Abstract: The present invention relates to a method for determining a touchdown position of a robot performed by a computing device, the method comprising the steps of: detecting a disturbance during swing of a first leg of the robot toward a first touchdown position, calculating a second touchdown position based on a dynamic state of the robot in response to the detection of the disturbance, identifying a step obstacle region based on terrain information of the robot and determining whether the second touchdown position belongs to the step obstacle region, and determining a third touchdown position out of the step obstacle region as the touchdown position of the first leg, in a case in which the second touchdown position belongs to the step obstacle region.

Abstract: Provided is a power detection circuit for tracking a maximum power point of a solar cell. The power detection circuit includes: an average voltage extracting unit which extracts an average voltage VPV,LPF from an external voltage VPV input from an external energy source; a ripple voltage extracting unit which extracts a ripple voltage including current information of the external voltage VPV from the external voltage VPV; a voltage-time converter which generates a ramp voltage VRAMP changing at a predetermined rate and converts the average voltage VPV,LPF and the ripple voltage into corresponding time information ?t1 and ?t2 based on the ramp voltage VRAMP; a time-digital converter which converts the time information ?t2 for the ripple voltage into a digital code t2 [n:0]; and a time multiplier which multiplies the digital code t2 [n:0] and the time information ?t1 for the average voltage VPV,LPF to output a specific voltage value.

Abstract: Provided is a power detection circuit for tracking a maximum power point of a solar cell. The power detection circuit includes: an average voltage extracting unit which extracts an average voltage VPV,LPF from an external voltage VPV input from an external energy source; a ripple voltage extracting unit which extracts a ripple voltage including current information of the external voltage VPV from the external voltage VPV; a voltage-time converter which generates a ramp voltage VRAMP changing at a predetermined rate and converts the average voltage VPV,LPF and the ripple voltage into corresponding time information ?t1 and ?t2 based on the ramp voltage VRAMP; a time-digital converter which converts the time information ?t2 for the ripple voltage into a digital code t2 [n:0]; and a time multiplier which multiplies the digital code t2 [n:0] and the time information ?t1 for the average voltage VPV,LPF to output a specific voltage value.

Abstract: An image forming apparatus with an image forming unit to print the image information on a printing paper includes a display unit, a digital image capture unit to capture an image of an object and to obtain captured image information corresponding to the captured image, a selective input unit to select the captured image information displayed on the display unit, and a control unit to control the display unit to display the captured image information obtained by the digital image capture unit and to control the image forming unit to print the captured image information selected by the selective input unit.