• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.19-26
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• 2002

There are some difficulties to construct a sensory-motor controller for an autonomous mobile robot such as coordinating the mechanics and control system parts of the robot, and managing interaction with external environments. In previous research, we evolve the CAM-Brain, neural networks based on cellular automata, to control an autonomous mobile robot. In this paper, we propose the method of combining multi-modules evolved to do simple behavior in order to making more sophisticated behaviors because the controller composed of one neural network module is difficult to make complex behaviors. In experimental results, we can get the controller adapting to more complex environments by combining CAM-Brain modules evolved to do simple behavior by rule-based approach.

• Journal of the Korean Chemical Society
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• v.55 no.6
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• pp.905-911
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• 2011

The possible minimum structures of $C_{60}(CH_2)_nOH$ (n=0~2) and $C_{60}(OH)_2$have been optimized using density functional theory (DFT) with the 6-311G (d,f) basis set. The harmonic vibrational frequencies and IR intensities are also determined to confirm that all the optimized geometries are true minima. Also zero-point vibrational energies (ZPVE) have been considered to predict the binding energies. The predicted binding energy of $C_{60}CH_2OH$ is about 10 kcal/mol more stable than the binding energy of $C_{60}OH$.

• Journal of the Korean Chemical Society
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• v.59 no.5
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• pp.387-396
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• 2015

The DFT and ab initio calculations have been performed to elucidate hydrogen interaction of HOOO-(H₂O)_n (n=1~5) clusters. The optimized geometries, harmonic vibrational frequencies, and binding energies are predicted at various levels of theory. The trans conformer of HOOO monomer is predicted to be thermodynamically more stable than cis form at the CCSD(T) level of theory. For HOOO-(H₂O)_n clusters, the geometries are optimized at B3LYP/aug-cc-pVTZ and CAM-B3LYP/aug-cc-pVTZ levels of theory. The binding energy of HOOO-H₂O cluster is predicted to be 6.05 kcal/mol at the MP2//CAM-B3LYP/ aug-cc-pVTZ level of theory after zero-point vibrational energy (ZPVE) and basis set superposition error (BSSE) correction. The average binding energy per H₂O is increased according to adding a H₂O moiety in HOOO-(H₂O)_n clusters up to 7.2 kcal/mol for n=5.

• Journal of the Korean Chemical Society
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• v.61 no.6
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• pp.328-338
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• 2017

The density functional theory(DFT) and ab initio calculations have been applied to investigate hydrogen interaction of $H_2O_3(H_2O)_n$ clusters(n=1-5). The structures, IR spectra, and H-bonding energies are calculated at various levels of theory. The $trans-H_2O_3$ monomer is predicted to be thermodynamically more stable than cis form at the CCSD(T)/cc-pVTZ level of theory. For clusters, the geometries are optimized at the MP2/cc-pVTZ level of theory. The binding energy of $H_2O_3-H_2O$ cluster is predicted to be -6.39 kcal/mol at the CCSD(T)//MP2/cc-pVTZ level of theory after zero-point vibrational energy (ZPVE) and basis set superposition error (BSSE) correction. This result implies that $H_2O_3$ is a stronger proton donor(acid) than either $H_2O$ or $H_2O_2$. The average binding energies per $H_2O$ are predicted to be 8.25 kcal/mol for n=2, 7.22 kcal/mol for n=3, 8.50 kcal/mol for n=4, and 8.16 kcal/mol for n=5.

• Journal of the Korean Vacuum Society
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• v.15 no.1
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• pp.50-56
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• 2006

We investigated the adsorption of benzene and pyridine on $Si(5\;5\;12)-2\times1$ at 80 K by using variable-low temperature scanning tunneling microscopy (STM) and density functional theory (DFT) calculations. The benzene molecule most strongly binds to two adatoms on the D3 and D2 units in a tilted butterfly configuration, which consists of $di-\sigma$ bonds between C atoms and Si adatoms and two C=C double bonds in the benzene molecule Pyridine molecules interact with adatom(s) on the D2 and D3 units through both Si-N dative bonding and $di-\sigma$ bonds. The dative bonding through the lone pair electrons of N atom produces a vertical configuration (pyridine-like), which is more stable than $di-\sigma$ bonds $Di-\sigma$ bonds can be formed either through Si-N1 and Si-C4 or Si-C2 and Si-C5.

• Journal of Advanced Navigation Technology
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• v.16 no.5
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• pp.738-743
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• 2012

Kalman filter is generally used in INS/GPS integrated navigation filter. However, the INS with low performance inertia sensor can not find accurate azimuth in initial alignment stage because sensor noise level is too large compare to Earth rotation rate, therefore the performance and stability of Kalman filter can not be guaranteed. In this paper, the extended Kalman filter and particle filter combined filter structure which can be overcome large initial azimuth error is proposed.

• Journal of the Korean Magnetics Society
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• v.24 no.4
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• pp.97-100
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• 2014

We have studied electronic and magnetic structure of Mn-dimer molecule using OpenMX method based on density functional method. The calculated density of states shows that the four O atoms split $e_g$ and $t_{2g}$ energy levels. The energy splitting by the crystal field is smaller than bulk MnO with cubic structure, because of small coordination number of atoms. Total energy with antiferromagnetic spin configuration is lower than that of ferromagnetic configurations. Calculated exchange interaction J between Mn atoms is one order larger than that of the other Mn-O magnetic molecules. That comes from the direct exchange interaction between Mn 3d orbitals and the super-exchange interactions caused by strong ${\sigma}$-bonding of Mn-O orbitals.

• Applied Chemistry for Engineering
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• v.25 no.4
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• pp.409-413
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• 2014

This study was carried out to design the optimum mixing ratio of aggregate, cyclic aggregate, and binder (moisture, emulsified asphalt, and emulsion type additives) and produce recycling cold asphalt paving mixture satisfying site work standard. The cyclic aggregate satisfying KS F 2572 was collected from waste asphalt by adequate processing. As the moisture content increased, the shearing strength was decreased. The maximum marshall stability was shown at the 3.0 wt% moisture content. So the optimum moisture content was 3.0 wt%. The marshall stability and flow value with the amount of emulsified asphalt was satisfied in the range of 0.5~2.5 wt%, and the porosity was satisfied in the range of 0.7~2.5 wt%. So the optimum amount of emulsified asphalt was 1.6 wt%. The optimum amount of emulsion type additive was 0.1 wt% in the light of marshall stability and degree of saturation of recycling cold asphalt mixture.

• Journal of the Korean Chemical Society
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• v.39 no.8
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• pp.598-603
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• 1995

Kinetics for the reaction of para-substituted benzyl bromides with 3-picoline have been studied with the changes of substituent, pressure and temperature. The activation parameters and the Hammett ρ-values were determined from the values of rate constants. The results of these studies showed that the positive charge developed in the reaction center and bond cleavage was greater than bond formation. The reaction rate and the ability of charge transfer were increased with elevating pressure. The effect of pressure for the charge transfer was more enhanced at low temperatures.

• The KIPS Transactions:PartB
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• v.14B no.1 s.111
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• pp.33-42
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• 2007

This paper presents a new methodology for music structure analysis which facilitates rhetoric-based music summarization. Similarity analysis of musical constituents suggests the structure of a musical piece. We can recognize its musical form from the structure. Musical forms have rhetorical characteristics of their on. We have utilized the characteristics for locating musical motifs. Motif extraction is to music summarization what topic sentence extraction is to text summarization. We have evaluated the effectiveness of this methodology through a popular music case study.