Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.

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Herein we review the concepts, challenges and recent developments on the continuous flow synthesis of ordered porous materials.

Calcium phosphate crystals, as the main component of dentin and enamel, have been widely used for the occlusion of dentinal tubules. However, the low bond strength and poor sealing effect limit their clinical practicality. In this study, a collagen/calcium dual-affinitive peptide E8DS (EEEEEEEEDSESSEEDR) and nano-hydroxyapatite (nano-HAp) flocculi were developed to seal dentin tubules for reducing dentin hypersensitivity, whereas the E8DS peptides were pre-applied to improve the adhesion of occlusive hydroxyapatite coating on dentin collagen matrix for the long-lasting sealing effect and relief from hypersensitivity. Our study showed that E8DS peptides had a strong affinity with dentin collageneous matrix that almost 43.7% of initial E8DS peptides immobilized on exposed dentin samples remained detained after continuous washing by distilled water for four weeks at a rate of 1 mL/min. Nano-HAp flocculi were obtained by re-neutralization of HAp-HCl solution and then brushed onto the surfaces of pre-treated human dentin disks with E8DS peptides, which showed a perfect occlusion of exposed dentinal tubules, as compared with Nano-HAp only and a commercial desensitizer, Green Or. With only around 10-min E8DS peptide pre-treatment, the occlusive mineral layers remained intact against consecutively stirred washing in phosphate-buffered saline or coke for 15 min, and 6 min of tooth-brushing, which implied that our E8DS peptide could comparatively improve the durability of sealant-dentin interface bonds for long-lasting dentine desensitization.