999 resultados para Triangulation systems
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Mode of access: Internet.
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Nowadays, existing 3D scanning cameras and microscopes in the market use digital or discrete sensors, such as CCDs or CMOS for object detection applications. However, these combined systems are not fast enough for some application scenarios since they require large data processing resources and can be cumbersome. Thereby, there is a clear interest in exploring the possibilities and performances of analogue sensors such as arrays of position sensitive detectors with the final goal of integrating them in 3D scanning cameras or microscopes for object detection purposes. The work performed in this thesis deals with the implementation of prototype systems in order to explore the application of object detection using amorphous silicon position sensors of 32 and 128 lines which were produced in the clean room at CENIMAT-CEMOP. During the first phase of this work, the fabrication and the study of the static and dynamic specifications of the sensors as well as their conditioning in relation to the existing scientific and technological knowledge became a starting point. Subsequently, relevant data acquisition and suitable signal processing electronics were assembled. Various prototypes were developed for the 32 and 128 array PSD sensors. Appropriate optical solutions were integrated to work together with the constructed prototypes, allowing the required experiments to be carried out and allowing the achievement of the results presented in this thesis. All control, data acquisition and 3D rendering platform software was implemented for the existing systems. All these components were combined together to form several integrated systems for the 32 and 128 line PSD 3D sensors. The performance of the 32 PSD array sensor and system was evaluated for machine vision applications such as for example 3D object rendering as well as for microscopy applications such as for example micro object movement detection. Trials were also performed involving the 128 array PSD sensor systems. Sensor channel non-linearities of approximately 4 to 7% were obtained. Overall results obtained show the possibility of using a linear array of 32/128 1D line sensors based on the amorphous silicon technology to render 3D profiles of objects. The system and setup presented allows 3D rendering at high speeds and at high frame rates. The minimum detail or gap that can be detected by the sensor system is approximately 350 μm when using this current setup. It is also possible to render an object in 3D within a scanning angle range of 15º to 85º and identify its real height as a function of the scanning angle and the image displacement distance on the sensor. Simple and not so simple objects, such as a rubber and a plastic fork, can be rendered in 3D properly and accurately also at high resolution, using this sensor and system platform. The nip structure sensor system can detect primary and even derived colors of objects by a proper adjustment of the integration time of the system and by combining white, red, green and blue (RGB) light sources. A mean colorimetric error of 25.7 was obtained. It is also possible to detect the movement of micrometer objects using the 32 PSD sensor system. This kind of setup offers the possibility to detect if a micro object is moving, what are its dimensions and what is its position in two dimensions, even at high speeds. Results show a non-linearity of about 3% and a spatial resolution of < 2µm.
Diseño de algoritmos de guerra electrónica y radar para su implementación en sistemas de tiempo real
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Esta tesis se centra en el estudio y desarrollo de algoritmos de guerra electrónica {electronic warfare, EW) y radar para su implementación en sistemas de tiempo real. La llegada de los sistemas de radio, radar y navegación al terreno militar llevó al desarrollo de tecnologías para combatirlos. Así, el objetivo de los sistemas de guerra electrónica es el control del espectro electomagnético. Una de la funciones de la guerra electrónica es la inteligencia de señales {signals intelligence, SIGINT), cuya labor es detectar, almacenar, analizar, clasificar y localizar la procedencia de todo tipo de señales presentes en el espectro. El subsistema de inteligencia de señales dedicado a las señales radar es la inteligencia electrónica {electronic intelligence, ELINT). Un sistema de tiempo real es aquel cuyo factor de mérito depende tanto del resultado proporcionado como del tiempo en que se da dicho resultado. Los sistemas radar y de guerra electrónica tienen que proporcionar información lo más rápido posible y de forma continua, por lo que pueden encuadrarse dentro de los sistemas de tiempo real. La introducción de restricciones de tiempo real implica un proceso de realimentación entre el diseño del algoritmo y su implementación en plataformas “hardware”. Las restricciones de tiempo real son dos: latencia y área de la implementación. En esta tesis, todos los algoritmos presentados se han implementado en plataformas del tipo field programmable gate array (FPGA), ya que presentan un buen compromiso entre velocidad, coste total, consumo y reconfigurabilidad. La primera parte de la tesis está centrada en el estudio de diferentes subsistemas de un equipo ELINT: detección de señales mediante un detector canalizado, extracción de los parámetros de pulsos radar, clasificación de modulaciones y localization pasiva. La transformada discreta de Fourier {discrete Fourier transform, DFT) es un detector y estimador de frecuencia quasi-óptimo para señales de banda estrecha en presencia de ruido blanco. El desarrollo de algoritmos eficientes para el cálculo de la DFT, conocidos como fast Fourier transform (FFT), han situado a la FFT como el algoritmo más utilizado para la detección de señales de banda estrecha con requisitos de tiempo real. Así, se ha diseñado e implementado un algoritmo de detección y análisis espectral para su implementación en tiempo real. Los parámetros más característicos de un pulso radar son su tiempo de llegada y anchura de pulso. Se ha diseñado e implementado un algoritmo capaz de extraer dichos parámetros. Este algoritmo se puede utilizar con varios propósitos: realizar un reconocimiento genérico del radar que transmite dicha señal, localizar la posición de dicho radar o bien puede utilizarse como la parte de preprocesado de un clasificador automático de modulaciones. La clasificación automática de modulaciones es extremadamente complicada en entornos no cooperativos. Un clasificador automático de modulaciones se divide en dos partes: preprocesado y el algoritmo de clasificación. Los algoritmos de clasificación basados en parámetros representativos calculan diferentes estadísticos de la señal de entrada y la clasifican procesando dichos estadísticos. Los algoritmos de localization pueden dividirse en dos tipos: triangulación y sistemas cuadráticos. En los algoritmos basados en triangulación, la posición se estima mediante la intersección de las rectas proporcionadas por la dirección de llegada de la señal. En cambio, en los sistemas cuadráticos, la posición se estima mediante la intersección de superficies con igual diferencia en el tiempo de llegada (time difference of arrival, TDOA) o diferencia en la frecuencia de llegada (frequency difference of arrival, FDOA). Aunque sólo se ha implementado la estimación del TDOA y FDOA mediante la diferencia de tiempos de llegada y diferencia de frecuencias, se presentan estudios exhaustivos sobre los diferentes algoritmos para la estimación del TDOA, FDOA y localización pasiva mediante TDOA-FDOA. La segunda parte de la tesis está dedicada al diseño e implementación filtros discretos de respuesta finita (finite impulse response, FIR) para dos aplicaciones radar: phased array de banda ancha mediante filtros retardadores (true-time delay, TTD) y la mejora del alcance de un radar sin modificar el “hardware” existente para que la solución sea de bajo coste. La operación de un phased array de banda ancha mediante desfasadores no es factible ya que el retardo temporal no puede aproximarse mediante un desfase. La solución adoptada e implementada consiste en sustituir los desfasadores por filtros digitales con retardo programable. El máximo alcance de un radar depende de la relación señal a ruido promedio en el receptor. La relación señal a ruido depende a su vez de la energía de señal transmitida, potencia multiplicado por la anchura de pulso. Cualquier cambio hardware que se realice conlleva un alto coste. La solución que se propone es utilizar una técnica de compresión de pulsos, consistente en introducir una modulación interna a la señal, desacoplando alcance y resolución. ABSTRACT This thesis is focused on the study and development of electronic warfare (EW) and radar algorithms for real-time implementation. The arrival of radar, radio and navigation systems to the military sphere led to the development of technologies to fight them. Therefore, the objective of EW systems is the control of the electromagnetic spectrum. Signals Intelligence (SIGINT) is one of the EW functions, whose mission is to detect, collect, analyze, classify and locate all kind of electromagnetic emissions. Electronic intelligence (ELINT) is the SIGINT subsystem that is devoted to radar signals. A real-time system is the one whose correctness depends not only on the provided result but also on the time in which this result is obtained. Radar and EW systems must provide information as fast as possible on a continuous basis and they can be defined as real-time systems. The introduction of real-time constraints implies a feedback process between the design of the algorithms and their hardware implementation. Moreover, a real-time constraint consists of two parameters: Latency and area of the implementation. All the algorithms in this thesis have been implemented on field programmable gate array (FPGAs) platforms, presenting a trade-off among performance, cost, power consumption and reconfigurability. The first part of the thesis is related to the study of different key subsystems of an ELINT equipment: Signal detection with channelized receivers, pulse parameter extraction, modulation classification for radar signals and passive location algorithms. The discrete Fourier transform (DFT) is a nearly optimal detector and frequency estimator for narrow-band signals buried in white noise. The introduction of fast algorithms to calculate the DFT, known as FFT, reduces the complexity and the processing time of the DFT computation. These properties have placed the FFT as one the most conventional methods for narrow-band signal detection for real-time applications. An algorithm for real-time spectral analysis for user-defined bandwidth, instantaneous dynamic range and resolution is presented. The most characteristic parameters of a pulsed signal are its time of arrival (TOA) and the pulse width (PW). The estimation of these basic parameters is a fundamental task in an ELINT equipment. A basic pulse parameter extractor (PPE) that is able to estimate all these parameters is designed and implemented. The PPE may be useful to perform a generic radar recognition process, perform an emitter location technique and can be used as the preprocessing part of an automatic modulation classifier (AMC). Modulation classification is a difficult task in a non-cooperative environment. An AMC consists of two parts: Signal preprocessing and the classification algorithm itself. Featurebased algorithms obtain different characteristics or features of the input signals. Once these features are extracted, the classification is carried out by processing these features. A feature based-AMC for pulsed radar signals with real-time requirements is studied, designed and implemented. Emitter passive location techniques can be divided into two classes: Triangulation systems, in which the emitter location is estimated with the intersection of the different lines of bearing created from the estimated directions of arrival, and quadratic position-fixing systems, in which the position is estimated through the intersection of iso-time difference of arrival (TDOA) or iso-frequency difference of arrival (FDOA) quadratic surfaces. Although TDOA and FDOA are only implemented with time of arrival and frequency differences, different algorithms for TDOA, FDOA and position estimation are studied and analyzed. The second part is dedicated to FIR filter design and implementation for two different radar applications: Wideband phased arrays with true-time delay (TTD) filters and the range improvement of an operative radar with no hardware changes to minimize costs. Wideband operation of phased arrays is unfeasible because time delays cannot be approximated by phase shifts. The presented solution is based on the substitution of the phase shifters by FIR discrete delay filters. The maximum range of a radar depends on the averaged signal to noise ratio (SNR) at the receiver. Among other factors, the SNR depends on the transmitted signal energy that is power times pulse width. Any possible hardware change implies high costs. The proposed solution lies in the use of a signal processing technique known as pulse compression, which consists of introducing an internal modulation within the pulse width, decoupling range and resolution.
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Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.
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A fundamental question in developmental biology is how tissues are patterned to give rise to differentiated body structures with distinct morphologies. The Drosophila wing disc offers an accessible model to understand epithelial spatial patterning. It has been studied extensively using genetic and molecular approaches. Bristle patterns on the thorax, which arise from the medial part of the wing disc, are a classical model of pattern formation, dependent on a pre-pattern of trans-activators and –repressors. Despite of decades of molecular studies, we still only know a subset of the factors that determine the pre-pattern. We are applying a novel and interdisciplinary approach to predict regulatory interactions in this system. It is based on the description of expression patterns by simple logical relations (addition, subtraction, intersection and union) between simple shapes (graphical primitives). Similarities and relations between primitives have been shown to be predictive of regulatory relationships between the corresponding regulatory factors in other Systems, such as the Drosophila egg. Furthermore, they provide the basis for dynamical models of the bristle-patterning network, which enable us to make even more detailed predictions on gene regulation and expression dynamics. We have obtained a data-set of wing disc expression patterns which we are now processing to obtain average expression patterns for each gene. Through triangulation of the images we can transform the expression patterns into vectors which can easily be analysed by Standard clustering methods. These analyses will allow us to identify primitives and regulatory interactions. We expect to identify new regulatory interactions and to understand the basic Dynamics of the regulatory network responsible for thorax patterning. These results will provide us with a better understanding of the rules governing gene regulatory networks in general, and provide the basis for future studies of the evolution of the thorax-patterning network in particular.
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Tradicionalment, la reproducció del mon real se'ns ha mostrat a traves d'imatges planes. Aquestes imatges se solien materialitzar mitjançant pintures sobre tela o be amb dibuixos. Avui, per sort, encara podem veure pintures fetes a ma, tot i que la majoria d'imatges s'adquireixen mitjançant càmeres, i es mostren directament a una audiència, com en el cinema, la televisió o exposicions de fotografies, o be son processades per un sistema computeritzat per tal d'obtenir un resultat en particular. Aquests processaments s'apliquen en camps com en el control de qualitat industrial o be en la recerca mes puntera en intel·ligència artificial. Aplicant algorismes de processament de nivell mitja es poden obtenir imatges 3D a partir d'imatges 2D, utilitzant tècniques ben conegudes anomenades Shape From X, on X es el mètode per obtenir la tercera dimensió, i varia en funció de la tècnica que s'utilitza a tal nalitat. Tot i que l'evolució cap a la càmera 3D va començar en els 90, cal que les tècniques per obtenir les formes tridimensionals siguin mes i mes acurades. Les aplicacions dels escàners 3D han augmentat considerablement en els darrers anys, especialment en camps com el lleure, diagnosi/cirurgia assistida, robòtica, etc. Una de les tècniques mes utilitzades per obtenir informació 3D d'una escena, es la triangulació, i mes concretament, la utilització d'escàners laser tridimensionals. Des de la seva aparició formal en publicacions científiques al 1971 [SS71], hi ha hagut contribucions per solucionar problemes inherents com ara la disminució d'oclusions, millora de la precisió, velocitat d'adquisició, descripció de la forma, etc. Tots i cadascun dels mètodes per obtenir punts 3D d'una escena te associat un procés de calibració, i aquest procés juga un paper decisiu en el rendiment d'un dispositiu d'adquisició tridimensional. La nalitat d'aquesta tesi es la d'abordar el problema de l'adquisició de forma 3D, des d'un punt de vista total, reportant un estat de l'art sobre escàners laser basats en triangulació, provant el funcionament i rendiment de diferents sistemes, i fent aportacions per millorar la precisió en la detecció del feix laser, especialment en condicions adverses, i solucionant el problema de la calibració a partir de mètodes geomètrics projectius.
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Word sense disambiguation is the task of determining which sense of a word is intended from its context. Previous methods have found the lack of training data and the restrictiveness of dictionaries' choices of senses to be major stumbling blocks. A robust novel algorithm is presented that uses multiple dictionaries, the Internet, clustering and triangulation to attempt to discern the most useful senses of a given word and learn how they can be disambiguated. The algorithm is explained, and some promising sample results are given.
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This work highlights two critical taboos in organizations: 1)taking for granted the quality of certain capabilities and attitudes of the end-user representatives (EUR) in information systems development projects (ISDP), and 2) the EUR´s inherent accountability for losses in IS investments. These issues are neither addressed by theory nor research when assessing success/ failure. A triangulation approach was applied to combine quantitative and qualitative methods, having convergent results and showing that in problematic cases, paradoxically, the origin of IS rejection by end users (EU) points towards the EUR themselves. It has been evaluated to what extent some EUR factors impacted a macro ISDP involving an enterprise resource planning (ERP) package, ranking the ‘knowledge of the EUR’ as the main latent variable. The results validate some issues found throughout decades of praxis, confirming that when not properly managed the EUR role by itself has a direct relationship with IS rejection and significant losses in IS investments.
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The development and maintenance of the sealing of the root canal system is the key to the success of root canal treatment. The resin-based adhesive material has the potential to reduce the microleakage of the root canal because of its adhesive properties and penetration into dentinal walls. Moreover, the irrigation protocols may have an influence on the adhesiveness of resin-based sealers to root dentin. The objective of the present study was to evaluate the effect of different irrigant protocols on coronal bacterial microleakage of gutta-percha/AH Plus and Resilon/Real Seal Self-etch systems. One hundred ninety pre-molars were used. The teeth were divided into 18 experimental groups according to the irrigation protocols and filling materials used. The protocols used were: distilled water; sodium hypochlorite (NaOCl)+eDTA; NaOCl+H3PO4; NaOCl+eDTA+chlorhexidine (CHX); NaOCl+H3PO4+CHX; CHX+eDTA; CHX+ H3PO4; CHX+eDTA+CHX and CHX+H3PO4+CHX. Gutta-percha/AH Plus or Resilon/Real Seal Se were used as root-filling materials. The coronal microleakage was evaluated for 90 days against Enterococcus faecalis. Data were statistically analyzed using Kaplan-Meier survival test, Kruskal-Wallis and Mann-Whitney tests. No significant difference was verified in the groups using chlorhexidine or sodium hypochlorite during the chemo-mechanical preparation followed by eDTA or phosphoric acid for smear layer removal. The same results were found for filling materials. However, the statistical analyses revealed that a final flush with 2% chlorhexidine reduced significantly the coronal microleakage. A final flush with 2% chlorhexidine after smear layer removal reduces coronal microleakage of teeth filled with gutta-percha/AH Plus or Resilon/Real Seal SE.
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To evaluate the effectiveness of Reciproc for the removal of cultivable bacteria and endotoxins from root canals in comparison with multifile rotary systems. The root canals of forty human single-rooted mandibular pre-molars were contaminated with an Escherichia coli suspension for 21 days and randomly assigned to four groups according to the instrumentation system: GI - Reciproc (VDW); GII - Mtwo (VDW); GIII - ProTaper Universal (Dentsply Maillefer); and GIV -FKG Race(™) (FKG Dentaire) (n = 10 per group). Bacterial and endotoxin samples were taken with a sterile/apyrogenic paper point before (s1) and after instrumentation (s2). Culture techniques determined the colony-forming units (CFU) and the Limulus Amebocyte Lysate assay was used for endotoxin quantification. Results were submitted to paired t-test and anova. At s1, bacteria and endotoxins were recovered in 100% of the root canals investigated (40/40). After instrumentation, all systems were associated with a highly significant reduction of the bacterial load and endotoxin levels, respectively: GI - Reciproc (99.34% and 91.69%); GII - Mtwo (99.86% and 83.11%); GIII - ProTaper (99.93% and 78.56%) and GIV - FKG Race(™) (99.99% and 82.52%) (P < 0.001). No statistical difference were found amongst the instrumentation systems regarding bacteria and endotoxin removal (P > 0.01). The reciprocating single file, Reciproc, was as effective as the multifile rotary systems for the removal of bacteria and endotoxins from root canals.
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The aim of this study was to evaluate by photoelastic analysis stress distribution on short and long implants of two dental implant systems with 2-unit implant-supported fixed partial prostheses of 8 mm and 13 mm heights. Sixteen photoelastic models were divided into 4 groups: I: long implant (5 × 11 mm) (Neodent), II: long implant (5 × 11 mm) (Bicon), III: short implant (5 × 6 mm) (Neodent), and IV: short implants (5 × 6 mm) (Bicon). The models were positioned in a circular polariscope associated with a cell load and static axial (0.5 Kgf) and nonaxial load (15°, 0.5 Kgf) were applied to each group for both prosthetic crown heights. Three-way ANOVA was used to compare the factors implant length, crown height, and implant system (α = 0.05). The results showed that implant length was a statistically significant factor for both axial and nonaxial loading. The 13 mm prosthetic crown did not result in statistically significant differences in stress distribution between the implant systems and implant lengths studied, regardless of load type (P > 0.05). It can be concluded that short implants showed higher stress levels than long implants. Implant system and length was not relevant factors when prosthetic crown height were increased.
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This study evaluated the dentine bond strength (BS) and the antibacterial activity (AA) of six adhesives against strict anaerobic and facultative bacteria. Three adhesives containing antibacterial components (Gluma 2Bond (glutaraldehyde)/G2B, Clearfil SE Protect (MDPB)/CSP and Peak Universal Bond (PUB)/chlorhexidine) and the same adhesive versions without antibacterial agents (Gluma Comfort Bond/GCB, Clearfil SE Bond/CSB and Peak LC Bond/PLB) were tested. The AA of adhesives and control groups was evaluated by direct contact method against four strict anaerobic and four facultative bacteria. After incubation, according to the appropriate periods of time for each microorganism, the time to kill microorganisms was measured. For BS, the adhesives were applied according to manufacturers' recommendations and teeth restored with composite. Teeth (n=10) were sectioned to obtain bonded beams specimens, which were tested after artificial saliva storage for one week and one year. BS data were analyzed using two-way ANOVA and Tukey test. Saliva storage for one year reduces the BS only for GCB. In general G2B and GCB required at least 24h for killing microorganisms. PUB and PLB killed only strict anaerobic microorganisms after 24h. For CSP the average time to eliminate the Streptococcus mutans and strict anaerobic oral pathogens was 30min. CSB showed no AA against facultative bacteria, but had AA against some strict anaerobic microorganisms. Storage time had no effect on the BS for most of the adhesives. The time required to kill bacteria depended on the type of adhesive and never was less than 10min. Most of the adhesives showed stable bond strength after one year and the Clearfil SE Protect may be a good alternative in restorative procedures performed on dentine, considering its adequate bond strength and better antibacterial activity.
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This paper presents the state of the art of self-etch adhesive systems. Four topics are shown in this review and included: the historic of this category of bonding agents, bonding mechanism, characteristics/properties and the formation of acid-base resistant zone at enamel/dentin-adhesive interfaces. Also, advantages regarding etch-and-rinse systems and classifications of self-etch adhesive systems according to the number of steps and acidity are addressed. Finally, issues like the potential durability and clinical importance are discussed. Self-etch adhesive systems are promising materials because they are easy to use, bond chemically to tooth structure and maintain the dentin hydroxyapatite, which is important for the durability of the bonding.
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This in vitro study evaluated the tensile bond strength of glass fiber posts (Reforpost - Angelus-Brazil) cemented to root dentin with a resin cement (RelyX ARC - 3M/ESPE) associated with two different adhesive systems (Adper Single Bond - 3M/ESPE and Adper Scotchbond Multi Purpose (MP) Plus - 3M/ESPE), using the pull-out test. Twenty single-rooted human teeth with standardized root canals were randomly assigned to 2 groups (n=10): G1- etching with 37% phosphoric acid gel (3M/ESPE) + Adper Single Bond + #1 post (Reforpost - Angelus) + four #1 accessory posts (Reforpin - Angelus) + resin cement; G2- etching with 37% phosphoric acid gel + Adper Scotchbond MP Plus + #1 post + four #1 accessory posts + resin cement. The specimens were stored in distilled water at 37°C for 7 days and submitted to the pull-out test in a universal testing machine (EMIC) at a crosshead speed of 0.5 mm/min. The mean values of bond strength (kgf) and standard deviation were: G1- 29.163 ± 7.123; G2- 37.752 ±13.054. Statistical analysis (Student's t-test; a=0.05 showed no statistically significant difference (p<0.05) between the groups. Adhesive bonding failures between resin cement and root canal dentin surface were observed in both groups, with non-polymerized resin cement in the apical portion of the post space when Single Bond was used (G1). The type of adhesive system employed on the fiber post cementation did not influence the pull-out bond strength.