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A numerical method is suggested for evaluating the singular integral of curved panels in the higher-order boundary element method. Two-step mapping procedures that are significantly related to the physical properties of singular behaviors were developed and illustrated. As a result, the singular behaviors were significantly alleviated, and the efficiency and robustness of the present method for tangentially and axially deformed elements were proven. However, inaccuracies and numerical instabilities of twisted elements were discovered as a result of nonlinearities.