Abstract: The present invention provides a collaborative robot comprising: a main body robot; an additional shaft robot that moves the main body robot along the additional shaft; and a processor unit that transmits and receives signals to and from the main body robot and the additional shaft robot, wherein the processor unit comprises: a receiving unit that obtains a data signal from the main body robot and the additional shaft robot; an external force calculation unit that calculates an external force value using the obtained data signal as a variable; a collision determination unit that compares the calculated external force value with a predetermined collision detection boundary value so as to determine whether a collision has occurred; and a control unit that generates different control commands for the main body robot and the auxiliary shaft robot depending on whether a collision has occurred.

Abstract: The present invention provides a movable base for a collaborative robot for cooking, the movable base comprising: a housing part on which a collaborative robot may be installed; a display part selectively displaying a plurality of different colors; a wheel unit having at least one pair of wheels and provided on the bottom surface of the housing part; and a discharge hole unit having one or more through holes so as to discharge a liquid flowing into the housing part.

Abstract: In a method for compensating for friction of a multi-degree-of-freedom cooperative robot including a plurality of joints, the method for compensating for friction of the multi-degree-of-freedom cooperative robot, according to an embodiment of the present invention, comprises the steps of: generating a motion of a cooperative robot for friction compensation; driving the plurality of joints on the basis of the generated motion of the cooperative robot; receiving friction identification data from the cooperative robot; and calculating a friction model function from the received friction identification data.

Abstract: The present invention relates to a system for detecting the collision of a robot manipulator using an artificial neural network. The system may comprise: joint driving units provided in a plurality of joints of the robot manipulator to drive the plurality of joints, respectively; encoder units provided on sides of the joint driving units to measure the angles of the plurality of joints; and a neural network calculation unit for training the neural network with a large amount of data and inferring, via a preprocessing calculation, to detect that the plurality of joints collide with the outside.

Abstract: Provided are a microfluidic control scheduler circuit and a the lab-on-a-chip. The microfluidic control scheduler circuit includes an input channel serving as a flow path between an input port and a membrane capacitor, a gate supply channel serving as a flow path between the membrane capacitor and a main valve, a gate supply port connected to the gate supply channel via a fluid resistance channel and a relief valve, and a scheduler module including an output channel serving as a flow path between a source supply port and an output port via the main valve, wherein the scheduler module is provided in plurality. The microfluidic control scheduler circuit and the lab-on-a-chip according to the present disclosure may sequentially and independently control a certain process without external control, thereby automating the lab-on-a-chip for processing a microfluid.

Abstract: A hairpiece securing device has a sheath having a front and rear wall in between which a hairpiece is received. The hairpiece in inserted through an opening in the sheath. At least one receiving hole extends through the sheath. A securing means prevents the hairpiece from falling to the bottom of the sheath and an optional closing means can close the opening in the sheath. A method of securing hairpieces involves inserting a hairpiece into an opening in a sheath. The sheath has a front wall and a rear wall, and the hairpiece is received in between these two walls. At least one receiving hole extends through the sheath and a securing means in inserted through the at least one receiving hole and through the hairpiece.

Abstract: A process for preparing polyethylene naphthalate polymer by using a composite catalyst. The process comprises the steps of esterifying a dicarboxylic acid containing 2,6-NDCA, a dicarboxylic ester containing 2,6-NDC or derivatives thereof, with ethylene glycol or a glycol containing ethylene glycol to produce esterification polymers containing bis(beta-hydroxyethyl)naphthalate; continuously polycondensing the obtained esterification polymers to prepare a polymers of polyethylene naphthalate; and wherein the process includes using a composite polymerization catalyst, said composite polymerization catalyst comprising a titanium compound, a phosphorous compound and optionally an antimony compound. The process can considerably reduce both the esterification time and the polycondensation time and provides a good color and excellent physical characteristics.