Abstract: A two-row self-supporting earth retaining wall structure includes an upper displacement restraining tea structure and an excavated subsoil passive resistance block body. Piles having a two-row structure, waling members, and guide brackets, which are improved in shape, may be used to directly apply tension to the rear waling member and the front waling members, thereby improving bearing capacity of the waling members due to an earth pressure of backfill soil and improving stability of the two-row self-supporting earth retaining temporary structure. In addition, since the front pile is disposed to be spaced a predetermined distance from the rear pile, the gravity retaining wall may be provided between the front pile and the rear pile, and the gravity retaining wall may further improve the stability of the two-row self-supporting earth retaining temporary facility while supporting the backfill earth pressure between the front piles and the rear piles.

Abstract: A two-row self-supporting earth retaining wall structure includes an upper displacement restraining tea structure and an excavated subsoil passive resistance block body. Piles having a two-row structure, waling members, and guide brackets, which are improved in shape, may be used to directly apply tension to the rear waling member and the front waling members, thereby improving bearing capacity of the waling members due to an earth pressure of backfill soil and improving stability of the two-row self-supporting earth retaining temporary structure. In addition, since the front pile is disposed to be spaced a predetermined distance from the rear pile, the gravity retaining wall may be provided between the front pile and the rear pile, and the gravity retaining wall may further improve the stability of the two-row self-supporting earth retaining temporary facility while supporting the backfill earth pressure between the front piles and the rear piles.

Abstract: A temporary earth-retaining structure uses a guide bracket. Tensile force can be directly applied to a pile by using a guide bracket having a simple structure. Mudslide and collapse caused by the earth pressure of backfill soil can be more effectively prevented by means of the tensile force directly applied to the pile. In addition, the guide bracket according to embodiments of the present invention has a simpler structure and is more easily constructed than a conventional bracket, and thus can be constructed at very low cost.

Abstract: A thumb pile provided with a fitting bracket improves work convenience by tensioning a tensile member while inserting a bracket constituted by a plurality of bracket members manufactured using a shearing method into a flange, and at the same time, more efficiently reduce bending stress occurring in a retaining wall through the improved bracket structure.

Abstract: A provisional facility for retaining earth using a guide bracket and a ground anchor for stepwise retention during deep excavation includes multiple thumb piles disposed vertically at predetermined intervals, a wale disposed across the multiple thumb piles, a guide bracket installed at a predetermined position of the wale, and a ground anchor having the other side anchored to a ground while a tensile member is wound around the guide bracket.

Abstract: A temporary earth-retaining structure uses a guide bracket. Tensile force can be directly applied to a pile by using a guide bracket having a simple structure. Mudslide and collapse caused by the earth pressure of backfill soil can be more effectively prevented by means of the tensile force directly applied to the pile. In addition, the guide bracket according to embodiments of the present invention has a simpler structure and is more easily constructed than a conventional bracket, and thus can be constructed at very low cost.

Abstract: A provisional facility for retaining earth using a guide bracket and a ground anchor for stepwise retention during deep excavation includes multiple thumb piles disposed vertically at predetermined intervals, a wale disposed across the multiple thumb piles, a guide bracket installed at a predetermined position of the wale, and a ground anchor having the other side anchored to a ground while a tensile member is wound around the guide bracket.

Abstract: Disclosed is a method for preparing a low-molecular weight horse placenta enzyme hydrolysate. According to the present invention, through development of pretreatment and optimal enzymatic treatment, the horse placenta extract can be modified to a low-molecular weight. The low-molecular weight horse placenta hydrolysate obtained according to the present invention can exhibit excellent skin permeability due to low molecular weight.

Abstract: A cosmetic composition for skin whitening containing, as an active ingredient, a combination of a green tomato extract, a burdock root extract and a chickpea extract is disclosed.

Abstract: A heat recovery device extends between an inlet and an outlet for exhaust gas, and includes a valve delimiting a direct passage for gas between the inlet and the outlet. The valve comprises a valve body housing a gate movable between a closing off position and a released position. A heat exchanger has an exchanger inlet upstream of the gate and an exchanger outlet downstream of the gate. The valve comprises a tube partially extending inside the valve body up to a mouth edge at a distal end, with the mouth edge extending in a plane. The gate has a plane contact surface configured to come in a direct contact with the mouth edge when the gate is in the closing off position.

Abstract: A heat recovery device extends between an inlet and an outlet for exhaust gas, and includes a valve delimiting a direct passage for gas between the inlet and the outlet. The valve comprises a valve body housing a gate movable between a closing off position and a released position. A heat exchanger has an exchanger inlet upstream of the gate and an exchanger outlet downstream of the gate. The valve comprises a tube partially extending inside the valve body up to a mouth edge at a distal end, with the mouth edge extending in a plane. The gate has a plane contact surface configured to come in a direct contact with the mouth edge when the gate is in the closing off position.

Abstract: The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.

Abstract: Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.

Abstract: The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

Abstract: Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which change in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.

Abstract: The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

Abstract: The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.