Abstract: An embodiment of the present disclosure discloses tobacco material including: a center portion including a flavor material; and an outer portion including a tobacco mixture, wherein the outer portion surrounds the center portion.

Abstract: The present invention relates to a positive electrode active material and a lithium secondary battery using a positive electrode containing the positive electrode active material. More particularly, the present invention relates to a positive electrode active material that is able to solve a problem of increased resistance according to an increase in Ni content by forming a charge transport channel in a lithium composite oxide and a lithium secondary battery using a positive electrode containing the positive electrode active material.

Abstract: A method and apparatus for recognizing a motion of a user are provided. The apparatus may map each of right leg angle information and left leg angle information to context information by comparing each of the right leg angle information and left leg angle information to a comparison value and/or preset threshold, may generate a motion event corresponding to the context information based on a criterion, and may recognize the motion of the user based on the motion event and a previous motion of the user.

Abstract: A batch-type filtering apparatus includes: a first flow path; a second flow path configured to communicate with the first flow path; a third flow path configured to communicate with the first flow path; a fourth flow path configured to communicate with each of the second flow path and the third flow path; an external port configured to communicate with each of the third flow path and the fourth flow path; a first direction switching valve configured to allow at least two from among the first flow path, the second flow path, and the third flow path to communicate with each other; a second direction switching valve configured to allow at least two from among the third flow path, the fourth flow path, and the external port to communicate with each other; and a flow cell.

Abstract: A method of operating an information processing apparatus may include collecting gait information of a walking assistance apparatus; determining a gait feature of a user of the walking assistance apparatus based on the collected gait information; and controlling the walking assistance apparatus by determining a gait group of the user based on the determined gait feature.

Abstract: Provided is a method and device for assisting walking of a user that may receive a pressure value applied to a sole of a user from a pressure sensor, acquire acceleration information associated with a movement of the user from an acceleration sensor, determine a gait phase based on the pressure value and the acceleration information, determine an assist torque corresponding to the determined gait phase, and control a driver to output the assist torque.

Abstract: A heat exchanger is provided. The heat exchanger includes a target area that is a target for heat exchange; and a flow path structure. The flow path structure includes at least one inlet; at least one outlet; a first flow path connected to each of the at least one inlet and the at least one outlet, and extending along a first side of the target area; and a second flow path connected to each of the at least one inlet and the at least one outlet, and extending along a second side, different from the first side, of the target area.

Abstract: A method and device for controlling a walking assist device is disclosed. The method includes determining a first state variable for a gait state of a user wearing the walking assist device based on a gait of the user, obtaining a second state variable which is smoothed and time-delayed from the first state variable, obtaining a third state variable by applying a torque control variable to the second state variable, and determining an assist torque to be provided by the walking assist device based on the obtained third state variable.

Abstract: A method of operating an information processing apparatus may include collecting gait information of a walking assistance apparatus; determining a gait feature of a user of the walking assistance apparatus based on the collected gait information; and controlling the walking assistance apparatus by determining a gait group of the user based on the determined gait feature.

Abstract: A tendency of an action of a robot may vary based on learning data used for training. The learning data may be generated by an agent performing an identical or similar task to a task of the robot. An apparatus and method for updating a policy for controlling an action of a robot may update the policy of the robot using a plurality of learning data sets generated by a plurality of heterogeneous agents, such that the robot may appropriately act even in an unpredicted environment.

Abstract: A method and apparatus for controlling an operation of a service robot is disclosed. The method includes measuring, by processing circuitry, an evaluation index of the service robot based on sensor data in a service mode; determining, by the processing circuitry, an operation mode of the service robot from a set of at least two operation modes based on the measured evaluation index; selecting, by the processing circuitry, a behavior to be applied to the operation of the service robot from a set of at least two behaviors based on the operation mode; and controlling, by the processing circuitry, the operation of the service robot based on the behavior.

Abstract: A method and device for controlling a walking assist device is disclosed. The method includes determining a first state variable for a gait state of a user wearing the walking assist device based on a gait of the user, obtaining a second state variable which is smoothed and time-delayed from the first state variable, obtaining a third state variable by applying a torque control variable to the second state variable, and determining an assist torque to be provided by the walking assist device based on the obtained third state variable.

Abstract: An autonomous driving apparatus for accompanied driving in an environment that includes a companion and an obstacle includes a sensor, processing circuitry, and a driver. The sensor may generate sensor data. The processing circuitry may define a current state of the autonomous driving apparatus based on processing the sensor data to determine respective positions of the companion and the obstacle in the environment and select a first tracking point of a plurality of tracking points at least partially surrounding the position of the companion in the environment based on the current state, a position of each tracking point of the plurality of tracking points in the environment defined by the position of the companion in the environment. The driving apparatus drive mechanism may move the autonomous driving apparatus to the first tracking point to cause the autonomous driving apparatus to accompany the companion in the environment.

Abstract: A walking assistance device and method for providing an assist torque to an ankle of a user is provided. To provide an assist torque to an ankle of a user, the walking assistance device generates a leg image by capturing a second leg using a camera attached to a first leg, determines a gait state of the second leg based on the leg image, determines an assist torque value output to the first leg based on the gait state of the second leg, and controls a driving device such that the assist torque value is output to the first leg.

Abstract: A method and apparatus for controlling a walking assistance apparatus are provided. The apparatus may include a detector configured to detect a first step of a user, based on measured right and left hip joint angle information, a reconstructor unit configured to reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to the user's steps, and a torque generator configured to generate a first torque applied to a first leg corresponding to the first step. The torque generator may generate the first torque, based on a second torque applied to a second leg that is opposite to the first leg and that corresponds to a second step preceding the first step.

Abstract: A method and apparatus for controlling a walking assistance apparatus are provided. The apparatus may include a detector configured to detect a first step of a user, based on measured right and left hip joint angle information, a reconstructor unit configured to reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to the user's steps, and a torque generator configured to generate a first torque applied to a first leg corresponding to the first step. The torque generator may generate the first torque, based on a second torque applied to a second leg that is opposite to the first leg and that corresponds to a second step preceding the first step.

Abstract: A gait assistance apparatus including at least one sensor configured to sense a step motion of a user, and an operator configured to determine assistance forces of a right step and a left step of the user based on step motion information of the user and adjust the assistance force for at least one of the right step or the left step of the user based on a result of proportionally adding together the assistance forces of the right step and the left step based on a variable ratio may be provided.

Abstract: A control method and apparatus for a turning walking receives sensor information, recognizes a turning walking of a user based on the sensor information, and adjusts at least one control parameter to assist the turning walking.

Abstract: A gait assistance apparatus including at least one sensor configured to sense a step motion of a user, and an operator configured to determine assistance forces of a right step and a left step of the user based on step motion information of the user and adjust the assistance force for at least one of the right step or the left step of the user based on a result of proportionally adding together the assistance forces of the right step and the left step based on a variable ratio may be provided.

Abstract: Disclosed is a walking assistance method and apparatuses, wherein a walking assistance apparatus is configured to adaptively control at least one of a length or a stiffness based on a gait motion of a user to assist an upper body of the user.