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Extended Kalman Filtering for I.M.U. using MEMs Sensors (반도체 센서의 확장칼만필터를 이용한 자세추정)

  • Jeon, Yong-Ho
    • The Journal of the Korea institute of electronic communication sciences
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    • v.10 no.4
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    • pp.469-475
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    • 2015
  • This paper describes about the method for designing an extended Kalman filter to accurately measure the position of the spatial-phase system using a semiconductor sensor. Spatial position is expressed by the correlation of the rotated coordinate system attached to the body from the inertia coordinate system (a fixed coordinate system). To express the attitude, quaternion was adapted as a state variable, Then, the state changes were estimated from the input value which was measured in the gyro sensor. The observed data is the value obtained from the acceleration sensor. By matching between the measured value in the acceleration sensor and the predicted calculation value, the best variable was obtained. To increase the accuracy of estimation, designation of the extended Kalman filter was performed, which showed excellent ability to adjust the estimation period relative to the sensor property. As a result, when a three-axis gyro sensor and a three-axis acceleration sensor were adapted in the estimator, the RMS(Root Mean Square) estimation error in simulation was retained less than 1.7[$^{\circ}$], and the estimator displayed good property on the prediction of the state in 100 ms measurement period.

Comparison between dental and basal arch forms in normal occlusion and Class III malocclusions utilizing cone-beam computed tomography

  • Suk, Kyung Eun;Park, Jae Hyun;Bayome, Mohamed;Nam, Young-Ok;Sameshima, Glenn T.;Kook, Yoon-Ah
    • The korean journal of orthodontics
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    • v.43 no.1
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    • pp.15-22
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    • 2013
  • Objective: The purpose of this study was to investigate the relationship between the mandibular dental and basal arch forms in subjects with normal occlusion and compare them with those of Class III malocclusion using cone-beam computed tomography (CBCT). Methods: CBCT images of 32 normal occlusion (19 males, 13 females; 24.3 years) and 33 Class III malocclusion subjects (20 males, 13 females, 22.2 years) were selected. Facial axis and root center points were identified from the left to right mandibular first molars. Distances between the facial axis and root center points for each tooth were calculated, and 4 linear and 2 ratio variables were measured and calculated for each arch form. The variables were compared between groups by independent t-test. Pearson correlation coefficient was applied to assess the relationships between dental and basal variables within each group. Results: The mandibular dental and basal intercanine widths were significantly greater in the Class III group than in normal occlusion subjects (p < 0.05). The dental and basal intercanine widths as well as the dental and basal intermolar widths were strongly correlated in normal occlusion and moderately correlated in Class III malocclusion. Conclusions: The dental arch form demon strated a strong positive correlation with the basal arch form in the normal occlusion group and moderate correlation in the Class III malocclusion group. These results might be helpful for clinicians to have a better understanding of the importance of basal arch form in the alveolar bone.

Response of Alisma plantago Varieties Cultivated After Early Maturing Rice Cropping to Fertilizer Levels

  • Park, Hee-Jin;Kwon, Byung-Sun;Shin, Jong-Sup;Lee, Sang-Rae
    • Plant Resources
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    • v.3 no.3
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    • pp.200-205
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    • 2000
  • This study selects Sunwol local group, Gusang local group and Yongjun local group to examine the appropriate amount of applied fertilizer in cultivating the double crop seed of Alisma plantago by transplantation in the southern area, improve and complements the double cropping techniques and contribute to stable production. While the plant height is 45,47 and 49cm and the number of leaves is 11.7, 12.5 and 14.4 at non-fertilizing plot, the plant height is 67, 72 and 75cm and the number of leaves is 15.8, 17.2 and 19.3 at all fertilizing plot and their growth is active and in the character of plant height and the number of leaves, especially in the groove of N-P$_{2}$O$_{5}$-K$_{2}$O= 30-15-45kg/10a, the mean plant height of Sunwol is 75cm and mean number of its leaves is 19.3, the mean plant height and number of leaves in Gusang are 72cm and 17.2 respectively and those of Yongjun are 67cm and 15.8 respectively. While the number of floral axis is 1,2 in non-fertilizing plot, that of the whole varieties in all fertilizing plot is 3, 4, 5 and the mean floral axis of Sunwol is N-P$_{2}$O$_{5}$-K$_{2}$O = 10-5-15, 20-10-30, 30-15-45 kg/10a and 18-0-18 of complex fertilizer and 21-17-17kg/10a and it is small in all fertilizing plot. The yield of dry root per 10a is high in all fertilizing grooves and especially in the groove of N-P$_{2}$O$_{5}$-K$_{2}$O = 30-15-45 kg/10a, it is 372.6kg, in the groove of 18-0-18kg/10a using complex fertilizer, it is 389.1kg and in that of 21-17-17kg/10a, it is 376.7kg.6.7kg.

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FRACTURE STRENGTH AND FRACTURE MODE OF RESIN ROOT ANALOGS RESTORED WITH VARIOUS POST AND CORE MATERIALS

  • Lee, Byung-Chul;Han, Jung-Suk;Lee, Jai-Bong;Yang, Jae-Ho;Lee, Sun-Hyung
    • The Journal of Korean Academy of Prosthodontics
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    • v.40 no.3
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    • pp.287-295
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    • 2002
  • Statement of Problem. Endodontically treated teeth frequently required posts and cores to provide retention and resistance form for crowns. In spite of excellent mechanical properties of metal post and core, its metallic color can be detected through all ceramic restorations occasionally. To solve esthetic problems of metal post and core zirconia post system has been introduced recently. Purpose. The purpose of this study was to examine the fracture strength and mode of resin root analogs restored with zirconia, gold and titanium posts with resin, ceramic and metal cores after cementation with metal crowns. Materials and methods. To avoid the morphological variations of natural teeth, 40 root analogs were fabricated with composite resin. Forty resin root analogs were randomly assigned to four groups according to post and core materials: Group A: cast gold post and core and complete cast crowns, as control. Group B: titanium posts (Parapost, Coltent/Whaledent Inc., NJ, USA) and composite resin cores. Group C: zirconia posts (Cosmopost, Ivoclar AG, Schaan/Liechtenstein) and composite resin cores Group D: zirconia posts and heat-pressed ceramic cores (IPS Empress Cosmo Ingots, Ivoclar AG) After thermocycling ($5^{\circ}C{\sim}55^{\circ}C$, 30 sec.), cyclic loading was applied at 3mm below the incisal edge on the palatal surfaces at an angle of 135 degree to the long axis (2Hz, 50N, 50000cycles). Fracture strength was measured by universal testing machine (Instron, High Wycombe, UK) and fracture pattern of restored resin root analogs was also evaluated. Results and conclusion. Within the limitations of this study following results were drawn. 1. Resin root analogs restored with zirconia posts and composite resins demonstrated lowest fracture strength among tested groups. 2. There was no significant difference in the fracture strength between zirconia posts and heat pressed glass ceramic cores and cast gold posts and cores 3. The fracture strength of resin root analogs restored with titanium posts and composite resin cores was lower than that of gold posts and cores. 4. The deep oblique fracture lines were dominantly observed in root analogs restored with cast gold post and core and zirconia post and heat-pressed ceramic core groups.

Incidence of apical crack formation and propagation during removal of root canal filling materials with different engine driven nickel-titanium instruments

  • Ozyurek, Taha;Tek, Vildan;Yilmaz, Koray;Uslu, Gulsah
    • Restorative Dentistry and Endodontics
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    • v.42 no.4
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    • pp.332-341
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    • 2017
  • Objectives: To determine the incidence of crack formation and propagation in apical root dentin after retreatment procedures performed using ProTaper Universal Retreatment (PTR), Mtwo-R, ProTaper Next (PTN), and Twisted File Adaptive (TFA) systems. Materials and Methods: The study consisted of 120 extracted mandibular premolars. One millimeter from the apex of each tooth was ground perpendicular to the long axis of the tooth, and the apical surface was polished. Twenty teeth served as the negative control group. One hundred teeth were prepared, obturated, and then divided into 5 retreatment groups. The retreatment procedures were performed using the following files: PTR, Mtwo-R, PTN, TFA, and hand files. After filling material removal, apical enlargement was done using apical size 0.50 mm ProTaper Universal (PTU), Mtwo, PTN, TFA, and hand files. Digital images of the apical root surfaces were recorded before preparation, after preparation, after obturation, after filling removal, and after apical enlargement using a stereomicroscope. The images were then inspected for the presence of new apical cracks and crack propagation. Data were analyzed with ${\chi}^2$ tests using SPSS 21.0 software. Results: New cracks and crack propagation occurred in all the experimental groups during the retreatment process. Nickel-titanium rotary file systems caused significantly more apical crack formation and propagation than the hand files. The PTU system caused significantly more apical cracks than the other groups after the apical enlargement stage. Conclusions: This study showed that retreatment procedures and apical enlargement after the use of retreatment files can cause crack formation and propagation in apical dentin.

Isthmuses, accessory canals, and the direction of root curvature in permanent mandibular first molars: an in vivo computed tomography study

  • Dastgerdi, Aria Chuppani;Navabi, Manizheh;Rakhshan, Vahid
    • Restorative Dentistry and Endodontics
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    • v.45 no.1
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    • pp.7.1-7.9
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    • 2020
  • Objectives: This study was performed to assess the anatomy of mandibular first molars. Materials and Methods: In this in vivo study, cone-beam computed tomography (CBCT) volumes of 312 bilateral intact first mandibular molars from 156 patients (79 men and 77 women; average age, 35.6 ± 11.2 years) were investigated in terms of the direction of each canal's curvature in the buccolingual and mesiodistal dimensions (direction of the position of the apex in relation to the longitudinal axis of the root), the presence of an isthmus (a narrow, ribbon-shaped communication between 2 root canals) in 3 segments (0-2, 2-4, and 4-6 mm) from the apex), and the presence and number of accessory canals (smaller canals besides the main root canals, connecting the pulp to the periodontium). Data were analyzed statistically (α = 0.05). Results: Mesiolingual canals were mostly buccally and distally inclined, while mesiobuccal and distolingual canals were mostly distally curved. Isthmuses were more common in younger patients (χ2 test, p < 0.05). The average numbers of accessory canals in the apical, middle, and coronal segments were 9.9 ± 4.2, 6.9 ± 2.9, and 9.3 ± 3.0 canals per segment, respectively (analysis of variance, p < 0.001). Age and sex were not associated with the number of accessory canals (p > 0.05). Conclusions: The complex anatomy of these teeth deserves attention during non-surgical or surgical endodontic treatment. Around the apex, isthmuses might be more prevalent in younger and female individuals.

Suggestion for a splitting technique of the square-root operator of three dimensional acoustic parabolic equation based on two variable rational approximant with a factored denominator (인수분해 된 분모를 갖는 두 변수 유리함수 근사에 기반한 3차원 음향 포물선 방정식 제곱근 연산자의 분할기법 제안)

  • Lee, Keunhwa
    • The Journal of the Acoustical Society of Korea
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    • v.36 no.1
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    • pp.1-11
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    • 2017
  • In this study, novel approximate form of the square-root operator of three dimensional acoustic Parabolic Equation (3D PE) is proposed using a rational approximant for two variables. This form has two advantages in comparison with existing approximation studies of the square-root operator. One is the wide-angle capability. The proposed form has wider angle accuracy to the inclination angle of ${\pm}62^{\circ}$ from the range axis of 3D PE at the bearing angle of $45^{\circ}$, which is approximately three times the angle limit of the existing 3D PE algorithm. Another is that the denominator of our approximate form can be expressed into the product of one-dimensional operators for depth and cross-range. Such a splitting form is very preferable in the numerical analysis in that the 3D PE can be easily transformed into the tridiagonal matrix equation. To confirm the capability of the proposed approximate form, comparative study of other approximation methods is conducted based on the phase error analysis, and the proposed method shows best performance.

Role of vitamin D for orthodontic tooth movement, external apical root resorption, and bone biomarker expression and remodeling: A systematic review

  • Martina Ferrillo;Dario Calafiore;Lorenzo Lippi;Francesco Agostini;Mario Migliario;Marco Invernizzi;Amerigo Giudice;Alessandro de Sire
    • The korean journal of orthodontics
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    • v.54 no.1
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    • pp.26-47
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    • 2024
  • Objective: This systematic review aimed to evaluate the correlation between vitamin D levels and the rate of tooth movement, external apical root resorption, bone biomarker expression, and bone remodeling. Methods: Three databases (PubMed, Scopus, and Web of Science) were systematically searched from inception until 14th March 2023 to identify studies investigating the correlation between orthodontic tooth movement and vitamin D in animals and humans. The quality assessment was made in accordance with the Joanna Briggs Institute Critical Appraisal Checklist. Results: Overall, 519 records were identified, and 19 were selected for the qualitative synthesis. Eleven studies investigated the effect of local administration (injections in the periodontal ligament, to the gingiva distal to the teeth, or submucosae palatal area) and systemic administration (oral supplementation) of vitamin D on tooth movement, external apical root movement, pro-inflammatory cytokines, and bone remodeling factors. The remaining eight studies investigated the correlation between serum vitamin D levels and salivary vitamin D levels on bone turnover markers and tooth movement. Conclusions: The findings of this systematic review support that vitamin D3 local injections might increase the rate of tooth movement via the receptor activator of the nuclear factor-kB/osteoprotegerin axis. However, the non-uniform study designs and the different protocols and outcome methods make it challenging to draw reliable conclusions.

Proposal on the Method of Regulating Ascending Kidney Water and Descending Heart Fire -through pharmacopuncture technique- (수승화강(水升火降) 조절법(調節法)(수화조절법(水火調節法))에 대한 제언 -약침을 이용하여-)

  • Kwon, Ki-Rok
    • Journal of Pharmacopuncture
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    • v.10 no.3
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    • pp.149-155
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    • 2007
  • Objectives The purpose of this study is aimed at diagnosing and suggesting treatment plans for commonly seen clinical manifestation of heat symptom in the upper body and coldness in the lower body, also known as hot above, cold below syndrome. Methods Various reasons attribute to the presence of hot above, cold below syndrome, but mainly contributed by blockage of normal Qi flow by abnormality of heart-kidney root, spleen-stomach axis, and liver-lung axis. Diagnosing these abnormalities and timely alleviation to the healthy state is presented in the study. Results 1For heat in the upper body, Huang Lian Jie Du Tang(黃連解毒湯), CF, or JsD pharmacopuctures are injected on GB21, GB20. Qi stagnation in the thoracic area is treated with BUM injection on CV17. For impairment of transportation and transformation in the middle energizer, BUM pharmacopuncture is injected on CV12. Coldness in the lower energizer was relieved by bee venom or Sweet BV(Bee Venom free from enzymes) on CV6. Conclusion Above proposed methods of regulating water-fire were effective in treating hot above, cold below syndrome in clinical manifestations. But once the symptom subsides, treatment focused on eliminating innate cause should be rendered to achieve more successful results.

Proposal and Validation of a New Flame Stability Diagram to Gas Estimate Interchangeability (가스호환성 판정에 편리한 새로운 화염안정영역의 도시법의 제안 및 유용성 검토)

  • Lee, Chang-Eon;Kim, Jong-Min;Hwang, Cheol-Hong;Kim, Jong-Hyun
    • Journal of the Korean Society of Combustion
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    • v.13 no.3
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    • pp.1-8
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    • 2008
  • A flame stability diagram in a partially premixed flame is typically expressed using the axis coordinates of heat input rate and equivalence ratio. These diagrams are inadequate for identifying changes in combustion conditions and flame stability when a reference fuel is substituted with other fuels under identical operating conditions. This study proposes a new type of diagram and validates it experimentally. In this new diagram, the axis coordinates are air flow rate and Wobbe fuel flow rate, defined as the fuel flow rate multiplied by the square root of the relative density. The diagram was validated in trials using various fuels, including $CH_4$, $C_{3}H_{8}$, and LFG-$C_{3}H_{8}$ mixed fuels, in a domestic gas-range and an gas interchangeability test burner. The results of these trials show that the new diagram can provide information useful for assessing gas interchangeability of combustion conditions and flame stability when one fuel is substituted with another under identical operating conditions.

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