A carpet removal system for efficiently removing carpeting. For example, one described apparatus for piezo-based haptic feedback includes a polymer matrix, and a piezoelectric actuator at least partially embedded within the polymer matrix, the piezoelectric actuator configured to output a haptic effect. Information from the RFQ and from the response together with information previously stored in a relational database is extracted and used to fill out the provisioning order. The plurality of needles are configured to engage tissue when the balloon is in the inflated state, and further are configured to disperse a therapeutic agent from an associated pocket into the tissue when the balloon is in the inflated state. The speed calculation component calculates a speed relating to rotation of the rotating body on the basis of the total duration and a rotation angle of the rotating body that corresponds to one pulse of the pulse signals.