Abstract: An embodiment of the present disclosure provides a manipulator for a finishing work, including: a base; an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints; and a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.

Abstract: An embodiment of the present disclosure provides a manipulator for a finishing work, including: a base; an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints; and a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.

Abstract: A clamp is provided which can be mounted on a flange for connecting a second pipe to a first pipe to prevent the second pipe from being separated. The clamp includes a clamping body formed by coupling at least two assembly members each of which has an arc shape; and a pressing part disposed inside the clamping body to press an outer circumferential surface of the second pipe that is inserted into the clamping body, wherein the pressing part gradually protrudes toward a center of the clamping body along a direction in which the second pipe is inserted to allow the second pipe to be easily inserted and prevent the second pipe from being separated.

Abstract: The present invention relates to a packing member for water-sealing a pipe, and more particularly, to a packing member inserted into a housing and externally inserted onto an outer side surface of a pipe, the packing member including: an inner circumferential part (261) externally inserted onto the pipe; an outer circumferential part (262) inserted into the housing, one side thereof being connected to the inner circumferential part (261) to form a fluid accommodation part (265) between the inner and outer circumferential parts (261) and (262); and the fluid accommodation part (265) to accommodate a fluid flowing in the pipe, in which the inner circumferential part (261) is brought into close contact with the outer side surface of the pipe by pressure of the accommodated fluid, thereby forming a water-sealing structure with the pipe.

Abstract: A method for producing a three-dimensional security element and an injection-molded product having the three-dimensional security element and, more specifically, to a method for producing a three-dimensional security element suitable for an in-mold process by using a moiré expansion phenomenon, and for producing an injection-molded product to which the three-dimensional security element is applied. The present invention according to one embodiment comprises a three-dimensional security element and an injection-molded product having the three-dimensional security element, wherein the three-dimensional security element further comprises: a micro lens array to which various types of lenses can be applied; an image array; a primer layer for facilitating adhesion; and a projection film for protecting the three-dimensional security element from heat and pressure.

Abstract: A clamp is provided which can be mounted on a flange for connecting a second pipe to a first pipe to prevent the second pipe from being separated. The clamp includes a clamping body formed by coupling at least two assembly members each of which has an arc shape; and a pressing part disposed inside the clamping body to press an outer circumferential surface of the second pipe that is inserted into the clamping body, wherein the pressing part gradually protrudes toward a center of the clamping body along a direction in which the second pipe is inserted to allow the second pipe to be easily inserted and prevent the second pipe.

Abstract: The present invention according to one embodiment comprises a three-dimensional security element and an injection-molded product having the three-dimensional security element, wherein the three-dimensional security element further comprises: a micro lens array to which various types of lenses can be applied; an image array; a primer layer for facilitating adhesion; and a protection film for protecting the three-dimensional security element from heat and pressure. According to the configuration above, the present invention can implement three-dimensional effects, such as a latent image effect, a floating effect, and an inverted parallax effect, wherein an effect is determined by a period rate and a matching angle between the micro lens array and the image array.

Abstract: The present disclosure provides a counterfeit detector which identifies whether a security document or the like is authentic by irradiating UV rays from UV LEDs onto fluorescent security marks formed on the security document. UV rays emitted from the UV LEDs are independently condensed and reflected, thus enabling a user to more effectively identify the fluorescent security marks that are formed in special shapes using UV fluorescent material.

Abstract: An improved pitch searching time reducing method for a CELP vocoder using a Line Spectral Pair (LSP) frequency which is capable of significantly reducing the pitch search time by separating the speech signal using a first formant frequency of the line spectral pair of the digital type personal communication system, which includes the steps of computing a decimation interval of a pitch search interval using an LSP frequency of a first formant computed by a formant filter so as to compute a preparatory pitch of a given speech; determining a preparatory pitch to be used when searching a pitch by detecting a peak and a valley within each decimation interval; and computing a preparatory pitch by adapting a first formant frequency of an LSP computed by a formant filter with a decimation rate and performing a pitch search with respect to the obtained preparatory pitch.

Abstract: The present invention relates to the method to receive a speech signal, to perform a recognition weighting process on it, to synthesize a synthetic speech signal, to calculate an autocorrelation of the synthetic speech signal whose delay is a predetermined value and an autocorrelation whose delay is 0, to divide the square of the former by the latter, to calculate a pitch lag and a pitch filter coefficient by calculating only the part of a positive peak with skipping over the part of a negative peak by using the results from the dividing operation, and to calculate and output the pitch lag and the pitch filter coefficient by repeating the above process Thus, real-time implementation of CELP vocoder can be achieved.

Abstract: A method for processing an input speech signal to be applied to a CELP vocoder has the steps of obtaining preliminary pitch search intervals by a preprocessing autocorrelation expression from a pitch lag of a synthesized speech signal which is synthesized from a residual signal of the input speech signal; computing coefficients of pitch filter with respect to the preliminary pitches; searching a high interval in the autocorrelation; and removing the remaining interval other than the high interval in the pitch lag. Since the present invention proposes a speech processing method which uses only a high interval in autocorrelation of a voice waveform in pitch-searching, and where such a speech processing method is embodied in a CELP vocoder, total computation time of the CELP vocoder can be decreased 37% or more without lowering speech quality. Therefore, a digital signal processor, which is low in price and is slow in speed, can be embodied in a CELP vocoder.