Abstract: A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.

Abstract: A walking control apparatus of a robot includes joint portions provided in each of a plurality of legs of the robot, a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks, a position instruction unit to store desired positions corresponding to the state data of the joint portions, an inclination sensing unit to sense an inclination of an upper body of the robot, a torque calculator to calculate torques using the inclination of the upper body and the desired positions, and a servo controller to output the torques to the joint portions to control the walking of the robot. Since the robot walks by Finite State Machine (FSM) control and torque servo control, the rotation angles of the joint portions do not need to be accurately controlled. Thus, the robot walks with low servo gain and energy consumption is decreased.

Abstract: The present invention relates to a precursor of positron emission tomography (PET) radioactive medical supplies, a preparation method thereof, and an application thereof, and more specifically, to a precursor having a tetravalent organic salt leaving group, a preparation method, and a method for preparing desired PET radioactive medical supplies in a high radiochemical yield within a short preparation time by introducing 18F using the same through a single step. The precursor having a tetravalent organic salt leaving group of the present invention can simplify the known complex multistep preparation of radioactive medical supplies into a single step, can save production costs because an excessive amount of a phase transfer catalyst is not required, facilitates separation of a compound after reaction, and enables rapid reaction velocity. The features are appropriate for the mass production of PET radioactive medical supplies by an automated synthesis system.

Abstract: Disclosed is a lithium secondary battery. The lithium secondary battery includes a cathode, an anode, a separator and a non-aqueous electrolyte solution. Either the cathode or the anode or both include metal oxide coating layers on electrode active material particles forming the electrode or a metal oxide coating layer on the surface of an electrode layer formed on a current collector. The non-aqueous electrolyte solution contains an ionizable lithium salt, an organic solvent, and a dinitrile compound having a specific structure. In the lithium secondary battery, degradation of the electrode is prevented and side reactions of the electrolyte solution are inhibited. Therefore, the lithium secondary battery exhibits excellent cycle life and output performance characteristics.

Abstract: A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.

Abstract: A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.

Abstract: The present invention provides a non-aqueous electrolyte solution for a lithium secondary battery, comprising an ester-based compound having a branched-chain alkyl group; and a lithium secondary battery using the same.

Abstract: A computer system, a control method thereof and a recording medium storing a computer program thereof are provided to recover a program efficiently and be resistant to viruses, worms, and user error. The control method of computer system receives a user's request for a recovery of a program which is installed in a first storage unit. A file system of a second storage unit is determined which stores therein a recovery program corresponding to the program for which the recovery is requested. The recovery program is read from the second storage unit with reference to the determined file system, and the program in the first storage unit is recovered by using the read recovery program.

Abstract: Composite films comprising two-dimensional hole arrays, and related methods of preparing hole arrays.

Abstract: A compound represented by Formula 1 below: (R1)a—CB—[Ar]n—CB—(R2)b??<Formula 1> wherein CB denotes carborane, Ar is a substituted or unsubstituted phenylene group, and a detailed description of R1, R2, a, b, and n is provided in the detailed description. An organic light-emitting diode including an organic layer including the compound has high luminous efficiency.

Abstract: A computer system, a control method thereof and a recording medium storing a computer program thereof are provided to recover a program efficiently and be resistant to viruses, worms, and user error. The control method of computer system receives a user's request for a recovery of a program which is installed in a first storage unit. A file system of a second storage unit is determined which stores therein a recovery program corresponding to the program for which the recovery is requested. The recovery program is read from the second storage unit with reference to the determined file system, and the program in the first storage unit is recovered by using the read recovery program.

Abstract: A computer system, a control method thereof and a recording medium storing a computer program thereof are provided to recover a program efficiently and be resistant to viruses, worms, and user error. The control method of computer system receives a user's request for a recovery of a program which is installed in a first storage unit. A file system of a second storage unit is determined which stores therein a recovery program corresponding to the program for which the recovery is requested. The recovery program is read from the second storage unit with reference to the determined file system, and the program in the first storage unit is recovered by using the read recovery program.

Abstract: Disclosed is a lithium secondary battery. The lithium secondary battery includes a cathode, an anode, a separator and a non-aqueous electrolyte solution. Either the cathode or the anode or both include metal oxide coating layers on electrode active material particles forming the electrode or a metal oxide coating layer on the surface of an electrode layer formed on a current collector. The non-aqueous electrolyte solution contains an ionizable lithium salt, an organic solvent, and a dinitrile compound having a specific structure. In the lithium secondary battery, degradation of the electrode is prevented and side reactions of the electrolyte solution are inhibited. Therefore, the lithium secondary battery exhibits excellent cycle life and output performance characteristics.

Abstract: Disclosed is a lithium secondary battery. The lithium secondary battery includes a cathode, an anode, a separator and a non-aqueous electrolyte solution. The separator includes a porous substrate, and a coating layer coated on at least one surface of the porous substrate and including a mixture of inorganic particles and a binder polymer. The non-aqueous electrolyte solution contains an ionizable lithium salt, an organic solvent, and a dinitrile compound having a specific structure. The lithium secondary battery is very safe without side reactions of the electrolyte solution. Therefore, the lithium secondary battery exhibits excellent cycle life and output performance characteristics.

Abstract: Disclosed are a computer system storing with a restoration program and a method of updating the restoration program, the computer system including: a first storage unit in which a predetermined program is installed, a second storage unit in which a restoration program corresponding to the program is stored, a communication unit which communicates with an external server, a user input unit, and a controller which stores an update file corresponding to the program received from the external server in the first storage unit, and updates the program installed in the first storage with the update file, the controller updating the restoration program of the second storage unit with the update file of the first storage unit if receiving a certain key input through the user input unit, and restoring the program on the basis of the updated restoration program.

Abstract: A robot which naturally walks with high energy efficiency similar to a human through optimization of actuated dynamic walking, and a control method thereof. The control method includes defining a plurality of unit walking motions, in which stride, velocity, rotating angle and direction of the robot are designated, through combination of parameters to generate target joint paths, and constructing a database in which the plurality of unit walking motions is stored, setting an objective path up to an objective position, performing interpretation of the objective path as unit walking motions, generating walking patterns consisting of at least one unit walking motion to cause the robot to walk along the objective path based on the interpretation of the objective path, and allowing the robot to walk based on the walking patterns.

Abstract: A walking robot and a control method thereof. The control method includes storing angle change data according to time corresponding to at least one joint unit of the robot using human walking data, extracting reference knot points from the angle change data according to time, and generating a reference walking trajectory using the extracted reference knot points, calculating a walking change factor to perform change between walking patterns of the robot, generating a target walking trajectory through an arithmetic operation between the reference walking trajectory and the calculated walking change factor, calculating a control torque to track the generated target walking trajectory, and transmitting the calculated control torque to the at least one joint unit so as to control walking of the robot, thereby achieving various walking patterns through a comparatively simple arithmetic operation process.

Abstract: A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.

Abstract: A walking robot and a control method thereof. The robot includes at least one joint unit on each leg, a sensing unit to sense angle and angular velocity of the at least one joint unit, a memory unit to store data of the angle and angular velocity during stable walking, a target trajectory generation unit to generate a target trajectory, a control torque calculation unit to check stability of the at least one joint unit by comparing the sensed angle and angular velocity with the target trajectory, and, if an unstable joint unit is present, to calculate a control torque of the unstable joint unit to trace the target trajectory, and a servo control unit to transmit the calculated control torque to the unstable joint unit, thereby controlling torques of joint units using an FSM without solving the complicated dynamic equation, thus achieving stable walking.

Abstract: An image sensor and a method of manufacturing an image sensor. An image sensor may include a semiconductor substrate which may include a readout circuitry. An image sensor may include an interlayer dielectric over a semiconductor substrate, and/or a first metal pattern over an interlayer dielectric. An interconnection may penetrate an interlayer dielectric and/or may be connected to a readout circuitry. A first metal pattern may be formed over an interlayer dielectric, and/or may be connected to an interconnection. A second metal pattern may be formed over a first metal pattern. A photodiode pattern may be formed over a second metal pattern.