Seismic reinforcement system for multi-directional cable connection by overlapping multiple angled connectors on a single hinge pin

This technology is a cable-based structural reinforcement system and construction method that secures structures from multiple directions. Base plates and reinforcement beams are attached to various locations on a structure, and rotatable connectors are fitted onto hinge pins coupled to each beam. These connectors are then linked by reinforcement cables. The system can also be connected to ground anchors using secondary reinforcement cables.

Conventional seismic reinforcement methods, such as installing seismic isolators or steel plate shear reinforcements and filling gaps with mortar, often require structural modifications, increase load, and involve complex processes, leading to high costs. Existing cable reinforcement methods also have limitations, as they require new cable fixing components for every weak point or whenever floors or sections change, resulting in an excessive number of parts and cumbersome installation.

This technology divides the connector into a thick fixing part for cable insertion and a thinner rotatable part. By flipping two connectors vertically and overlapping their rotatable parts, multiple cables at different angles can be attached to a single hinge pin. The base plate is secured with stud anchors, and the reinforcement beam is welded to prevent cable tension from concentrating on the plate. The rotation angle of the connector can be adjusted to match the angle between the three coupling positions, and cables can be anchored to the ground using a ground connection consisting of a pile and a ground plate. Applicable to seismic retrofitting of aging low-rise buildings, pilotis structures, and school or public building renovations, this system allows for the simultaneous connection of horizontal, vertical, and ground-anchored cables from a single fixing point, reducing both the number of parts and the need for drilling.

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Key Features:

• A base plate coupled to at least one location on a structure, with a corresponding reinforcement beam attached to it
• A connector consisting of a fixing part where the reinforcement cable is inserted and a rotatable part, thinner than the fixing part, that couples to the connection hinge pin
• A pair of connectors with their rotatable parts overlapped in a vertically inverted state, allowing them to be coupled to the same hinge pin at different angles
• A ground connection unit featuring a pile inserted into the ground, a ground plate resting on the surface, and a coupling part where a secondary connector is rotatably attached

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This invention was developed with support from the Ministry of the Interior and Safety's technology development project for risk assessment and response for earthquake-damaged facilities.

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Compact robot system for remote monitoring via camera, LED, and stepper motor control

This technology features a box-type housing with a two-wheel drive structure. Movement direction and speed are controlled by two independently operated stepper motors, while a central control unit (MCU) receives control signals from a remote terminal via Bluetooth/Zigbee to integrate the operation of the camera and LED.

Conventional cleaning robots are often large and complex, making directional control difficult. They also suffer from limited lighting range, which restricts their ability to perform precise movement and monitoring in narrow, dark spaces.

This technology utilizes a box-type housing equipped with stepper motor-based independent left and right drive wheels. The MCU calculates pulse control values input from a remote terminal to manage movement and steering, while the multi-faceted LED and camera arrangement eliminates lighting blind spots.

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Key Features:

• Two wheels mounted on both sides of the bottom of the box-type housing to move the robot, and two stepper motors that drive each wheel independently
• Camera and LED installed on the exterior of the housing for monitoring and illumination
• Central control unit equipped with a short-range wireless communication device to control the camera, LED, and stepper motors, and to exchange control signals
• Control configuration that determines the rotation direction and movement speed of the small robot by independently setting the rotation direction and speed of both stepper motors

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Spherical robot driven by fan thrust and a curved frame structure

This technology is a spherical mobile robot mechanism that uses the thrust of a ducted fan installed inside a spherical frame for propulsion, changes direction by controlling the center of gravity through the rotation of a weight, and brakes by controlling the extension of a brake arm.

Spherical robots using internal pendulum drive systems face limitations in motor output and pendulum weight during high-speed operation, leading to increased size and weight, which makes high-speed travel impossible.

This technology secures high-speed propulsion using a ducted fan, changes the direction of the fan with a first drive unit, shifts the center of gravity to change direction by rotating a weight with a second drive unit, and brakes by extending a brake arm beyond the robot's outer perimeter via a third drive unit and power transmission unit.

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Key Features:

• A thrust generation unit that produces wind-based thrust through the operation of an internally placed fan
• A circular frame formed in a ring shape along the circumferential direction to surround the outside of the thrust generation unit
• A plurality of curved frames arranged along the circumferential direction of the circular frame, orthogonal to the circular frame, to form a spherical exterior
• A direction-changing unit hinge-connected to the bottom of the thrust generation unit that shifts the center of gravity to change the driving direction of the spherical robot

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Soil remediation system using refrigerant-cooled freezing pipes to create a barrier and extraction wells for contaminant recovery

This technology creates a low-permeability barrier by inserting multiple freezing pipes into contaminated soil and circulating refrigerant to freeze the surrounding ground. Extraction wells are then installed at a distance from this barrier to recover liquid contaminants concentrated in the area.

Existing electro-remediation methods are less effective in highly permeable sandy soil, while soil washing faces challenges with poor water flow in cohesive soil and potential secondary contamination from chemical solutions. Permeable reactive barriers require separate processes to direct contaminated water toward the barrier and involve high excavation costs. Electro-kinetic remediation also involves the cumbersome continuous injection of wash water and chemicals, with lingering concerns regarding secondary pollution.

This technology features freezing pipes with bidirectional fins along their length or protrusions that increase in length from top to bottom, expanding the frozen zone and directing contaminants toward the extraction wells. Inserting pipes down to the impermeable layer prevents contaminants from escaping beneath the barrier. The system works regardless of soil type without requiring additional chemicals or microorganisms. It is ideal for restoring landfills, industrial sites contaminated with oil or heavy metals, and former military bases, as it temporarily contains the spread of pollution and leaves no trace once the ice wall is melted and removed.

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Key Features:

• A barrier composed of multiple freezing pipes inserted into contaminated soil and connected to a refrigerant injector to freeze the ground and block the flow of contaminants
• Multiple extraction wells inserted into the contaminated soil at a distance from the barrier to extract contaminants directed by the freezing process
• Multiple fins formed to protrude bidirectionally from the sides along the length of the freezing pipes
• Multiple protrusions formed along the length of the freezing pipes, increasing in length from the top to the bottom of the pipes

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High-insulation storage vessel for liquid hydrogen mobility featuring dual vacuum layers and an integrated refrigerant storage space

This technology is a thermally insulated hydrogen storage vessel that places a primary hydrogen storage container, featuring an outer vacuum space, inside a secondary container that also includes a vacuum layer. The space between the two containers serves as a refrigerant storage area, extending the duration that liquid hydrogen remains in a liquid state.

Liquid hydrogen is gaining attention as a fuel for hydrogen vehicles, drones, and ships due to its higher energy density by weight compared to high-pressure gaseous hydrogen. However, it requires maintaining cryogenic temperatures below -253°C, making insulation to prevent vaporization loss from external heat ingress critical. Existing storage vessels rely on multiple layers of vacuum and thermal insulation, which increases the thickness of walls and insulation, leading to bulky systems. This limits storage capacity to 30–40g/L, roughly half the physical density of liquid hydrogen (70g/L).

This technology features detachable covers on the top of both the primary and secondary containers, with an overall vessel cover sealing the assembly. Charging and discharging are managed via a hydrogen inlet/outlet pipe, while primary and secondary relief pipes release hydrogen and refrigerant respectively if pressure rises. Spacers maintain the gap between the containers, insulation is layered within the vacuum spaces, and the exterior is designed with multiple curvatures to ensure pressure resistance in a thin, lightweight vessel. Applicable to hydrogen drones, fuel cell vehicles, marine fuel tanks, and small-scale liquid hydrogen transport and refueling containers, it reduces space and weight constraints while allowing for longer storage of hydrogen in its liquid state.

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Key Features:

• A primary container with an internal hydrogen storage space, a first vacuum space along its exterior, and a first cover detachable from a first opening on the top.
• A secondary container into which the primary container is inserted, forming a refrigerant storage space between it and the primary container's outer surface, with a second vacuum space along its exterior.
• A vessel cover that seals a second cover, which opens and closes a second opening of the secondary container, and is coupled to the top of the secondary container.
• A hydrogen inlet/outlet pipe extending from the primary container's hydrogen storage space to the outside of the vessel cover, serving as a passage for hydrogen.

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This invention was developed with support from the Ministry of Science and ICT for the development of next-generation mobility hydrogen storage systems.

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Failure Probability Assessment Method for Power Plant Gas Fuel Piping Reflecting Stress Ratio and Start-Stop Low-Cycle Fatigue

This technology establishes a classification system for gas fuel supply facilities in combined-cycle and gas turbine power plants, and calculates the failure probability of piping and auxiliary equipment by multiplying the base failure frequency, damage factors, and management system factors.

Gas fuel supply systems in power plants transport natural gas at high pressures of 2–5 MPa and temperatures around 200℃. Despite the high risk of fire and explosion in the event of a leak, maintenance has traditionally focused on major equipment like boilers, steam piping, and turbines. Applying existing API RBI codes used in oil and petrochemical plants fails to account for critical factors such as system-specific stresses at different piping locations and the frequent start-stop cycles of gas turbines.

This technology defines damage factors including stress ratio, wall thinning, external damage, mechanical fatigue, and low-cycle fatigue. The stress ratio factor is determined by comparing the stress ratio—derived from circumferential, longitudinal, and torsional shear stresses—against the yield strength at operating temperature. The low-cycle fatigue factor is calculated using cumulative start-stop counts and fracture cycles. It also accounts for external corrosion, corrosion under insulation (CUI), and chloride stress corrosion cracking based on material type. Applicable to Risk-Based Inspection (RBI) for combined-cycle and cogeneration plants, preventive maintenance for gas turbine fuel piping, and safety diagnostics for LNG terminals and hydrogen co-firing facilities, it enables efficient resource allocation by prioritizing high-risk piping sections for inspection.

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Key Features:

• Step of establishing a classification system for equipment constituting the gas fuel supply system within a power plant
• Step of determining and assessing the failure probability of the gas fuel supply system using a mathematical formula incorporating base failure frequency, damage factors, and management system factors
• Damage factors determined by stress ratio, wall thinning, external damage, mechanical fatigue, and low-cycle fatigue factors
• Low-cycle fatigue factor determined using cumulative start-stop counts and fracture cycles

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of vulnerable node technology for the safe operation of combined-cycle power plants.

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Shipyard Gas Safety System with Edge AI Pipeline Monitoring for Automatic Valve Shutoff During Leaks

This technology is a gas leak detection and remote control system that installs flow and pressure meters on underground shipyard gas pipelines. It connects receiving devices that collect sensor data, edge AI-based processing devices, and a control server via communication links to remotely detect gas leaks and immediately shut off valves.

Shipyards supply gases such as oxygen, CO2, argon, and LPG for welding through underground pipelines. Previously, this relied on manual checks of analog gauges, leaving no way to quickly identify leak locations or gas flow. Existing monitoring devices only recorded valve operation counts for periodic inspection, making accurate leak diagnosis difficult and creating a risk of explosion due to delayed emergency responses.

In this system, the processing device's leak detection unit identifies leaks based on flow and pressure data, triggering the valve control unit to close the pipeline valve. The control server then issues alarms, enables camera-linked monitoring, and establishes accident response strategies. The receiving device is slide-fixed with a spring-loaded plate inside a symmetrical coupling structure that fits around the pipe, while a hinged extension plate and elastic straps absorb external shocks. Applicable to shipyard welding gas supply networks, petrochemical and power plant pipelines, and industrial complex gas infrastructure, this system eliminates the need for manual gauge checks, automatically cutting off gas during a leak and allowing immediate on-site verification from the control room.

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Key Features:

• A receiving device that collects sensor data from flow meters detecting gas flow and pressure gauges measuring internal pipeline pressure
• A processing device that determines gas leaks based on the received data and controls the closure of pipeline valves upon detection
• A control server that receives leak detection results to trigger visual and audible alarms, enable camera-linked monitoring, and establish accident response strategies
• A symmetrical coupling structure that allows pipe passage, secures the receiving device via a spring-loaded slide, and mitigates external impact

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This invention was developed with support from the Gwangju-Jeonnam Regional Innovation Platform of the Ministry of Education.

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Low-power water treatment device that cleans ceramic membrane fouling using microbubbles between porous conductors

This technology is a membrane fouling reduction water treatment device that attaches porous conductors, such as nickel foam, to both sides of a separation membrane like a ceramic membrane. By applying DC power, the microbubbles generated at the electrodes physically detach contaminants from the membrane surface.

In long-term membrane water treatment processes, organic matter and fine particles in the raw water adhere to the membrane, forming a cake layer that clogs pores and reduces permeation rates and treatment performance. While applying a conductive coating to the membrane surface has been proposed as a solution, it requires high voltage because the membrane is non-conductive, and if the coating is damaged, the entire long-lasting ceramic membrane must be replaced.

This technology consists of a module body equipped with a raw water inlet, a product water outlet, and a treated water outlet, housing the separation membrane along with first and second porous conductors. Microbubbles generated by the DC power supply detach contaminants, which are then flushed out with the treated water. Oxidants generated between the two conductors oxidize and remove organic matter from the raw water and the membrane surface. Applicable to water treatment plants using ceramic microfiltration, industrial wastewater facilities, seawater desalination pretreatment, and high-turbidity water treatment lines with short cleaning cycles, it allows for separate replacement of electrodes and membranes while maintaining high permeation performance with low power consumption.

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Key Features:

• A module body with a raw water inlet, product water outlet, and treated water outlet, housing a separation membrane inside
• A porous first conductor housed in the module body in contact with one side of the separation membrane
• A porous second conductor housed in the module body adjacent to or in contact with the other side of the separation membrane
• A power supply unit that applies DC power to the first and second porous conductors to generate microbubbles, physically removing membrane foulants

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Thin-Film Composite Forward Osmosis Membrane with Enhanced Water Permeability Using a Photocurable PEGDA Hydrophilic Support

This technology involves manufacturing a thin-film composite (TFC) membrane for forward osmosis (FO) by creating a porous support through the photocuring of a prepolymer solution—consisting of highly hydrophilic polyethylene glycol diacrylate (PEGDA), a photoinitiator, and a solvent—and subsequently forming a selective layer on top.

Commercial cellulose triacetate (CTA) membranes for forward osmosis suffer from low water permeability and poor pH stability due to their dense, monolithic structure. Polymers like polysulfone, commonly used as supports for TFC membranes, are typically produced via phase inversion, resulting in low porosity, difficult-to-control pore structures, and insufficient hydrophilicity. Methods involving the coating of hydrophilic polymers often lead to pore blockage and increased process complexity, reducing economic viability.

This technology utilizes 250–400 nm UV light to photopolymerize PEGDA, obtaining a hydrophilic porous support through a simple process, followed by the application of a 1 nm to 10 μm thick selective layer via interfacial polymerization, dip coating, or layer-by-layer (LbL) assembly. Crosslinkers or reinforcing agents such as TiO2 or mesoporous SiO2 can be added as needed. Applicable to seawater desalination, wastewater FO processes, pressure-retarded osmosis (PRO) salinity gradient power, and concentration of valuable substances in food and pharmaceuticals, this membrane reduces internal concentration polarization to boost water flux and offers high fouling resistance due to its hydrophilic surface.

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Key Features:

• Preparing a photopolymerization prepolymer solution by mixing polyethylene glycol diacrylate, a photoinitiator, and a solvent
• Obtaining a PEGDA porous support by irradiating the prepolymer solution with light at a wavelength of 250 to 400 nm to induce polymerization
• Forming a selective layer on the PEGDA porous support via interfacial polymerization, dip coating, or layer-by-layer assembly
• A thin-film composite membrane for forward osmosis and seawater desalination featuring a 1 nm to 10 μm thick selective layer attached to a PEGDA porous support

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of molecular layer-by-layer assembly technology for FO membranes.

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Device for generating paths using a genetic algorithm based on a node probability model

This technology builds a node probability model by analyzing the frequency of nodes in dominant individuals from previous generations when generating robot paths based on a genetic algorithm. It then uses this model to generate paths for the next generation and optimizes obstacle-avoidance paths using edge information.

Conventional path generation methods using genetic algorithms require numerous parameters, such as crossover and mutation rates, to derive an optimal path. Furthermore, because the differences in information between generations are small, they require significant computational power and time to reach convergence.

This technology selects dominant individuals based on the evaluation values of paths from previous generations and determines a node probability model based on the inclusion ratio of nodes within those paths, thereby increasing the probability of successful path generation. Additionally, it defines node pairs without obstacles as "edge information" to reset the node connection sequence, which skips the obstacle-checking phase and improves computational efficiency.

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Key Features:

• A path generation device that creates paths over N generations using a genetic algorithm
• A node probability model determination unit that uses paths from previous generations to determine the probability model for nodes to be included in the current generation's paths
• A path generation unit that creates the current generation's paths using the determined node probability model
• A path generation unit that determines nodes to be included in a path using a node probability model and generates paths using edge information of node pairs that are free of obstacles

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Fracture Reduction Robot Assisted by 3D Interpolated Imaging

This technology generates 3D interpolated images of the corresponding healthy bone area for fracture reduction procedures. By overlaying and comparing these with images of the fractured area, it visualizes bone alignment in real-time and controls the reduction process via a drive unit.

During fracture and musculoskeletal repair surgeries, 2D imaging alone makes it difficult to accurately assess bone rotation or alignment, often requiring repeated X-rays for real-time intraoperative monitoring.

This technology acquires multi-angle images via an imaging unit (X-ray, MRI, CT) and uses an image processing unit to extract the diaphysis and generate 3D interpolated images. A matching unit calculates the alignment of bone contours, while a path calculation unit and drive unit move the bone to the target position, with the entire reduction process managed by a control unit.

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Key Features:

• An imaging unit that captures multiple bone images at different angles for both the patient's fractured area and the corresponding healthy area.
• An image processing unit that generates 3D interpolated images for both the fractured and healthy areas using the captured bone images.
• A display unit that simultaneously shows the generated 3D interpolated images of both the fractured and healthy areas.
• An image processing unit that extracts the diaphysis from bone images and generates 3D interpolated images of the extracted diaphysis.

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Ceramic membrane with zero-valent iron adsorbent in an alumina support for selective heavy metal removal

This technology involves a ceramic membrane and its manufacturing method, which enables simultaneous filtration and selective adsorption of specific heavy metals. It is produced by mixing aluminum oxide with pore-forming agents, extrusion binders, and heavy metal adsorbents like zero-valent iron (ZVI), followed by extrusion, drying, and sintering. It can be fabricated into hollow structures such as tubular, flat-tubular, honeycomb, monolith, or hollow fiber types.

Polymer membranes such as polystyrene, polyethersulfone, and PVDF, commonly used in wastewater treatment, have short replacement cycles due to poor wear, chemical, and heat resistance when exposed to industrial wastewater with wide pH ranges, high temperatures, and high concentrations or viscosities. Furthermore, they are limited to simple solid-liquid separation, making it difficult to selectively remove heavy metals from wastewater.

This technology preserves the pore structure by drying at 100–110°C while the pore-forming agent remains, and forms a uniform coating layer by dip-coating the inside and outside of the hollow membrane with a ceramic slurry containing the adsorbent. Using a module housing equipped with slurry inlets and blocking sections ensures even coating inside the hollow structure, achieving small pore sizes and high separation efficiency. It can be applied to industrial wastewater treatment, high-concentration waste liquid separation under extreme conditions, and catalyst-supported air purification or gas separation, providing a durable, multifunctional membrane to replace polymer membranes.

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Key Features:

• Step of forming a mixture by combining aluminum oxide, a pore-forming agent, an extrusion binder, and a heavy metal adsorbent containing zero-valent iron
• Step of manufacturing a ceramic membrane by drying the extruded mixture while the pore-forming agent remains, followed by sintering
• Aluminum oxide support with a hollow structure, such as tubular, flat-tubular, or honeycomb, containing a distributed adsorbent with zero-valent iron
• Ceramic coating layer formed by slurry application and sintering on the exterior and interior of the hollow aluminum oxide support

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This invention was developed with support from the Ministry of Environment for the development of high-performance ceramic microfilter application technology for the removal of hazardous heavy metals.

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Wastewater treatment system recycling persulfate from electrochemical oxidation and excess reaction heat for membrane distillation

This technology is a wastewater treatment system and method that introduces organic wastewater into a sulfuric acid electrolyte to trigger an electrochemical reaction, simultaneously generating persulfate oxidants and excess oxidation heat, and then directs the heated electrolyte to a membrane distillation unit to separate clean water.

Chemical wastewater treatment often causes secondary environmental pollution due to excessive chemical use. While electrochemical treatment has emerged as an alternative capable of processing high-concentration wastewater in compact units, it traditionally required high electrolyte concentrations to reduce resistive heating, necessitating an additional separation process after oxidation.

This technology utilizes a reaction tank equipped with a boron-doped diamond (BDD) anode and a cathode packed with metal oxides such as TiO2. It oxidizes pollutants directly and indirectly using persulfate without external oxidants, and leverages the vapor pressure difference between the 40–70°C electrolyte and cooling water to pass only water vapor through a hydrophobic membrane. Membranes such as PVDF, PE, PP, or PTFE can be used. Applicable to industrial wastewater containing recalcitrant organic matter, leachate, concentrate treatment, and high-concentration waste recycling in semiconductor and chemical plants, it enables pollutant degradation and high-quality water recovery in a single step without external heat or oxidants.

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Key Features:

• An electrochemical reactor where organic wastewater is added to a sulfuric acid-based electrolyte to generate persulfate and excess oxidation heat through electrochemical reactions
• A boron-doped diamond anode and a cathode packed with metal oxides selected from TiO2, UO2, Ta2O5, and U3O8, provided within the reaction tank
• A membrane distillation unit that receives the electrolyte after the electrochemical reaction and filters it through a membrane distillation process
• A membrane that allows water to evaporate and permeate through a hydrophobic barrier due to the vapor pressure difference between the electrolyte heated by excess oxidation heat and the cooling water

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This invention was developed with support from the National Research Foundation of Korea for the development of low-cost, non-precious metal electrocatalysts for water treatment and simultaneous hydrogen production.

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Indoor Robot Positioning System and Method Using Short-Range Wireless LAN Signal Strength

This technology estimates a robot's base position by combining motor encoder and inertial sensor (gyroscope, accelerometer) data. It corrects cumulative errors by resetting the current position to specific coordinates when the robot passes through high-reliability reception zones (within 1.5m, -50dBm or higher) defined around pre-mapped Wi-Fi access points.

Positioning methods in indoor environments that rely solely on motor encoders and inertial sensors are vulnerable to external disturbances and struggle to resolve long-term cumulative errors. Furthermore, conventional methods that directly convert wireless LAN signal strength into distance information suffer from low precision due to signal instability caused by environmental factors.

This technology integrates a robot system, a wireless network system, and a positioning server to execute a position correction algorithm based on signal strength in proximity to access points. Specifically, it processes sensor data through a data fusion unit, switches to inertial sensor-based positioning during impacts, and resets position coordinates using signal strength thresholds near access points. Applicable to logistics transport, service robots, and autonomous platforms, it improves positioning accuracy by utilizing short-range wireless LAN signal strength for error correction.

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Key Features:

• A positioning server that performs error correction on the robot's current path using a pre-generated wireless LAN AP map provided by a wireless network system, based on wireless LAN signal strength.
• A wireless network system that provides a map centered on Access Points (APs) to be used as robot path coordinates.
• A robot system that provides motor encoder values and inertial data used for robot positioning.
• An indoor robot positioning system using short-range wireless LAN signal strength, characterized by the features above.

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of renewable energy and intelligent robot convergence technology.

Power Management Device and Method for Robots Powered by Renewable Energy

This technology is a power management system for mobile robots equipped with multiple energy sources, such as batteries, fuel cells, and solar cells. It features an integrated management mechanism that dynamically switches between energy sources and controls the return to automatic charging stations by monitoring remaining power levels and measuring the distance to chargers.

The limitations include the restricted operating time of single-battery mobile robots, which hinders continuous mission performance and necessitates frequent user intervention, as well as the lack of efficient switching and management when using multiple energy sources.

This technology incorporates BMS, FCMS, and SCMS within the robot's power management unit to independently monitor the status of each energy source. Through a wireless communication management unit, it calculates real-time data on remaining power and distance to the charger to determine mission feasibility, triggering automatic returns and energy source switching as needed. Applicable to robot gripping, precision measurement, and automated equipment, this system efficiently manages diverse power sources and provides stable, versatile power to robots, thereby extending the operational time of continuous pollution monitoring robots.

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Key Features:

• Power measurement device including FCMS (Fuel Cell Management System) and SCMS (Solar Cell Management System)
• Power management device for robots powered by renewable energy, characterized by the above.
• Automatic charger that communicates wirelessly with the power measurement device to perform automatic robot charging
• Robot powered by multiple energy sources

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of renewable energy-based intelligent robot convergence technology.