Abstract: A multilayer ceramic capacitor includes: a ceramic body in which dielectric layers and first and second internal electrodes are alternately stacked; and first and second external electrodes formed on an outer surface of the ceramic body and electrically connected to the first and second internal electrodes, respectively. In a microstructure of the dielectric layer, dielectric grains are divided by a dielectric grain size into sections each having an interval of 50 nm, respectively, a fraction of the dielectric grains in each of the sections within a range of 50 nm to 450 nm is within a range of 0.025 to 0.20, and a thickness of the dielectric layer is 0.8 ?m or less.

Abstract: A complementary thin film transistor (TFT) includes a substrate and a first TFT and a second TFT disposed on the substrate, wherein a first conductive semiconductor layer of the first TFT and a second gate electrode layer of the second TFT are disposed in the same layer and include the same material.

Abstract: A wheel unit for overcoming an obstacle includes a hub, a plurality of unit blocks and a supporting body. The hub rotates by receiving a rotating force. The plurality of unit blocks is spaced apart from the hub and forms an outer shape of the wheel unit. The supporting body is configured to connect the hub with the unit blocks, or is filled between the hub and the unit blocks. The supporting body applies a tension to the unit blocks along a direction toward the hub, to close up the unit blocks with each other, when the wheel unit passes through a ground. The unit blocks adjacent to each other are relatively rotated or moved, when the wheel unit overcomes an obstacle.

Abstract: In a soft grip head, a soft grip unit having the soft grip head, and a grip device having the soft grip unit, the soft grip head has a suction pad and the suction pad makes contact with an object. The suction pad includes a sidewall and a plurality of suction cells. The sidewall divides the suction pad into a plurality of spaces, and both ends of each of the spaces are open. A plurality of suction cells is respectively formed by the spaces divided by the sidewall. The suction pad includes a material having a stiffness along an axial direction smaller than a stiffness along a width direction. The suction cells extend along the axial direction, and the width direction is substantially perpendicular to the axial direction.

Abstract: In an apparatus for adjustable counterbalance mechanism and a method for controlling the apparatus, the apparatus includes a reference surface, a link, an elastic member, a wire, an idle roller and a compensation torque. The link has a first end rotationally connected to the reference surface to form a rotational center, and a weight center of the link is spaced apart from the rotational center. The elastic member has a first end combined with the link. The wire has a first side combined with a second end of the elastic member, and a second side combined with the reference surface. The idle roller is combined with the link to support a portion between first and second ends of the wire. The compensation torque controller is equipped to the link, to control the position of the idle roller and an elastic force of the elastic member.

Abstract: A passive compliance gripper includes a passive compliance part, a displacement measuring element and a gripper mount. A first end of the passive compliance part is fixed, and a second end of the passive compliance part is configured to be transformed. The displacement measuring element is equipped to the passive compliance part, and measures displacement due to transformation of the passive compliance part. The gripper mount is connected to the second end of the passive compliance part, and has a gripper part gripping a component.

Abstract: A passive compliance gripper includes a passive compliance part, a displacement measuring element and a gripper mount. A first end of the passive compliance part is fixed, and a second end of the passive compliance part is configured to be transformed. The displacement measuring element is equipped to the passive compliance part, and measures displacement due to transformation of the passive compliance part. The gripper mount is connected to the second end of the passive compliance part, and has a gripper part gripping a component.

Abstract: In an apparatus for adjustable counterbalance mechanism and a method for controlling the apparatus, the apparatus includes a reference surface, a link, an elastic member, a wire, an idle roller and a compensation torque. The link has a first end rotationally connected to the reference surface to form a rotational center, and a weight center of the link is spaced apart from the rotational center. The elastic member has a first end combined with the link. The wire has a first side combined with a second end of the elastic member, and a second side combined with the reference surface. The idle roller is combined with the link to support a portion between first and second ends of the wire. The compensation torque controller is equipped to the link, to control the position of the idle roller and an elastic force of the elastic member.

Abstract: The present invention relates to a hollow driving module comprising a hollow driving module including a hollow motor including a stator, a rotor rotating with respect to the stator and having a perforated center portion, and a rotation shaft disposed at and coupled to the perforated center portion of the rotor; a decelerator connected with the rotation shaft positioned at an output side of the hollow motor to decelerate rotation of the rotation shaft; a torque transmission unit being connected to an output side of the decelerator to be driven by a decelerated rotation angle; a first encoder positioned at an input side opposite to a side connected with the decelerator of the hollow motor; a second encoder positioned at a side opposite to a side connected with the hollow motor of the first encoder; and a link connection means connecting the second encoder with the torque transmission unit.

Abstract: There is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which improves direct teaching performance by extracting shape-based feature points based on curvature and velocity and improving a direct teaching trajectory correction algorithm using the shape-based feature points. Particularly, there is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which makes it possible to extract and post-correct a 3D (i.e., spatial) trajectory, as well as a 2D (i.e., planar) trajectory, with higher accuracy.

Abstract: The present invention relates to a hollow driving module comprising a hollow driving module including a hollow motor including a stator, a rotor rotating with respect to the stator and having a perforated center portion, and a rotation shaft disposed at and coupled to the perforated center portion of the rotor; a decelerator connected with the rotation shaft positioned at an output side of the hollow motor to decelerate rotation of the rotation shaft; a torque transmission unit being connected to an output side of the decelerator to be driven by a decelerated rotation angle; a first encoder positioned at an input side opposite to a side connected with the decelerator of the hollow motor; a second encoder positioned at a side opposite to a side connected with the hollow motor of the first encoder; and a link connection means connecting the second encoder with the torque transmission unit.

Abstract: There is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which improves direct teaching performance by extracting shape-based feature points based on curvature and velocity and improving a direct teaching trajectory correction algorithm using the shape-based feature points. Particularly, there is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which makes it possible to extract and post-correct a 3D (i.e., spatial) trajectory, as well as a 2D (i.e., planar) trajectory, with higher accuracy.

Abstract: Novel carboxymethyl-etherified starch derivatives and methods for manufacturing the same, and more particularly, to the novel carboxymethyl-etherified starch derivatives having a viscosity in 5% aqueous solution of 15.about.600 cps, when measured by a viscometer of the Hakke rotary type; a permeability in 0.1% aqueous solution of more than 95% at 623 nm, when measured by a UV spectrophotometer; viscosity values at a maximum temperature of 95.degree. C. and at a temperature cooled to 50.degree. C. of 6.about.304 BU and 6.about.720 BU, respectively when measured by a Brabender viscometer. The cool water-soluble carboxymethyl-etherified starch derivatives are prepared by the following steps: starches (such as corn, potato, wheat and rice are dissolved in organic solvents, such as, lower alcohol without hydrolysis, or hydrolyzed in the presence of inorganic acids, such as, hydrochloric acid or sulfuric acid at 25.degree. to 75.degree. C. for 30 minutes to 72 hours.