Written by Ron Alterovitz and Ken Goldberg, this monograph combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures.

Kirkus Review: Clinical psychologist Goldberg's first novel explores the twin concepts of outsider status and insanity, with a mathematical twist ... By turns comic and tragic, readers must form their own opinions about what truly constitutes sanity in an insane world. Peter, a habitual peep show user, dreads dirt, fears contamination, and lives each day in strange fantasy and total emotional isolation. By strictly adhering to self-imposed mathematic rituals, he maintains his own orderly - albeit lonely - universe in a chaotic world. One day, he meets John, a lifelong mental patient. From...

"A wild ride with a dark side" Kirkus Review What would you do if you were trapped in a novel? Look for your author, of course. That's what Peter does in Peter Cubed. To Peter's chagrin, Ken is a sadistic and self-centered man who's more concerned with his ego than the welfare of his characters. Ken gives Peter Anna, a nymphomaniac, Hasidic Jew, but then taunts him mercilessly with empty promises that he'll someday get laid. Peter's only salvation is to leave the book and try to make it on his own, easier said than done with a psychotic author on his trail.