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RISS 인기검색어
- 검색키워드
- 저자 : Soonshin Han (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
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An Efficient Localization Scheme for a Differential-Driving Mobile Robot Based on RFID System
Soonshin Han,HyungSoo Lim,JangMyung Lee Institute of Electrical and Electronics Engineers 2007 IEEE transactions on industrial electronics Vol.54 No.6
<P>This paper presents an efficient localization scheme for an indoors mobile robot using Radio-Frequency IDentification (RFID) systems. The mobile robot carries an RFID reader at the bottom of the chassis, which reads the RFID tags on the floor to localize the mobile robot. Each of the RFID tags stores its own absolute position, which is used to calculate the position, orientation, and velocity of the mobile robot. However, a localization system based on RFID technology inevitably suffers from an estimation error. In this paper, a new triangular pattern of arranging the RFID tags on the floor has been proposed to reduce the estimation error of the conventional square pattern. In addition, the motion-continuity property of the differential-driving mobile robot has been utilized to improve the localization accuracy of the mobile robot. According to the conventional approach, two readers are necessary to identify the orientation of the mobile robot. Therefore, this new approach, based on the motion-continuity property of the differential-driving mobile robot, provides a cheap and fast estimation of the orientation. The proposed algorithms used to raise the accuracy of the robot localization are successfully verified through experiments.</P>
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Han, Jihee,Hwang, Soonshin,Nguyen, Tung,Proffit, William R.,Soma, Kunimichi,Choi, Yoon Jeong,Kim, Kyung-Ho,Chung, Chooryung J. Elsevier 2019 American journal of orthodontics and dentofacial o Vol.155 No.5
<P><B>Introduction</B></P> <P>The goal of this study was to compare the outcomes and amount of change in periodontal health of anterior teeth in young versus middle-aged adults, who were treated to improve anterior alignment and occlusion.</P> <P><B>Methods</B></P> <P>Pre- and posttreatment records including orthodontic casts, cephalograms, and standardized periapical radiographs were retrospectively collected from young adults (aged 19-30 years; n = 12) and middle-aged adults (aged ≥40 years; n = 27). Following the American Board of Orthodontics criteria, discrepancy index (DI), cast-radiograph evaluation (CRE), treatment duration (TD), marginal bone loss (MBL), and tooth length (TL) were measured, and with the use of periapical radiographs, changes in the level of marginal bone (MBC) and the amount of root resorption (RR) after orthodontic treatment were calculated.</P> <P><B>Results</B></P> <P>DI, MBL, and TD were significantly higher in the middle-aged adults than in the young adults (<I>P</I> < 0.05). However, CRE and MBC after treatment were similar between the 2 groups (<I>P</I> > 0.05). The mean amount of RR following treatment was −0.6 ± 0.44 mm and −1.0 ± 0.61 mm in young and middle-aged adults, respectively. The degree of RR after compensating for treatment complexity and TD was similar between the 2 groups (<I>P</I> > 0.05).</P> <P><B>Conclusions</B></P> <P>Although the initial malocclusion and periodontal conditions were unfavorable for the middle-aged adults, the overall treatment and periodontal outcomes after orthodontic treatment of the anterior teeth were similar to those for young adults. It appears that older adults tolerate orthodontics to improve the appearance of the anterior teeth as well as younger adults, with no additional burden because of their increased age.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Treatment outcomes in the anterior teeth were evaluated in young and middle-aged adults. </LI> <LI> Marginal bone loss and root resorption were measured with the use of standardized periapical radiographs. </LI> <LI> Occlusal changes were monitored with the use of modified discrepancy index and cast-radiograph evaluation. </LI> <LI> The magnitude of periodontal and root changes after treatment in middle-aged adults was similar to that in young adults, although the cumulative change was greater in the older group. </LI> </UL> </P>
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