Precise global collision detection in multi-axis NC-machining 
@article{ehikw-pgcdm-05 
, author = "G. Elber and D. Halperin and O. Ilushin and M.-S. Kim and R. Wein" 
, title = "Precise global collision detection in multi-axis NC-machining" 
, journal = "Computer-Aided Design"
, volume = "37" 
, issue = "9" 
, year = 2005 
, pages = "909--920"
}