reality Training System For New Underground Rockbolters, David Nutakor

Doctoral Dissertations

"The need for development of better training techniques for underground rock bolters is signified by the fact that a large number of experienced miners (Baby Boomers) will be retiring soon. This means that there will be very little interface time between the new miners and the experienced miners, which could have been used for training the new inexperienced miners. A new generation of workers (Nexters), who have grown up with computers and video games will replace the Baby Boomers, and the most efficient way to introduce them to the safety and health issues of the mining industry is to use …


Modeling And Rendering For Development Of A Virtual Bone Surgery System, Qiang Niu Jan 2008

Modeling And Rendering For Development Of A Virtual Bone Surgery System, Qiang Niu

Doctoral Dissertations

"A virtual bone surgery system is developed to provide the potential of a realistic, safe, and controllable environment for surgical education. It can be used for training in orthopedic surgery, as well as for planning and rehearsal of bone surgery procedures...Using the developed system, the user can perform virtual bone surgery by simultaneously "seeing" bone material removal through a graphic display device, "feeling" the force via a haptic deice, and "hearing" the sound of tool-bone interaction"--Abstract, page iii.