Abstract: The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

Abstract: A structure of electrically connecting a snap electrode for medical purposes is easily attached/detached to/from various monitoring pads attached to a human body to measure electrocardiogram (ECG), electromyogram (EMG), brain wave and nervous system signals and electrically connected to medical equipment, to an electric wire using a pressing method instead of welding. The connecting structure of a snap electrode and an electric wire includes a body having a convex portion, which is formed on the top of the body and has a groove formed on the circumference thereof, in which a combining part is fitted, and the combining protrusion having a ring shape and including a predetermined number of elastic fixing pieces protruded from the inner side thereof and a pair of first pressing pieces protruded from one side thereof and combined with an electric wire. A combining protrusion of a pad is inserted into the body.

Abstract: An information recording medium, and a recording/reproducing apparatus and a recording/reproducing method for the recording medium. Original data is sequentially updated by replacing an original recording block with one or more replacement recording blocks. A replacement recording block includes at least one of an original address field indicating a location of the original recording block or a previous address field indicating a location of an immediately previous recording block. Replacement information is effectively recovered in a system where a replacement for logical overwriting (LOW) occurs in either a spare area and a user data area by reference to the address fields in each replacement recording block.

Abstract: Provided are an apparatus and method for controlling an acoustic radiation pattern output through an array of speakers. The apparatus stores a plurality of filter values for forming a plurality of corresponding control patterns set in advance from an input signal. The apparatus forms a compensation control pattern such that signals output through the array of speakers have an intended pattern in consideration of a filter value of a focusing filter. The apparatus selects at least one of the control patterns set in advance to form the compensation control pattern, and processes the input signal using a filter value corresponding to the selected control pattern.

Abstract: Disclosed is a hybrid wireless communication system and a communication method in the system. The system supports time and frequency division duplexing modes and includes a base station having a cellular communication range based on a cellular mode and mobile stations within the cellular communication range. The base station divides each available frequency resource into frames for communication, and each frame switches between a real-time service mode and a non-real-time service mode at a switching time within the frame. Communication is performed with the mobile stations within the cellular communication range via at least one of an uplink and a downlink in the real-time service mode of each frame according to the frequency division duplexing mode. Communication is performed with the mobile stations via the uplink and the downlink in the non-real-time service mode of each frame according to an ad hoc mode based on the time division duplexing mode.

Abstract: A sensor network system and method for establishing a data transmission path are is disclosed. The method for establishing a data transmission path of a sink node and the network system which includes a plurality of nodes including the sink node, includes a) requesting nodes on a previously established data transmission path to give their adjacent node information, b) receiving the adjacent node information, c) retrieving adjacent nodes as the sink node moves, and d) reestablishing the data transmission path through the result of retrieval and the adjacent node information. Since the data transmission path is reestablished without flooding, it is possible to reduce energy of the nodes. Also, the method for establishing a data transmission path can be applied to any routing protocols without additional conditions.

Abstract: A line structure is provided which includes a ferroelectric film which is formed on at least one surface of both sides of a substrate and a permittivity of which changes according to a magnitude of an applied voltage, an inductor which is formed on a first side of the substrate, and a capacitor which has a capacitance corresponding to the permittivity of the ferroelectric film and the substrate.