• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.145-153
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• 2006

An optimal capturing trajectory for a moving object is proposed in this paper based on the observation that a single-curvature path is more accurate than double-or triple-curvature paths. Moving distance, moving time, and trajectory error are major factors considered in deciding an optimal path for capturing the moving object. That is, the moving time and distance are minimized while the trajectory error is maintained as small as possible. The three major factors are compared for the single and the double curvature trajectories to show superiority of the single curvature trajectory. Based upon the single curvature trajectory, a kinematics model of a mobile robot is proposed to follow and capture the moving object, in this paper. A capturing scenario can be summarized as follows: 1. Motion of the moving object has been captured by a CCD camera., 2. Position of the moving object has been estimated using the image frames, and 3. The mobile robot tries to follow the moving object along the single curvature trajectory which matches positions and orientations of the moving object and the mobile robot at the final moment. Effectiveness of the single curvature trajectory modeling and capturing algorithm has been proved, through simulations and real experiments using a 2-DOF wheel-based mobile robot.

• Structural Engineering and Mechanics
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• v.51 no.6
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• pp.1037-1046
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• 2014

Most existing damage detection methods based on curvature should investigate the indicator value changes between the intact and damaged state. However, the 'footprint' in the intact state is usually not available for most actual beams. Therefore, a new damage localization indicator called Difference of Nearby Difference Curvature Indicator (DNDCI) was introduced for single-span beams. This indicator does not require prior information of the intact beam and is sensitive to the damage occurs on or nearby the measuring points. Practical and detailed application method of DNDCI has been proposed. Besides the idealized simply supported beams, it was validated by example that DNDCI is also applicable to the actual single-span beams supported by bearings.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1994.05a
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• pp.34-37
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• 1994

.In this study, we measured Ic depending on a curvature radios of High Tc superconducting tapes which were made of a single wire, two and three WIT(wire in tube). Wires are manufactured by the process of press ins and sintering (150h, at 845$^{\circ}C$ ) for the growth of 2223 high Tc Bi superconducting phase. We know that Ic of a single wire decrease with reduction of a curvature radius. The maximum Ic of 2 WIT wire is 2.54 (A) and have a better characteristic than a single wire (0.89 A) at a curvature radius 75mm.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.22 no.8
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• pp.1173-1182
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• 1998

A throughflow analysis program for axial flow turbines is constructed, which can handle not only the two-dimensional multi-streamline (streamline curvature) method but also the one-dimensional mean line method. Calculations are performed for single stage and multi-stage axial flowturbines. For a wide operating range, the performance and flow field calculated by the present streamline curvature method are close enough to the test data. It is also revealed for the single stage turbine that the present analysis leads to far better correspondence with the experiment than other researchers" throughflow analyses. A special focus is put on the comparison of the results between the streamline curvature analysis and the mean line analysis. It is found that the mean line analysis can not predict the performance for highly off-designed conditions as accurately as the streamline curvature method, which shows the importance of considering the spanwise variation of loss and flow.

• Journal of Dental Rehabilitation and Applied Science
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• v.28 no.4
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• pp.371-383
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• 2012

Shaping the root canal system to maintain original canal curvature is essential to clinical success in endodontic treatment. Opposed to most root canals that are curved, endodontic instruments are made from straight metal blanks. They have a tendency of straightening the root canal during preparation and frequently result in procedural errors. A new treatment method to maintain original canal curvature during shaping has been introduced for preventing procedural errors. The aim of this study was to compare the ability of instruments to maintain original canal curvature of continuous rotary system and single file system. Thirty ISO 15, 0.02 taper, Endo Training Blocks(Dentsplay Maillefer) were used. Specimens were assigned to 1 of 3 groups for shaping: specimens in group 1 were shaped with ProFile #20/.06 at the WL. Specimens in group 2 were shaped with Mtwo #35/.04 at the WL. Specimens in group 3 were shaped with WaveOne Primary reciprocating files at the WL after the glide path was achieved with PathFile. Pre- and postinstrumentation digital images were superimposed and processed with Matlab r2010b(The MathWorks Inc, Natick, MA) software to analyze the curvature-radius ratio(CRr), representing canal curvature modification. Data for comparison on the ability of instruments to maintain original canal curvature depending on each Ni-Ti file were analyzed with 1-way ANOVA(P<.05). Data for comparison on the ability of instruments to maintain original canal curvature depending on each Ni-Ti file system were analyzed with independent t-test(P<.05). A statistically significant difference(P<0.05) was noted on each Ni-Ti file. ProFile and WaveOne instrumentations maintained the original canal curvature significantly better(P<0.05) than Mtwo file. There were no significant difference(P>0.05) between continuous rotary system and single file system. Under the conditions of this study, ProFile and WaveOne instruments maintained the original curvature significantly better than Mtwo file and were less modification of the canal curvature compared. There was no significant difference between continuous rotary system and single file system in shaping of simulated canals. As clinical practitioners, it may be advantages to use hybrid approach when root canal shapes depending on the design and usage of Ni-Ti files.

• International Journal of Concrete Structures and Materials
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• v.10 no.3
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• pp.393-406
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• 2016

Axially loaded reinforced concrete columns are hardly exist in practice due to the development of some bending moments. These moments could be produced by gravity loads or the lateral loads. First, the current paper presents a detailed analysis on the overall structural behavior of 15 eccentrically loaded columns as well as one concentrically loaded control one. Columns bent in either single curvature or double curvature modes are tested experimentally up to failure under the effect of different end eccentricities combinations. Three end eccentricities ratio were studied, namely, 0.1b, 0.3b and 0.5b, where b is the column width. Second, an expression correlated the decay in the normalized axial capacity of the column and the acting end eccentricities was developed based on the experimental results and then verified against the available formula. Third, based on the equivalent column concept, the equivalent pin-ended columns were obtained for columns bent in either single or double curvature modes. And then, the effect of end eccentricity ratio was correlated to the equivalent column length. Finally, a simplified design procedure was proposed for eccentrically loaded braced column by transferring it to an equivalent axially loaded pin-ended slender column. The results of the proposed design procedure showed comparable results against the results of the ACI 318-14 code.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• Restorative Dentistry and Endodontics
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• v.44 no.2
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• pp.19.1-19.9
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• 2019

Objectives: The purpose of this study was to evaluate the cyclic fatigue, bending resistance, and surface roughness of EdgeEvolve (EdgeEndo) and ProTaper Gold (Dentsply Tulsa Dental Specialties) nickel-titanium (NiTi) rotary files. Materials and Methods: The instruments (n = 15/each) were tested for cyclic fatigue in single- ($60^{\circ}$ curvature, 5-mm radius) and double-curved (coronal curvature $60^{\circ}$, 5-mm radius, and apical curvature of $30^{\circ}$ and 2-mm radius) artificial canals. The number of cycles to fracture was calculated. The bending resistance of both files were tested using a universal testing machine where the files were bent until reach $45^{\circ}$. Scanning electron microscopy and x-ray energy-dispersive spectrometric analysis were used for imaging the fractured segments, while the atomic force microscope was used to quantify the surface roughness average (Ra). Results: EdgeEvolve files exhibited higher cyclic fatigue resistance than ProTaper Gold files in single- and double-curved canals (p < 0.05) and both files were more resistant to cyclic fatigue in single-curved canals than double-curved canals (p < 0.05). EdgeEvolve files exhibited significantly more flexibility than did ProTaper Gold files (p < 0.05). Both files had approximately similar Ni and Ti contents (p > 0.05). EdgeEvolve files showed significantly lower Ra values than ProTaper Gold files (p < 0.05). Conclusions: Within the limitation of this study, EdgeEvolve files exhibited significantly higher cyclic fatigue resistance than ProTaper Gold files in both single- and double-curved canals.

• Restorative Dentistry and Endodontics
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• v.9 no.1
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• pp.121-125
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• 1983

Thirty eight mandibular second premolars were injected with china ink, decalcified, cleared and used in an in vitro study to determine the number of root canals, the frequency and location of lateral canals, the location of apical foramens, the frequency of apical deltas, and the curvature of root canals. The results were as follows: 1. Most of the teeth demonstrated single canal, but 5.3% of the teeth were found to have bifurcated or trifurcated canals. 2. Of the 40 canals studied, 52.5% of the canals were found to have lateral canals and these ramifications were usually located in the apical third of the root. 3. 7 apical foramens were located directly on the root apex and 31 foramens laterally. 4. 4 canals showed mesial curvature, 20 canals distal curvature, 11 canals buccal curvature, and 8 canals lingual curvature.

• Journal of the Korean Mathematical Society
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• v.53 no.4
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• pp.737-767
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• 2016

This paper concerns closed hypersurfaces of dimension $n{\geq}2$ in the hyperbolic space ${\mathbb{H}}_{\kappa}^{n+1}$ of constant sectional curvature evolving in direction of its normal vector, where the speed equals a power ${\beta}{\geq}1$ of the mean curvature. The main result is that if the initial closed, weakly h-convex hypersurface satisfies that the ratio of the biggest and smallest principal curvature at everywhere is close enough to 1, depending only on n and ${\beta}$, then under the flow this is maintained, there exists a unique, smooth solution of the flow which converges to a single point in ${\mathbb{H}}_{\kappa}^{n+1}$ in a maximal finite time, and when rescaling appropriately, the evolving hypersurfaces exponential convergence to a unit geodesic sphere of ${\mathbb{H}}_{\kappa}^{n+1}$.