• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.552-563
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• 2005

In this paper, we propose a wavelet based fuzzy neural network (WFNN) based direct adaptive control scheme for the solution of the tracking problem of mobile robots. To design a controller, we present a WFNN structure that merges the advantages of the neural network, fuzzy model and wavelet transform. The basic idea of our WFNN structure is to realize the process of fuzzy reasoning of the wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. In our control system, the control signals are directly obtained to minimize the difference between the reference track and the pose of a mobile robot via the gradient descent (GD) method. In addition, an approach that uses adaptive learning rates for training of the WFNN controller is driven via a Lyapunov stability analysis to guarantee fast convergence, that is, learning rates are adaptively determined to rapidly minimize the state errors of a mobile robot. Finally, to evaluate the performance of the proposed direct adaptive control system using the WFNN controller, we compare the control results of the WFNN controller with those of the FNN, the WNN and the WFM controllers.

• 한국결정성장학회:학술대회논문집
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• 한국결정성장학회 2000년도 Proceedings of 2000 International Nano Crystals/Ceramics Forum and International Symposium on Intermaterials
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• pp.65-86
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• 2000

Rare earth-doped ceria powders with a composition of Ce0.8R0.2O1.9(R=Yb, Y, Gd, Sm, Nd and La) were prepared by heating the oxalate coprecipitate. The green compacts began to shrink at 600$^{\circ}$-700$^{\circ}C$. The relative density after the sintering at 1200$^{\circ}$ and 1400$^{\circ}C$ became higher for the higher green density. The samples were densified above 98% relative density by the sintering ant 1600$^{\circ}C$ for 4 h and the grain sizes (4.7-7.6$\mu\textrm{m}$) showed a tendency to become larger with increasing ionic radius of doped-rare earth element. In the intial stag of sintering at 700$^{\circ}$-800$^{\circ}C$, the dominant mass transport process changed from lattice diffusion to grain boundary diffusion to grain boundary diffusion with heating time. The porosity during the intermediated and final stage of the sintering at 1200$^{\circ}$ and 1400$^{\circ}C$ decreased by the mass transport through lattice diffusion with grain growth.

• The Journal of Asian Finance, Economics and Business
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• 제7권12호
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• pp.731-738
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• 2020

Though their activities, companies have an impact on environmental problems and nature conservation. The accounting sector can play a role in environmental conservation efforts related to environmental costs, and the implemention of the Corporate Sustainability Management System (CSMS) could be a key factor that can improve the company's financial performance. This study aims to determine how green accounting through the application of CSMS can improve the financial performance of manufacturing companies in Indonesia, a developing country. The sampling method used was purposive sampling, while the research sample consisted of 38 companies that had followed PROPER and were indexed on the IDX. Data were analyzed using the Structural Equation Modeling (SEM) method known as the Partial Least Square (PLS) method. The results of this study indicate that manufacturing companies in Indonesia are able to implement green accounting by allocating appropriate environmental costs by earmarking a portion to carry CSMS implementation so as to improve financial performance. People in Indonesia consider that manufacturing companies that have good company rankings in the evaluation program for company performance ratings in environmental management run by the Indonesian Ministry of Environment are in a position to generate customer loyalty, especially in financial performance.

• Bulletin of the Korean Chemical Society
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• 제35권5호
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• pp.1417-1421
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• 2014

Five new lanthanide coordination polymers, $[Ln_2(1,4-NDC)_2(1,4-HNDC)_2(phen)_2]_n$ (Ln = Er (1), Yb (2)), and $[Ln_2(1,4-NDC)_3(phen)_2(H_2O)_2]_n$ (Ln = Nd (3), Gd (4), Er (5)) ($1,4-H_2NDC$ = 1,4-naphthalenedicarboxylic acid, phen = 1,10-phenanthroline), have been successfully prepared via the reaction of corresponding trivalent lanthanide salt, $1,4-H_2NDC$ and phen in the presence of NaOH and pyridine under hydrothermal condition. Pyridine plays a key role in the synthesis of these lanthanide coordination polymers. Single-crystal X-ray diffraction analyses indicate that compounds 1-5 all form a 2-D network while different salt anions result in the diversity of crystal structures. These lanthanide coordination polymers showed a considerable thermal stability in TGA analyses.

• Bulletin of the Korean Chemical Society
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• 제34권6호
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• pp.1679-1683
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• 2013

Intergrowth perovskite type complex oxides $La_{0.8}Ln_{0.2}Sr_2MnCrO_{7-{\delta}}$ (Ln=La, Nd, Gd, and Dy) have been synthesized by sol-gel method. Rietveld profile analysis shows that the phases crystallize with tetragonal unit cell in the space group I4/mmm. The unit cell parameters a and c decrease with decreasing effective ionic radius of the lanthanide ion. The magnetic studies suggest that the ferromagnetic interactions are dominant due to $Mn^{3+}$-O-$Mn^{4+}$ and $Mn^{3+}$-O-$Cr^{3+}$ double exchange interactions. Both Weiss constant (${\theta}$) and Curie temperature ($T_C$) increase with decreasing ionic radius of lanthanide ion. It was found that the transport mechanism is dominated by Mott's variable range hopping (VRH) model with an increase of Mott localization energy.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2016년도 제50회 동계 정기학술대회 초록집
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• pp.290.1-290.1
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• 2016

Grapehen, a single atomic layer of graphite, has been in the spotlight and researched in vaious fields, because its fine mechanical, electrical properties, flexibility and transparence. Synthesis methods for large-area graphene such as chemical vaper deposition (CVD) and mechanical, chemical exfoliation have been reported. In particular, chemical exfoliation method receive attention due to low cost process. Chemical exfoliation method require reduction of graphene oxide in the process of exfoliation such as chemical reduction by strong reductant, thermal reduction on high temperature, and optical reduction via ultraviolet light exposure. Among these reduction methods, optical reduction is free from damage by strong reductant and high temperature. However, optical reduction is economically infeasible because the high cost of short-wavelength ultraviolet light sorce. In this paper, we make graphene-oxide and lanthanoid ion mixture aqueous solution which has highly optical absorbency in selective wevelength region. Sequentially, we synthesize reduced graphene oxide (RGO) using the solution and visible laser beam. Concretely, graphene oxide is made by modified hummer's method and mix with 1 ml each ultraviolet ray absorbent Gd3+ ion, Green laser absorbent Tb3+ ion, Red laser absorbent Eu3+ ion. After that, we revivify graphene oxide by laser exposure of 300 ~ 800 nm layser 1mW/cm2 +. We demonstrate reproducibility and repeatability of RGO through FT-IR, UV-VIS, Low temperature PL, SEM, XPS and electrical measurement.

• 한국초전도ㆍ저온공학회논문지
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• 제18권3호
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• pp.6-9
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• 2016

The enhancement of mechanical properties of coated conductor (CC) tapes in practical application are usually achieved by reinforcing through lamination or electroplating metal layers on either sides of the CC tape. Mechanical or electromechanical properties of the CC tapes have been largely affected by the lamination structure under various loading modes such as tension, bending or even cyclic. In this study, the influence of brass laminate volume fraction on electromechanical properties of RCE-DR processed Gadolinium-barium-copper-oxide (GdBCO) CC tapes was investigated. The samples used were composed of single-side and both-side laminate of brass layer to the Cu-stabilized CC tape and their $I_c$ behaviors were compared to those of the Cu-stabilized CC tape without external lamination. The stress/strain dependences of $I_c$ in laminated CC tapes under uniaxial tension were analyzed and the irreversible stress/strain limits were determined. As a result, the increase of brass laminate volume fraction initially increased the irreversible strain limit and became gradual. The corresponding irreversible stress limit, however, showed no difference even though the brass laminate volume fraction increased to 3.4. But the irreversible load limit linearly increased with the brass laminate volume fraction.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 봄 학술발표회 논문집
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• pp.223-230
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• 2000

Sand drain as a vertical drainage is widely used in soft ground improvement. Recently, sand, the principal source of sand drain, is running out. The in-situ tests were carried out to utilize gravel as a substitute for sand. In-situ tests area was divided into two areas by material used. One is Sand Drain(SD) and Sand Compaction Pile(SCP) area, the other is Gravel Drain(GD) and Gravel Compaction Pile(GCP) area. Both areas were monitored to obtain the information on settlement, pore water pressure and bearing capacity by measuring instruments for stage loading caused by embankment. The results of measurements were analyzed, The clogging effect was checked at various depth in gravel column after the test. According to the test results, the settlement was found to be smaller in gravel drain than in sand drain. The increase in bearing capacity by gravel pile explains the result. The clogging effect was not found in gravel column. It is assumed that gravel is relatively acceptable as a drainage material. Gravel is considered to be a better material than sand for bearing capacity, and it is found that bearing capacity is larger when gravel is used as a gravel compaction pile than as a gravel drain.

• ETRI Journal
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• 제30권5호
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• pp.747-749
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• 2008

We introduce a pixel-structured scintillator realized on a flexible polymeric substrate and demonstrate its feasibility as an X-ray converter when it is coupled to photosensitive elements. The sample was prepared by filling $Gd_2O_2S:Tb$ scintillation material into a square-pore-shape cavity array fabricated with polyethylene. For comparison, a sample with the conventional continuous geometry was also prepared. Although the pixelated geometry showed X-ray sensitivity of about 58% compared with the conventional geometry, the resolving power was improved by about 70% above a spatial frequency of 3 $mm^{-1}$. The spatial frequency at 10% of the modulation-transfer function was about 6 $mm^{-1}$.

• 대한의생명과학회지
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• 제10권3호
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• pp.285-291
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• 2004

To determine the magnetic resonance (MR) imaging findings and natural history of cerebral fat embolism in a cat model, and to correlate the MR imaging and histologic fmdings. Intemel carotid artery of 11 cats was injected with 0.1 ml of triolein. T2-weighted, T1-weighted and Gd-enhanced T1-weighted images were obtained serially for 2 hours, 1 days, 4 days, 1 week, 2 weeks and 3 weeks after embolization. Any abnormal signal intensity was evaluated. After MR imaging at 3 weeks, brain tissue was obtained for light microscopic (LM) examination using hematoxylin-eosin (HE) and Luxol fast blue staining, and for electron microscopic examination. The LM examination with HE staining revealed normal histological findings in the greater part of an embolized lesion. Cystic change was observed in the gray matter of 8 cats, while in the gray and white matter of 3 cats. At LM examination, Luxol fast blue, staining demonstrated demyelination around the cystic change occurring in the white matter, and EM examination of the embolized cortex revealed sporadic intracapillary fat vacuoles (n=11) and disruption of the blood-brain barrier (n=4). Most lesions were normal, however, and perivascular interstitial edema and cellular swelling were mild compared with the control side. The greater part of an embolized lesion showed reversible findings at MR and histological examination. Irreversible focal necrosis was, however, observed in gray and white matter at weeks 3.