This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning algorithms, into smooth curves that can be followed without stopping. Our solution has the advantage of being simpler than other existing approaches, and has...

The transition from a regime dominated by drift instabilities to a regime dominated by pure interchange instabilities is investigated and characterized in the simple magnetized toroidal device TORPEX TORoidal Plasma EXperiment, A. Fasoli et al., Phys. of Plasmas 13, 055906 2006 . The magnetic field lines are helical, with a dominant toroidal component and a smaller vertical component. Instabili...

We examined the formation of a multiply curved meniscus inside rectangular nanochannels, whose width ranges from 50 to 800 nm at a constant height of 200 nm. When the channel width is smaller than approximately 400 nm under partial wetting conditions, a distinct multi-curvature meniscus was observed at the advancing front with an edge disjoined from the wall. In contrast, a typical pre-wetting ...

In this paper energy bands and Berry curvature of graphene was studied. Desired Hamiltonian regarding the next-nearest neighbors obtained by tight binding model. By using the second quantization approach, the transformation matrix is calculated and the Hamiltonian of system is diagonalized. With this Hamiltonian, the band structure and wave function can be calculated. By using calculated wave f...

This paper presents the visual servoing of a 6 DOF manipulator for unknown 3D profile following. The profile has an unknown curvature, but its cross-section is known. The visual servoing keeps the transformation between a cross-section of the profile and the camera constant with respect to 6 degrees of freedom. The position of the profile with respect to only five degrees of freedom can be meas...

This research conducted to evaluate spatial pattern of some biological variables (mean diameter, density, richness index and biodiversity index) of forest by linear regression models using terrain analysis in the Kheiroud-Kenar forest located at the Nowshahr, north of Iran. To obtain these parameters, sampling was performed on a systematic grid (250× 400 m) in 193 plots with one ha area. Densit...

in this study the land surface in western half of hyper-arid lut desert, in south east of iran, which is covered by yardangs, a worldwide typical landform for aeolian erosion, were classified by self organizing maps (som) method. in the first step by using digital elevation model with 10 m resolution and matlab software, 22 morphometric parameters were calculated based on derivative of the surf...

AIM  To evaluate morphological changes to the major foramen after overinstrumentation with ProTaper Universal and ProFile Vortex Ni-Ti rotary instruments. METHODOLOGY Twenty-eight mesiobuccal canals of maxillary and mandibular first molars were divided into two groups of 14 canals each. The root canals were prepared with ProTaper Universal or ProFile Vortex instruments. ProTaper and Vortex in...