Abstract: The inventive concept provides a teaching method for teaching a transfer position of a transfer robot. The teaching method includes: searching for an object on which a target object to be transferred by the transfer robot is placed, based on a 3D position information acquired by a first sensor; and acquiring coordinates of a second direction and coordinates of a third direction of the object based on a data acquired from a second sensor which is a different type from the first sensor.

Abstract: The present specification relates to a polymer comprising a unit represented by Chemical Formula 2, and an end group represented by Chemical Formula 5, and an organic light emitting device using the same: wherein all the variables are described herein.

Abstract: The present invention provides an organic compound represented by: an organic light emitting diode and an organic light emitting display device using the organic compound. The organic compound of the present invention is capable of reducing a driving voltage of an organic light emitting diode and improving an emitting efficiency and a lifetime of the organic light emitting diode and the organic light emitting display device including the organic compound.

Abstract: Provided are a nozzle inspection unit configured to generate a large amount of defect data to improve detection accuracy of a defective nozzle, and a substrate treatment apparatus including the same. The nozzle inspection unit includes: a data collection module configured to collect a plurality of image data related to nozzles; a data classification module configured to classify the plurality of image data according to predefined classes; a data merging module configured to merge good image data related to a normal nozzle and defect image data related to a defective nozzle from among the plurality of image data; a data training module configured to train a plurality of merged image data obtained through the data merging module; and a defect data generation module configured to generate a plurality of final image data from the plurality of merged image data based on the training result.

Abstract: A static electricity visualization apparatus capable of visually identifying a measured level of static electricity is provided.

Abstract: Provided are a substrate inspecting unit capable of reducing image data labeling work time through training image data set verification and semi-automatic image labeling, and at the same time, improving prediction performance by improving classification accuracy for data sets, and a substrate treating apparatus including the same. The substrate inspecting unit comprises a feature extracting module for extracting a feature from training data included in each class in response to a plurality of training data related to image data of a substrate being classified according to a predefined class, a validity evaluating module for evaluating validity of the feature, a class verifying module for verifying the predefined class, and a data reconstructing module for reconstructing the plurality of training data based on a feature determined as valid and a verified class, wherein reconstructed training data is utilized when inspecting the substrate.

Abstract: Provided are a method of treating spent caustic occurring in a refinery process, a petrochemical process, and an environmental facility, and an apparatus thereof, wherein the spent caustic may be economically treated by a Fenton-like oxidation reaction at room temperature and atmospheric pressure in a reactor in which catalyst structures are stacked as compared to conventional methods of treating spent caustic.

Abstract: A method for generating an adaptive training image dataset capable of improving prediction accuracy is provided.

Abstract: A static electricity visualization system capable of visually confirming the level of the measured static electricity is provided. The static electricity visualization system comprises a first measuring unit for measuring a static electricity level detected at a first position of a measurement target and comprising a first mark, a photographing unit for generating a photographed image by photographing the measurement target, a processor for recognizing a first mark in the photographed image and calculating coordinates of the first mark on the photographed image, and an output unit for outputting a static electricity visualization image that visualizes the static electricity level measured by the first measuring unit in a first mode, wherein the static electricity visualization image comprises a color corresponding to a level of static electricity measured by the first measuring unit on the coordinates of the first mark of the photographed image.

Abstract: Provided are a control unit that predicts the life of an inkjet head unit and maximizes its life to be used, and a substrate treating apparatus including the same. The control unit performs maintenance of an inkjet head unit for discharging a substrate treatment liquid onto a substrate and comprises a count module for counting the number of discharges for each nozzle of the inkjet head unit, a comparison module for comparing the number of discharges with a reference value to determine whether the number of discharges is equal to or greater than the reference value, and an evaluation module for evaluating whether a life of the inkjet head unit has reached a usable life based on whether the number of discharges of each nozzle is equal to or greater than the reference value.

Abstract: Disclosed are an apparatus and a method for quickly and accurately inspecting a droplet on a substrate. An apparatus for inspecting a droplet on a substrate according to an exemplary embodiment of the present disclosure includes: an ultrasonic sensor configured to apply an ultrasonic wave to a droplet on the substrate and detect an ultrasonic wave reflected from the substrate; and a processor configured to acquire a height of the droplet at each position on the substrate on the basis of a signal of the ultrasonic wave reflected from the droplet on the substrate, calculate a volume of the droplet on the basis of the heights of the droplet at the positions, and store or output data in relation to the volume of the droplet. The embodiment of the present disclosure may calculate the volume of the droplet using the ultrasonic wave, thereby quickly and accurately inspecting the droplet on the substrate.

Abstract: An inspection module is disclosed for inspecting a droplet from an ink jet head. The inspection module includes a sensor located under the ink jet head and measuring a distance between the droplet and the sensor in real time; a variable lens changing an operating distance based on the measured distance of the sensor; and a camera for capturing an image of the droplet. The inspection module further includes a droplet inspecting part inspecting the droplet image captured by the camera.

Abstract: Disclosed are an apparatus and a method for quickly and accurately inspecting a droplet on a substrate. An apparatus for inspecting a droplet on a substrate according to an exemplary embodiment of the present disclosure includes: an ultrasonic sensor configured to apply an ultrasonic wave to a droplet on the substrate and detect an ultrasonic wave reflected from the substrate; and a processor configured to acquire a height of the droplet at each position on the substrate on the basis of a signal of the ultrasonic wave reflected from the droplet on the substrate, calculate a volume of the droplet on the basis of the heights of the droplet at the positions, and store or output data in relation to the volume of the droplet. The embodiment of the present disclosure may calculate the volume of the droplet using the ultrasonic wave, thereby quickly and accurately inspecting the droplet on the substrate.

Abstract: An inspection module is disclosed for inspecting a droplet from an ink jet head. The inspection module includes a sensor located under the ink jet head and measuring a distance between the droplet and the sensor in real time; a variable lens changing an operating distance based on the measured distance of the sensor; and a camera for capturing an image of the droplet. The inspection module further includes a droplet inspecting part inspecting the droplet image captured by the camera.

Abstract: An apparatus for estimating a steering angle of MDPS including: a motor of an MDPS, corresponding to rotation of a steering wheel; an amplifier configured to amplify a specific level of counter electromotive force to a preset level and output the amplified voltage, the specific level of counter electromotive force being generated by the motor when the steering wheel is manually operated; a switch configured to be turned on by the amplified voltage outputted from the amplifier; a power supply configured to be turned on by the switch and supply power to the MDPS; and a control unit of the MDPS configured to be driven by the supplied power and estimate a steering angle of the steering wheel, which is manually operated.

Abstract: A motor driven power steering apparatus includes a steering logic unit for generating a current command to operate a drive motor according to a driving condition of a vehicle, a motor speed sensor for sensing a rotation condition of the drive motor to output a motor speed, a motor control unit for receiving the current command and the motor speed from the steering logic unit and the motor speed sensor, respectively, and calculating an output voltage from a voltage table according to current-speed based on the current command and the motor speed to output a voltage command to operate the drive motor, a coordinate conversion unit for converting the two-phase voltage command outputted from the motor control unit into a three-phase voltage, and a motor driving unit for outputting the three-phase voltage converted from the coordinate conversion unit to the drive motor as a PWM voltage.

Abstract: A motor control apparatus of a motor driven power steering (MDPS) system may include: a steering logic controller configured to calculate a current command value for motor control, and transmit the current command value; a current measurement sensor configured to measure a current applied to the motor; and a controller configured to calculate a motor position increment based on the current command value received from the steering logic controller, the measured current value received from the current measurement sensor, and previously stored motor parameters, estimate a current motor position by integrating the calculated motor position increments, and control the motor using the estimated current motor position.

Abstract: A motor driven power steering apparatus includes a steering logic unit for generating a current command to operate a drive motor according to a driving condition of a vehicle, a motor speed sensor for sensing a rotation condition of the drive motor to output a motor speed, a motor control unit for receiving the current command and the motor speed from the steering logic unit and the motor speed sensor, respectively, and calculating an output voltage from a voltage table according to current-speed based on the current command and the motor speed to output a voltage command to operate the drive motor, a coordinate conversion unit for converting the two-phase voltage command outputted from the motor control unit into a three-phase voltage, and a motor driving unit for outputting the three-phase voltage converted from the coordinate conversion unit to the drive motor as a PWM voltage.

Abstract: A control apparatus of an MDPS system may include: a current supply unit configured to drive a motor by injecting a preset frequency and magnitude of current to the motor; a torque sensor configured to sense a torque of a steering shaft; a hall sensor fault determination unit configured to determine whether a fault has occurred in a hall sensor; a torque signal processing unit configured to process a signal outputted from the torque sensor and calculate the magnitude of a torque signal; an encoder fault determination unit configured to determine whether a fault has occurred in an encoder, using the torque signal outputted from the torque signal processing unit; and a motor control unit configured to acquire a position of a motor rotor according to the determination results of the hall sensor fault determination unit and the encoder fault determination unit, and control the operation of the motor.

Abstract: An apparatus for compensating a steering angle signal and motor angle signal of an MDPS system may include: a motor torque compensator configured to compensate for mechanical deformation; an angular speed compensator configured to compensate for a difference between a steering angle and a motor angle; a sensor characteristic compensator configured to compensate for a steering position error of the steering angle sensor; and a hysteresis compensator configured to compensate for a hysteresis characteristic of the MDPS system.