Non-model-based diagnostic device for quantitative detection of internal short circuits using energy change analysis

This technology quantitatively calculates internal short-circuit current and resistance without battery modeling by utilizing cell energy changes between two points where specific cell voltages are identical during charging and discharging, along with passive balancer operation data.

Existing model-based methods require extensive preliminary experimental data and high computational power for precise modeling, while statistical methods are limited in that they can detect the presence of a fault but cannot determine the severity (quantitative value) of the fault.

By estimating cell energy changes at two points with identical voltage through voltage-current measurements and calibrating the calculated internal short-circuit current using the lowest value as a reference leakage current, this technology minimizes the impact of temperature fluctuations and quantitatively calculates internal short-circuit resistance, thereby contributing to enhanced competitiveness in the battery management system sector.

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Key Features:

• A voltage-current measurement unit that measures the voltage and current of a first cell and determines first and second time points where the voltages are identical.
• A cell energy change estimation unit that calculates the amount of cell energy change between the first and second time points using the voltage, current, and the two time points.
• A configuration that estimates internal short-circuit current by utilizing the calculated cell energy change and passive balancer operation information.
• A configuration that quantitatively calculates internal short-circuit resistance by reflecting a reference leakage current in the estimated internal short-circuit current.

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Hydrometallurgical extraction method for spent batteries that enhances copper and cobalt separation factors through synergistic mixed extractants

This technology improves the separation factor between Co and Cu and reduces the number of stages in the refining process by inducing a synergistic effect. This is achieved by mixing D2EHPA solvent with PC88A or Cyanex 272 in a specific ratio during the impurity removal stage of the spent battery hydrometallurgical process.

In the process of recovering valuable metals (Ni, Co, Li) from spent batteries, the difficulty in separating specific impurities, particularly copper (Cu), has led to an increase in the number of washing stages and higher overall process costs.

By using an organic solvent based on D2EHPA mixed with PC88A or Cyanex 272 in a ratio of 1:1 to 3:1 (preferably 2:1) to remove impurities at a pH of 2.0 to 3.0, this technology can substantially contribute to securing commercial competitiveness in resource circulation and recycling.

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Key Features:

• Impurity removal process that removes copper-containing impurities from spent battery raw materials and discharges an aqueous phase containing nickel and cobalt
• Hydrometallurgical method using a mixture of D2EHPA and PC88A or Cyanex 272 as a solvent extractant in the impurity removal process
• Cobalt extraction process that extracts cobalt from the aqueous phase containing nickel and cobalt, and discharges an aqueous phase containing nickel
• Nickel extraction process that recovers valuable metals by extracting nickel from the aqueous phase containing nickel

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High-Efficiency Silicon Oxide Anode Material with Controlled Si-O Bonding via Network Modifiers

This technology improves initial coulombic efficiency and suppresses irreversible reactions by controlling the Si-O bonding state within the silica (SiO2) matrix of silicon oxide (SiOx) using network modifiers, network formers, or non-network formers.

In conventional silicon oxide anode materials, the amorphous SiO2 matrix reacts with lithium during the initial charge to form irreversible lithium silicon oxides, resulting in a low initial coulombic efficiency of approximately 70%. Furthermore, crystallization through high-temperature heat treatment often leads to grain growth and reduced cycle life.

This technology involves mixing a silicon oxide precursor with network modifiers (such as alkali metals) and network formers or sulfur (S)-based non-network formers, followed by solid-state synthesis at 500–1,000°C, enabling the stable achievement of properties required for secondary battery anode materials.

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Key Features:

• Silicon oxide composite featuring a silica matrix integrated with network modifiers and non-network formers to regulate the bonding state of silicon particles
• Sulfur-containing non-network former introduced to regulate the Si-O bonding state of the silica matrix
• Manufacturing process for anode materials involving the solid-state synthesis of a silicon oxide precursor mixed with network modifiers and non-network formers
• Composite structure that enhances initial coulombic efficiency by suppressing the formation of irreversible lithium silicon oxides during initial charging

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Highly Stable Cathode Material for Sodium-Ion Batteries Featuring a P2/O3 Composite Phase via Mg, Ti, and Zr Doping

This technology implements a composite crystal structure where P2 and O3 phases coexist by doping a Na-Ni-Mn-Fe-based layered cathode active material with Mg, Ti, and Zr, thereby mitigating lattice strain during charge/discharge cycles and improving ion mobility.

Conventional transition metal-based layered cathode materials (Na-Ni-Mn-Fe series) offer high discharge capacity but suffer from a rapid decline in capacity retention due to structural instability during repeated charge/discharge cycles.

By designing a cathode active material with a composition of Na a Ni b Mn c Fe d Mg e Ti f Zr g O h (where 0.70≤a≤0.80, etc.), this technology provides new design flexibility in the field of lithium secondary battery cathode materials.

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Key Features:

• Cathode active material for sodium-ion batteries featuring a composite crystal structure with coexisting P2 and O3 phases achieved through Mg, Ti, and Zr doping
• Layered cathode active material containing sodium, nickel, manganese, and iron, along with magnesium, titanium, and zirconium in a specific stoichiometric ratio
• Composite crystal structure that enhances sodium-ion mobility by expanding the c-axis lattice through Mg, Ti, and Zr doping
• Cathode active material designed to improve capacity retention by mitigating lattice strain during charge and discharge

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Wheel and Track Hybrid Mobile Platform Device for Professional Service Robots with Terrain-Traversing Mechanism

This technology is a hybrid mobile platform mechanism that combines driving wheels with track modules. By adjusting the angle of the track arms via motor power, the structure can be varied to ensure wheel contact on flat surfaces and track contact with the ground on rough terrain.

Conventional wheeled robots excel on flat surfaces but struggle with rough terrain and stairs. Tracked robots are advantageous for rough terrain but suffer from lower speed and energy efficiency on flat surfaces, while legged robots face challenges with complex control and stability.

This technology features a track transformation mechanism that adjusts the position of the track arms using a motor. On flat ground, the track arms are kept horizontal for wheel-based driving, while on rough terrain or stairs, the arms are raised to bring the tracks into contact with the ground, optimizing the driving mode. Applicable to logistics, service robots, and autonomous platforms, it enhances the adaptability and stability of specialized service robots on uneven terrain, thereby improving overall performance and energy efficiency.

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Key Features:

• A control device that manages the motor unit to move multiple track arms into a vertical position during rough terrain traversal, transforming the track so that its vertical width exceeds the circumference of the driving wheels.
• A wheel and track hybrid mobile platform device for professional service robots with a terrain-traversing mechanism, characterized by multiple driving wheels retracting inside the tracks to enable track-based movement during rough terrain traversal.
• Multiple track arms that move into a horizontal, lying-down position to transform the track so that its vertical width is smaller than the circumference of the driving wheels.
• A main frame for a wheel and track hybrid mobile platform device for professional service robots with a terrain-traversing mechanism.

Child Safety Tracking System

This technology is an integrated location tracking and monitoring mechanism that tracks the positions of sensors worn by guardians and children via a sensor network composed of multiple relay sensors. A management server monitors the distance between them in real-time, and in the event of a child going missing, a safety robot is dispatched along the shortest path to the child's location to collect and transmit video and audio data.

Existing GPS-based technologies are unable to track locations in signal-shadowed areas such as indoors or underground, while RFID-based technologies have limitations due to short transmission ranges, requiring the dense installation of numerous readers and resulting in high physical infrastructure costs.

This technology works by having a group of relay sensors receive signals from sensors held by the guardian and the child, which are then transmitted to a management server that calculates their positions and measures the distance between them. If a child goes missing, the management server calculates the shortest path for a safety robot and issues a movement command, allowing the robot to arrive on-site to capture and transmit video and audio data. Applicable to logistics, service robots, and autonomous driving platforms, this system improves the efficiency and accuracy of child safety by providing real-time location tracking and early detection of potential missing child scenarios.

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Key Features:

• A guardian sensor that transmits first data containing first identification information
• A child sensor that transmits second data containing second identification information
• A relay sensor group that identifies and transmits information required for tracking the second location of the child sensor based on the second data
• A child safety system further comprising a safety robot that transmits audio to the management server.

Method and Apparatus for Path Planning Based on Obstacle Density

This technology is an autonomous driving path planning method that divides image space into cells to calculate the density of static and dynamic obstacles. It then performs hierarchical/non-hierarchical clustering and applies a genetic algorithm (GA) to generate obstacle-avoidance paths.

Existing genetic algorithm-based path planning focuses solely on finding the shortest path, leading to increased computational load as workspace size grows. Furthermore, it fails to adequately account for dynamic obstacle information, resulting in persistent collision risks during movement.

This technology converts images into grayscale occupancy (static) and brightness information (dynamic) to calculate density. It then reduces data complexity through k-means clustering and derives an optimal path by applying a genetic algorithm that integrates obstacle density, path distance, and penalties for infeasible paths into the fitness function. This improves routing performance by accounting for workspace size and dynamic obstacle information, making it suitable for applications in rehabilitation training, gait assistance, and medical/welfare services.

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Key Features:

• Obstacle density calculator that divides images into cells and calculates the obstacle density for each cell
• Clustering unit that groups each cell into one or more clusters
• Path planning output unit that executes a genetic algorithm using obstacle density and cluster information to generate a path plan
• Configuration that calculates density using grayscale occupancy for static obstacles and empty spaces, and pixel brightness for dynamic obstacles

Lower-limb strength-assist robot suit with multi-directional pivoting support rods for lumbar support

This technology utilizes a multi-joint pivoting support structure linked to the hip joint of a wearable robot to track human movement. It features a bolt-fastened height-adjustable connection plate and a gear-meshing pivot joint to accommodate variations in the wearer's body type and height.

Conventional wearable robot lumbar support structures are often fixed or complex to fasten, causing discomfort and failing to adapt flexibly to changes in the user's body dimensions. Furthermore, the robot's movement during walking often interferes with the human body, hindering natural activity.

This technology features a 3-degree-of-freedom pivoting support structure consisting of L-shaped pivot rods, height-adjustable connection plates, and left/right lumbar supports capable of horizontal axis rotation. It also integrates an exoskeleton for lower-limb strength assistance, an MR damper, and a power transmission cutoff system using levers.

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Key Features:

• L-shaped left and right connecting rods pivotally linked to the hip joint of the exoskeleton in a walking assist device, centered on a vertical axis
• Left and right connection plates that can be fastened by adjusting the height relative to the other end of the L-shaped connecting rods
• Left and right lumbar supports connected perpendicularly to the connection plates and linked to pivot around a vertical axis
• MR damper unit connected to the hip joint to selectively adjust damping force during rotation of the lower skeleton

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Surgical robot arm with 2-axis rotation using a ball joint and disk wires

This technology features a surgical robot arm design that implements 2-axis (X and Y) rotation by placing a ball joint at the center of the surgical gripper and controlling disk wires connected to three points on the circumference of the gripper support disk via a motor drive unit.

Conventional surgical robot arms suffer from technical limitations such as complex joint structures that result in low rigidity, difficult maintenance in the event of failure, and complex control for precise multi-axis rotation.

This technology fixes the center of rotation using a center bar and ball joint, performs 2-axis rotation by independently controlling three disk wires with motor drive units (bolt-nut type), and includes a ball joint locking control function using a support member.

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Key Features:

• A gripper support disk that provides fixed support at the lower part of the surgical gripper, and a center bar connected to the center of the lower part of the support disk.
• A ball joint connected to the center bar to allow the support disk to rotate on the X and Y axes.
• Disk wires connected to and supporting three points on the circumference of the gripper support disk, symmetrically arranged around its center point.
• Motor drive units connected to each disk wire to move them up and down, thereby rotating the support disk on two axes.

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Remote-Controlled Robot System with Enhanced Steering Performance

This technology improves steering performance and driving stability by integrating real-time robot distance sensor (laser/ultrasonic) data with camera video feeds, overlaying them on a remote controller display, and providing force or haptic (vibration motor) feedback to the joystick based on obstacles in the robot's vicinity.

Existing remote control systems rely on narrow camera fields of view and 2D video, making it difficult to accurately perceive depth between the robot and obstacles. This often leads to reduced operational efficiency, such as collisions or the robot becoming stuck during non-line-of-sight navigation.

This technology visualizes obstacle distance information by overlaying it onto the video feed. If the operator attempts to steer toward an obstacle within a set safety distance, a feedback control mechanism triggers a vibration motor (haptic) or braking system (force feedback) in the joystick to alert the operator. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it enhances operability by providing wide-range situational awareness and haptic feedback, thereby reducing collisions and isolation in remote control scenarios.

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Key Features:

• Robot control unit that transmits video input from cameras and distance data from sensors to the remote controller via a primary communication module
• Remote control interface unit that generates and provides steering and speed information for the remote-controlled robot based on operator input
• Control unit that transmits steering and speed information from the remote control interface to the remote-controlled robot
• Distance sensor that scans the robot's path and surrounding space to detect distance information for nearby obstacles

Method and Apparatus for Controlling the Movement of Multiple Robots Based on a Wireless Network

This technology is a multi-robot control system based on a WPAN wireless network that performs auto-spacing and cooperative localization through a master-slave architecture. The master robot receives commands from a central controller and retransmits them to slave robots or issues self-generated commands, while the slave robots control their real-time movement based on the received commands and distance information.

When controlling multiple mobile units simultaneously in environments with poor communication infrastructure, such as disaster sites, there have been challenges regarding communication range limitations, radio frequency interference, and ensuring the sequentiality and accuracy of control signals.

This technology utilizes the WPAN (IEEE 802.15.4a) wireless protocol to establish a network between multiple robots and implements a distance-based control algorithm that measures distance information from other robots in real-time upon receiving an auto-spacing command, executing movement commands only when the distance exceeds a set value. It can be applied to industrial robots and automated systems, improving the control of multiple mobile units by enabling efficient communication and coordination between the robots and the central controller.

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Key Features:

• A device that moves based on a wireless network, characterized in that a movement control unit executes a movement command when the received distance information is greater than the auto-spacing setting.
• A transceiver unit that receives commands for controlling the movement of a slave robot as wireless network communication data
• A command preprocessing unit that extracts commands from the decrypted wireless network communication data
• A network control unit that decrypts the received wireless network communication data

Micro-boat moving on water surfaces using heating means and nozzle micro-chambers

This technology features a micro-boat fabricated from a silicon substrate. It consists of a first and second substrate bonded together to form a micro-chamber. The propulsion mechanism generates thrust through the reaction force of liquid expelled via a nozzle, driven by the rapid volume expansion caused by the instantaneous vaporization of liquid within the chamber using a heating element.

There is a need to address the limitations of existing electrowetting-based micro-boats, specifically their low movement speeds, short operational lifespans, and the inefficiencies associated with using additional fuel.

This technology places a heating element on the first substrate to periodically vaporize water inside the chamber. By utilizing a hydrophobic surface treatment on the exposed portions of the first substrate, the boat floats on the water surface, allowing it to generate continuous propulsion solely through the circulation of water vaporization and intake, without the need for an external energy source.

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Key Features:

• A first substrate that forms the micro-boat moving on a liquid surface, including a heating element on one side for liquid vaporization.
• A second substrate bonded to the first to form a micro-chamber, including a propulsion nozzle for ejecting vaporized fluid.
• A micro-chamber formed by the bonding of the first and second substrates, generating propulsion through heating and vaporization.
• An exposed lower surface portion of the first substrate, rendered hydrophobic and exposed by the configuration of the first and second substrates.

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Humanoid Robot Arm Device for Drawing Lines via Trajectory Coordinate Analysis and Object Differentiation

This technology is an algorithm that extracts contour coordinates from an input image, groups pixels into objects based on proximity, and identifies discontinuities between objects to control the pen-lifting (jumping) motion of a robot arm, enabling the continuous drawing of discontinuous lines or characters.

Existing drawing robots attempt to draw the entire image continuously after simple contour extraction, which leads to an inability to accurately represent discontinuous contours—such as the strokes in Chinese characters—and results in degraded drawing quality at the connection points between strokes.

This technology consists of an analysis unit that calculates reference coordinates for input data and labels adjacent coordinates to generate a trajectory coordinate list; an object differentiation unit that sequentially compares coordinate positions to group non-adjacent coordinates into distinct objects; and a control unit that lifts the robot arm when moving between objects to navigate to the next starting coordinate.

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Key Features:

• An input unit that receives coordinate data for lines to be drawn by the humanoid robot arm from an external source
• An analysis unit that calculates a trajectory coordinate list by analyzing the sequence of coordinates forming the lines based on the line data
• An object differentiation unit that calculates object information by grouping the coordinates of the trajectory coordinate list based on predetermined conditions
• A control unit that calculates starting coordinates based on the trajectory coordinate list and object information, and controls the robot arm to draw the lines

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Robotic Surgery System Estimating Tremor Signals via BMFLC-Kalman Algorithm

This technology is a control algorithm for accelerometer-based robotic surgery systems that estimates and isolates physiological tremors in real-time. By integrating Recursive Least Squares (RLS) or a Kalman filter into the BMFLC algorithm, it separates and compensates for conscious movements and unconscious tremors in a single step without the need for a pre-filter.

Existing WFLC algorithms suffer from performance degradation in real-time robotic surgery environments due to issues such as modulated frequency tracking, sensitivity to high-frequency noise, and time delays caused by the use of pre-filters.

This technology improves convergence speed and accuracy by incorporating RLS or Kalman filter operations into the BMFLC weight update stage. It minimizes latency by eliminating the need for pre-filters and ensures that only conscious movements, excluding the estimated unconscious tremor signals, are transmitted to the robot's drive unit.

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Key Features:

• A step of measuring the operator's hand tremors using an accelerometer to obtain measurement data regarding the tremors
• A step of applying the measurement data to the BMFLC-Kalman algorithm or BMFLC-RLS algorithm to mathematically estimate the tremor signal
• A measurement unit that acquires real-time measurement data of the operator's hand tremors during surgery
• A tremor signal estimation unit that applies the measurement data to the BMFLC-Kalman or BMFLC-RLS algorithm to perform mathematical estimation

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Lower limb support device with joint rotation locking via cylinder and linear motor

This technology is a mechanical mechanism that supports the rotation of lower limb joints by combining a cylinder and piston structure with upper and lower braces. It selectively locks the wearer's posture by using a linear motor to mechanically constrain the linear motion of the piston or by blocking the hydraulic flow path.

Conventional lower limb support devices are complex and expensive, and they often fail to provide sufficient support during joint rotation, leading to muscle fatigue for users who work while standing.

This technology connects the upper and lower braces installed on both sides of the lower limb joint with a cylinder-piston device. It uses a linear motor to physically block piston movement or regulate the flow of fluid inside the cylinder to lock the joint angle. Posture locking and unlocking are automatically controlled based on data from motion and pressure sensors.

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Key Features:

• Upper brace with a detachable structure positioned above the lower limb joint to provide support
• Lower brace with a detachable structure positioned below the lower limb joint to provide support
• Cylinder and piston connected to the sides that move vertically when the upper and lower braces rotate
• Posture locking unit equipped with a linear motor that blocks piston movement to selectively stop brace rotation

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