Abstract:
본 발명의 일 실시예에 따르는 이동체는, 제1 바디와 제2 바디, 수축되면 상기 바디들이 서로 근접하게 이동하고, 이완되면 상기 바디들이 서로 이격되도록 상기 제1 바디와 제2 바디를 서로 연결하는 연결부를 포함하고, 상기 바디들은 각각, 슬라이드부와 틸팅부 및 상기 슬라이드부에 대해 상기 틸팅부를 상대이동시키는 이동 모듈을 포함한다.
Abstract:
PURPOSE: An emergency power generation apparatus using a dielectric elastomer generator is provided to rapidly generate the large amount of electric power for itself, thereby efficiently handling the emergency. CONSTITUTION: An outer electrode outputs the generated electric power to the outside. At least one dielectric elastomer generator (100) has the outer electrode. The dielectric elastomer generator includes a wearing body, a fixing band, and an elastic body. An electrode connection unit (300) supplies the power to a charging circuit. The fixing unit (200) detachably fixes the dielectric elastomer generator.
Abstract:
PURPOSE: An escaping method of a ground robot from a turnover state and a sticking state is provided to increase possibility for accomplishment of a mission and probability for autonomic return by escaping from the turnover state or the sticking state through checking the number of rotations and current value of a motor. CONSTITUTION: An escaping method of a ground robot from a turnover state and a sticking state comprises: a step of determining the turnover state or the sticking state by checking roll angle of the ground robot when driving; a step of escaping a flipper by downwards rotating in case of the turnover state; a step of escaping from the sticking state by operating the ground robot according to a plurality of operating codes stored by being selected from an operation pattern list in the sticking state or after escaping from the turnover state(S200). [Reference numerals] (AA,CC,EE,GG,II) No; (BB,DD,FF,HH,JJ) Yes; (KK) End; (LL) Return; (S200) Sticking state escaping process; (S220) rpm same as "100" and Motor current > 6000mA; (S240,S280) rpm same as "200" and Motor current > 6000mA; (S260) Pitch angle > 30°; (S300) -3°
Abstract:
PURPOSE: A method and an apparatus for rapid on-site analyzing specific chemicals are provided to minimize damages from chemical weapons by rapidly verifying the existence of the chemical weapons and preparing countermeasures. CONSTITUTION: A method for rapid on-site analyzing specific chemicals in a movable laboratory includes the following: specimens containing volatile materials are sorted from various specimens by using an electronic nose; the sorted specimens are pre-treated; the pre-treated specimens are analyzed by using a gas chromatography mass spectrometer(GC/MS) with a rapid analysis condition; and precision analysis is implemented using a general GC/MS. In the rapid analysis, the initial oven temperature of the GC/MS is in a range between 40 and 80 degrees Celsius, and the lamp temperature of the oven is 30 to 80 degrees Celsius per minute.
Abstract:
According to an embodiment of the present invention, a manipulator control apparatus has total seven-degree-of-freedom, by including: a supporting unit which can be mounted on the back of a user; a first joint unit which is combined to the supporting unit in order to rotate around a first shaft; a second joint unit which is combined to the first joint unit in order to rotate around a second shaft; a complex joint unit which is combined to the second joint unit in order to reciprocate, and can rotate around two different shafts; a third joint unit which is combined to the complex joint unit in order to rotate; a fourth joint unit which is combined to the third joint unit in order to rotate; and an arm unit which is combined to the fourth joint unit in order to rotate.
Abstract:
PURPOSE: A dielectric elastomer generation unit, a joint attaching independent electricity generating apparatus including thereof, and a weight attaching electricity generating apparatus are provided to generate electrical energy by changing a transform layer. CONSTITUTION: A dielectric elastomer generation unit comprises the following: a transform layer(111) containing a dielectric elastomer in a gel form, generating electricity by the transformation of extending and contracting; a guide unit(114) maintaining the shape of the transform layer; electrodes(112, 113) formed on first and second surfaces by turns into a positive electrode and a negative electrode; and a housing for storing the guide unit and the electrodes.
Abstract:
본 발명은 무선 센서 네트워크에서의 시각동기화 방법에 관한 것으로서, 센서 노드 간 시간적 동기화의 정확도를 높이고, 또한 멀티 홉 환경에서 메시지 송수신 횟수를 줄일 수 있도록 하는 것을 목적으로 하며, 이의 달성을 위해 상위 센서 노드가 송신하는 시점의 시각소인 정보(T1)가 포함된 초기동기화(InitSync) 메시지를 상위 센서 노드로부터 하위 센서 노드로 송신하는 단계; 하위 센서 노드에 의해 초기동기화(InitSync) 메시지를 수신한 시점의 시각소인 정보(T2)를 저장하고, 하위 센서 노드가 송신하는 시점의 시각소인 정보(T3)가 포함된 동기펄스(SyncPulse) 메시지를 하위 센서 노드로부터 상위 센서 노드로 송신하는 단계; 상위 센서 노드에 의해 동기펄스(SyncPulse) 메시지를 수신한 시점의 시각소인 정보(T4)를 저장하고, 상위 센서 노드가 송신하는 시점의 시각소인 정보(T5)가 포함된 동기확인(SyncAck) 메시지를 상위 센서 노드로부터 하위 센서 노드로 전송하는 단계;및 하위 센서 노드에 의해 상기 동기확인(SyncAck) 메시지를 수신한 시점의 시각소인 정보(T6)를 저장하고, 저장된 상기 시각소인 정보들(T1~T6)을 바탕으로 타이머 오프셋을 계산하여 타이머 값을 보정하는 단계를 포함한다. 이와 같은 본 발명에 의하면, 높은 수준의 시각 동기 정확도를 보장하고, 시각동기 수행에 따른 메시지 전송 횟수를 줄여, 네트워크 통신 오버헤드와 노드의 에너지 소모도 함께 감소시킬 수 있다. 센서 노드, 시각 동기, 시각소인 메시지