• 제어로봇시스템학회논문지
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• 제12권2호
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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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• 제51권6호
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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.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1994년도 춘계학술대회 논문집
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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.

• 대한기계학회논문집B
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• 제22권8호
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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.

• 구강회복응용과학지
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• 제28권4호
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• pp.371-383
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• 2012

성공적인 근관치료를 위하여 원래 근관 형태를 따르는 근관 성형 과정이 중요하다. 그러나 대부분의 근관은 만곡되어 있고, 근관 성형 기구는 직선의 금속을 기본으로 만들어지기 때문에 근관 성형 후 만곡 근관이 원래 근관 형태를 벗어나는 오류가 나타날 수 있다. 이런 오류들로 인하여 근관 치료가 실패할 수 있으므로 근관 성형시 원래 만곡형태를 유지할 수 있는 다양한 기술과 방법들이 소개되고 있다. 본 연구의 목적은 만곡 근관 형태의 레진 모형을 이용하여 기구의 형태와 사용방법이 다른 세 가지 Ni-Ti 파일을 사용하여 Ni-Ti 파일 종류에 따른 만곡 근관에 대한 성형 후 형태 유지능을 비교하는 것이다. 직경과 경사도가 ISO 15, 0.02인 30개의 레진모형을 사용하였다. 그룹 1은 Profile을 이용하여 #20/.06까지 근관 성형하였고, 그룹 2는 Mtwo를 이용하여 #35/.04까지 근관 성형하였으며, 그룹 3은 PathFile을 이용하여 glide path를 만들어준 다음 WaveOne 파일 중 Primary을 사용하여 근관 성형하였다. 기구 사용 전과 후의 레진모형을 스캔하여 디지털 이미지로 만들었다. 각 이미지를 중첩시킨 다음 Matlab r2010b 소프트웨어를 이용하여 곡률반경의 비(CRr)를 계산하였다. 이를 바탕으로 Ni-Ti file 간 성형 후 형태 유지능을 비교하기 위하여 1-way ANOVA를 이용하여 세 그룹의 CRr의 차이에 대한 유의성 검정을 시행하였다.(P<.05) 또한 continuous rotary system과 single file system간의 형태 유지능을 비교하기 위하여 independent t-test를 이용하였다.(P<.05) 곡률반경의 비(CRr)를 이용하여 Ni-Ti 파일 종류에 따른 만곡 근관의 형태 유지능을 비교한 결과 Ni-Ti file 간에는 통계적으로 유의한 차이가 있었다.(P<0.05) ProFile과 WaveOne은 Mtwo에 비해서 만곡 근관에서의 형태 유지능이 우수하게 나타났다.Ni-Ti 기구 사용 방법에 따른 만곡 근관 형태 유지능을 비교한 결과 continuous rotary system과 single file system 간에는 통계적으로 유의한 차이를 보이지 않았다.(P>0.05) 본 연구결과에 따르면, ProFile과 WaveOne은 Mtwo에 비하여 만곡 근관에서의 형태 유지능이 통계적으로 유의하게 높게 나타났으므로, ProFile과 WaveOne이 만곡근관에 대한 형태 유지능이 우수하다고 할 수 있다. 만곡근관에서의 형태 유지능에 있어서 continuous rotary system과 single file system은 만곡근관에서의 형태 유지능에 차이가 없다.

• International Journal of Concrete Structures and Materials
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• 제10권3호
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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.

• 제어로봇시스템학회논문지
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• 제19권7호
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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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• 제44권2호
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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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• 제9권1호
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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.

• 대한수학회지
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• 제53권4호
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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 ${\mathbb{H}}_{\kappa}^{n+1}$.