Abstract: The inventive concept provides a teaching method for teaching a transfer position of a transfer robot. The teaching method includes: searching for an object on which a target object to be transferred by the transfer robot is placed, based on a 3D position information acquired by a first sensor; and acquiring coordinates of a second direction and coordinates of a third direction of the object based on a data acquired from a second sensor which is a different type from the first sensor.

Abstract: A computed tomography (CT) apparatus according to various embodiments may include a gantry including a first rotation device, a second rotation device and a third rotation device which have a ring shape, share an axis of rotation, and are rotatable independently of one another, a plurality of first light sources provided on the first rotation device at regular intervals and configured to emit X-rays to a subject, a plurality of second light sources provided on the second rotation device at regular intervals and configured to emit X-rays to the subject, a detector provided on a region of the third rotation device and configured to detect X-rays passing through the subject, and one or more processors.

Abstract: An apparatus for controlling a discharge pressure of a fluid includes: a pump configured to suck the fluid through an inlet or to discharge the sucked fluid through an outlet; a distributor connected to the pump and to an injection nozzle provided by a sensor and configured to distribute the fluid discharged from the pump to the sensor; and a controller. The controller is configured to control the pump to operate selectively in accordance with detection of contamination of the sensor and to control operation of the distributor to be forcibly delayed during operation of the pump such that the fluid distributed to the sensor, when detected as being contaminated, is controlled to reach a selected required discharge pressure of different required discharge pressures selected in accordance with water amount information and a degree of contamination of the sensor.

Abstract: A micro-mixer includes a plurality of fuel tubes through which air and fuel flow, a casing accommodating the plurality of fuel tubes therein, and a plurality of injection parts each formed as a pyramidal protrusion on one side of the casing and connected to a front end of the fuel tube to inject the air and the fuel, wherein each of the plurality of injection parts has an inclined injection hole formed obliquely with respect to an extension direction of the plurality of fuel tubes on at least one side of the pyramidal protrusion.

Abstract: An air conditioning device for a vehicle includes: a housing having an inside divided into an inflow space, a heat exchange space, and an outflow space, which are straightly arranged, and having a plurality of discharge ports, which communicates with an interior, at the inflow space; a blowing unit disposed at the inflow space of the housing and configured to blow air; a heat exchange unit disposed at the heat exchange space of the housing and configured to adjust a temperature of conditioned air by exchanging heat with air; and an opening-closing door disposed at the outflow space of the housing and configured to open and close the plurality of discharge ports such that conditioned air at an adjusted temperature selectively flows to the plurality of discharge ports. The air conditioning device adjusts the temperature of conditioned air for respective modes and reduces a flow resistance of air.

Abstract: The present invention relates to amide derivatives of Formula (XIIIa) and pharmaceutical compositions thereof that modulate the activity of the PGI2 receptor.

Abstract: A combustor includes an outer can into which fuel is introduced, an outer head disposed on a front side of the outer can, an inner can disposed inside of the outer can and having a combustion chamber in which a fuel-air mixture is combusted, and an inner head disposed to mix the fuel and the compressed air and supply the mixture into the inner can. The inner head includes a head plate covering a front side of the inner can, and nozzle assemblies disposed to mix the fuel and the compressed air and supply the mixture rearwards. The nozzle assembly includes a nozzle head into which fuel is introduced and nozzles. The nozzles each is coupled between the nozzle head and the head plate to mix the fuel and the compressed air and supply the mixture rearwards. The nozzles each has a shape with a diameter decreasing and increasing toward the rear side thereof.

Abstract: Disclosed is a novel piperidinedione compound of Formula 1 or a pharmaceutically acceptable salt thereof. Uses of the novel piperidinedione compound of Formula 1 or a pharmaceutically acceptable salt thereof as an anti-tumor agent or an immunomodulatory for treatment of CRBN protein-mediated diseases are disclosed. Also the compound or salt thereof can be used an E3 ligase binder in a PROTAC compound comprising a protein of interest ligand, a linker and an E3 ligase binder.

Abstract: A nozzle for a combustor burning a hydrogen-containing fuel is provided. The nozzle includes a first tube through which the fuel flows and having a fuel injection hole on a front side to inject the fuel therethrough, a second tube surrounding the first tube and having a premixing injection hole through which the fuel and air are mixed and discharged, and a third tube surrounding the second tube and through which the fuel flows, wherein the second tube includes a plurality of fine injection holes to inject the fuel from the third tube to form fine flames, and the fine injection holes are spaced apart from each other in a circumferential direction of the second tube.

Abstract: A micro-mixer includes a plurality of fuel tubes through which air and fuel flow, a casing accommodating the plurality of fuel tubes therein, and a plurality of injection parts each formed as a pyramidal protrusion on one side of the casing and connected to a front end of the fuel tube to inject the air and the fuel, wherein each of the plurality of injection parts has an inclined injection hole formed obliquely with respect to an extension direction of the plurality of fuel tubes on at least one side of the pyramidal protrusion.

Abstract: A micro-mixer includes a plurality of fuel tubes through which air and fuel flow, a casing accommodating the plurality of fuel tubes therein, an injection part formed as a pyramidal protrusion on one side of the casing and connected to a front end of the fuel tube to inject the air and the fuel, and a fuel supply divided into a plurality of fuel supply parts to supply the fuel to the fuel tubes.

Abstract: A combustor nozzle assembly and a gas turbine combustor including the same are provided. The combustor nozzle assembly includes a central nozzle tube, an inner nozzle tube surrounding the central nozzle tube in a spaced-apart state, an outer nozzle tube surrounding the inner nozzle tube in a spaced-apart state, a pilot fuel injector provided between the central nozzle tube and the inner nozzle tube, and a main fuel injector provided between the inner nozzle tube and the outer nozzle tube.

Abstract: The present invention relates to amide derivatives of Formula (XIIIa) and pharmaceutical compositions thereof that modulate the activity of the PGI2 receptor.

Abstract: A combustor includes an outer can into which fuel is introduced, an outer head disposed on a front side of the outer can, an inner can disposed inside of the outer can and having a combustion chamber in which a fuel-air mixture is combusted, and an inner head disposed to mix the fuel and the compressed air and supply the mixture into the inner can. The inner head includes a head plate covering a front side of the inner can, and nozzle assemblies disposed to mix the fuel and the compressed air and supply the mixture rearwards. The nozzle assembly includes a nozzle head into which fuel is introduced and nozzles. The nozzles each is coupled between the nozzle head and the head plate to mix the fuel and the compressed air and supply the mixture rearwards.

Abstract: The present invention relates to compounds of Formula (Ia) and pharmaceutical compositions thereof that modulate the activity of the beta-3 adrenergic receptor.

Abstract: Provided is a water-treatment membrane including a porous support; and a polyamide active layer including chlorine on a surface thereof, wherein CIE L*a*b* color coordinate values after storing for 30 days or longer at 25° C. to 80° C. satisfy Equation 1 to Equation 3: 91<L*<97??<Equation 1> ?1.5<a*<1.5??<Equation 2> ?1.5<b*<8??<Equation 3> of the present disclosure, a water-treatment module including the same, and a method for manufacturing the same.

Abstract: The invention relates to compounds of structural formula I wherein A, D, and E are independently N or C—R3, G, H, and J are independently N or C, K is N or C—H, L is N, N—R3 or C—R3, and A, D, E, G, H, J, K, and L together cannot have more than 4 N, R1 is selected from (C6 to C10) aryl, (C2 to C9) heteroaryl, and 5-indolyl, wherein each of the said (C6 to C10) aryl and (C2 to C9) heteroaryl is substituted with at least one R4a group, and wherein said (C2 to C9) heteroaryl is C-attached, and R2 is selected from the group consisting of

Abstract: Provided is a method for concentrating high-salinity raw water to obtain produced water satisfying Equation 1: Ns=B*(Cm?Cp)??<Equation 1> wherein: B is a salt permeability constant (B-value), and is 3 GFD?B?150 GFD, Ns is an amount of salt permeating the separation membrane (GFD*ppm), and has a value of Fp*Cp, Cm is a raw water-side separation membrane surface concentration (membrane concentration) (ppm), Cp is a produced water salt concentration (permeate concentration) (ppm), and Fp is produced water flux (permeate flux), and is 5 GFD?Fp?100 GFD, by the method comprising passing raw water having a salt concentration of 70,000 ppm or greater through a separation membrane at a temperature of 40° C. or less and a pressure of 1,200 psi or less.

Abstract: A nozzle for a combustor burning a hydrogen-containing fuel is provided. The nozzle includes a first tube through which the fuel flows and having a fuel injection hole on a front side to inject the fuel therethrough, a second tube surrounding the first tube and having a premixing injection hole through which the fuel and air are mixed and discharged, and a third tube surrounding the second tube and through which the fuel flows, wherein the second tube includes a plurality of fine injection holes to inject the fuel from the third tube to form fine flames, and the fine injection holes are spaced apart from each other in a circumferential direction of the second tube.

Abstract: The invention relates to compounds of structural formula I wherein A, D, and E are independently N or C—R3, G, H, and J are independently N or C, K is N or C—H, L is N, N—R3 or C—R3, and A, D, E, G, H, J, K, and L together cannot have more than 4 N, R1 is selected from (C6 to C10) aryl, (C2 to C9) heteroaryl, and 5-indolyl, wherein each of the said (C6 to C10) aryl and (C2 to C9) heteroaryl is substituted with at least one R4a group, and wherein said (C2 to C9) heteroaryl is C-attached, and R2 is selected from the group consisting of