• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.524-532
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• 2002

This paper presents a new in-flight alignment method for an SDINS under large initial heading error. To handle large heading error, a new attitude error model is introduced. The attitude errors are divided into heading error and leveling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the in-flight alignment system. A Kalman filter with Position measurement is designed to estimate navigation errors as the indirect feedback filter Simulation results show that the proposed in-flight alignment method reduces the heading error very quickly from more than 40deg to about 5deg so as to apply a refined navigation filter. The total alignment process including leveling mode and navigation mode in addition to the proposed one allows large initial values not only in heading error but also in leveling errors.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.595-602
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• 2008

In this paper, performance of the initial alignment for INS whose attitude is not leveled is investigated. Observability of the initial alignment filter is analyzed and estimation errors of the estimated state variables are derived. First, the observability is analyzed using the rank test of observability matrix and the normalized error covariance of the Kalman filter based on the 10-state model. In result, it can be seen that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and the non-leveling tilt angles of a vehicle containing the INS. Especially, this paper shows that the larger the tilt angles of the vehicle are, the larger the estimation errors corresponding to the sensor biases are. Finally, it is shown that the performance of the 8-state model excepting the accelerometer biases on horizontal axes is better than that of the 10-state model in the initial alignment by simulation.

• The korean journal of orthodontics
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• v.28 no.4 s.69
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• pp.591-600
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• 1998

The purpose of this study was to investigate the root resolution and repair pattern of human teeth according to the force magnitude, direction and duration during the initial leveling and alignment phase. 40gms to 500gms of force applied to the 37 experimental teeth with duration of 3 weeks to 7 months. Then, the experimental teeth were extracted. 13 control teeth were extracted without treatment. The results are as follows: 1. $59.5\%$ of 37 teeth exhibited root resorption. The initial resorption site was visible at the apex within 3 weeks with 100 gms samples, and the initial repair site was visible at the apex within 3 months with 400 gms samples. 2. Number of resorbed teeth increased with the duration of the force. 3. The depth of the resorption increased with the magnitude of the force. 4. The areas of resorbed root corresponded with the loading pattern. 5. The areas of resorbed root were highly correlated with the magnitude of the force. The result of this study suggest that root resorption could occur during the initial leveling and alignment phase, These initial injuries are all small and insignificant. It is the extensive type of apical root resolution that must be regarded as deleterious to the function and stability of the tooth moved. During the initial leveling and alignment phase lighter force of the interrupted type and short treatment period would be favorable with regard to avoidance of root resorption and repair of resorbed root surface.

• The korean journal of orthodontics
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• v.46 no.2
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• pp.87-95
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• 2016

Objective: We evaluated the effects of tooth displacement on frictional force when conventional ligating lingual brackets (CL-LBs), CL-LBs with a narrow bracket width, and self-ligating lingual brackets (SL-LBs) were used with initial leveling and alignment wires. Methods: CL-LBs (7th Generation), CL-LBs with a narrow bracket width (STb), and SL-LBs (In-Ovation L) were tested under three tooth displacement conditions: no displacement (control); a 2-mm palatal displacement (PD) of the maxillary right lateral incisor (MXLI); and a 2-mm gingival displacement (GD) of the maxillary right canine (MXC) (nine groups, n = 7 per group). A stereolithographic typodont system and artificial saliva were used. Static and kinetic frictional forces (SFF and KFF, respectively) were measured while drawing a 0.013-inch copper-nickel-titanium archwire through brackets at 0.5 mm/min for 5 minutes at $36.5^{\circ}C$. Results: The In-Ovation L exhibited lower SFF under control conditions and lower KFF under all displacement conditions than the 7th Generation and STb (all p < 0.001). No significant difference in SFF existed between the In-Ovation L and STb for a 2-mm GD of the MXC and 2-mm PD of the MXLI. A 2-mm GD of the MXC produced higher SFF and KFF than a 2-mm PD of the MXLI in all brackets (all p < 0.001). Conclusions: CL-LBs with narrow bracket widths exhibited higher KFF than SL-LBs under tooth displacement conditions. CL-LBs and ligation methods should be developed to produce SFF and KFF as low as those in SL-LBs during the initial and leveling stage.

• The korean journal of orthodontics
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• v.48 no.2
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• pp.90-97
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• 2018

Objective: The aim of this study was to assess the analgesic effect of a single application of low-level laser therapy (LLLT) on spontaneous pain and pain on chewing after placement of initial archwires. Methods: Forty-two patients (26 women, 16 men) were randomly recruited for this split-mouth randomized clinical trial. Each patient received super-elastic nickel-titanium (NiTi) initial archwires (0.012, 0.014, 0.016, and 0.018-inch [in]) in the maxilla for leveling and alignment for an interval of 4 weeks between archwires. One side of the mouth was randomly designated as experimental, while the other side served as placebo. After insertion of each archwire, the experimental side was irradiated with a diode laser for 3 seconds each on 5 points facially and palatally per tooth, from the central incisor to first molar. On the placebo side, the laser device was held the same way but without laser application. A numerical rating scale was used to assess the intensity of spontaneous and masticatory pain for the following 7 days. The Mann-Whitney U test was used to compare pain scores between sides. Results: Patients in the LLLT group exhibited significantly lower mean scores for spontaneous pain after insertion of the initial two archwires (0.012-in and 0.014-in NiTi; p < 0.05), while there was no significant difference for 0.016-in and 0.018-in wires between the LLLT and placebo groups. LLLT significantly reduced chewing pain scores (p < 0.05) for all archwires. Conclusions: A single dose of LLLT considerably lessened postoperative pain accompanying the placement of super-elastic NiTi wires for initial alignment and leveling.

• The Journal of the Korean dental association
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• v.55 no.12
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• pp.850-860
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• 2017

Orthodontic treatment with premolar extraction is usually performed to correct bialveolar protrusion. These methods require the use of stiff rectangular working archwire which requires lengthy alignment and leveling before insertion. In this case report, interproximal reproximation was performed instead of extraction. To establish clearance between the archwire and resin domes fixing the archwire, an archwire was inserted into a water-soluble tube before fabricating resin domes. This tube is solved away by the saliva. During fabrication of resin domes, the archwire was deflected intentionally reflecting the displacement of teeth from their ideal position. This can be called as deflection-based bonding (DBB) technique. DBB is different from conventional method of positioning the brackets on its ideal position and then inserting an archwire to align the brackets. Because the orthodontic force of the archwire comes from its deflection from passive configuration, deflecting an archwire as needed can move the teeth more predictably than just bonding brackets on its ideal position. Also, areas with good alignment before orthodontic treatment can be maintained simply by not deflecting the archwire during bonding in these areas. After initial alignment, interproximal reproximation was performed to create 4.8 mm space in the maxillary arch and 4.2 mm space in the mandibular arch. These spaces were closed using orthodontic mini-implant anchorage thus retracting the maxillary incisors 4 mm posteriorly accompanied with 0.7 mm and 0.3 mm distal movement of right and left molars. By using interproximal reproximation and water-soluble tube with DBB, mild bialveolar protrusion was successfully treated without extraction.