Plane Formation by Synchronous Mobile Robots without Chirality

We consider a distributed system consisting of autonomous mobile computing entities called robots moving in the three-dimensional space (3D-space). The robots are anonymous, oblivious, fully-synchronous and have neither any access to the global coordinate system nor any explicit communication medium. Each robot cooperates with other robots by observing the positions of other robots in its local coordinate system. One of the most fundamental agreement problems in 3D-space is the plane formation problem that requires the robots to land on a common plane, that is not predefined. This problem is not always solvable because of the impossibility of symmetry breaking. While existing results assume that the robots agree on the handedness of their local coordinate systems, we remove the assumption and consider the robots without chirality. The robots without chirality can never break the symmetry consisting of rotation symmetry and reflection symmetry. Such symmetry in 3D-space is fully described by 17 symmetry types each of which forms a group. We extend the notion of symmetricity [Suzuki and Yamashita, SIAM J. Compt. 1999] [Yamauchi et al., PODC 2016] to cover these 17 symmetry groups. Then we give a characterization of initial configurations from which the fully-synchronous robots without chirality can form a plane in terms of symmetricity

Effect of two desensitizing agents on dentin permeability in vitro

Objective The aim of this in vitro study was to investigate the effect of two desensitizing agents and water on hydraulic conductance in human dentin. Material and Methods GLUMA Desensitizer PowerGel (GLU) contains glutaraldehyde (GA) and 2-hydroxyethyl methacrylate (HEMA), and Teethmate Desensitizer (TD) is a powder comprising tetracalcium phosphate (TTCP) and dicalcium phosphate anhydrous (DCPA) that is mixed with water. Deionized water was used as a negative control (CTR). Thirty discs with a thickness of 1.2 mm were cut from the coronal dentin of the third molars and cleaned with 0.5 M EDTA (pH 7.4). After being mounted in a split-chamber device, the discs were pressurized with water at 1 kPa and 3 kPa in order to measure flow rates with a highly sensitive micro-flow sensor and to calculate hydraulic conductance as a baseline value (BL). Following the application of GLU, TD, and CTR (n=10), hydraulic conductance was remeasured with intermittent storage in water after 15 min, 1 d, 1 w, and 1 m. Reduction in permeability (PR%) was calculated from hydraulic conductance. Data were statistically analyzed using nonparametric methods (