baber/WOPTO huggingface dataset:
Patent KR-20120126385-A (KR)
Title: Deinterleaving device and deinterleaving method
IPC: H03M13/27
Filed: 2011-05-11
Abstract: PURPOSE: A deinterleaving device and method are provided to improve a deinterleaving speed by performing deinterleaving whenever interleaved data symbols are received. CONSTITUTION: A receiving part(121) receives data symbols which are interleaved according to an interleaving function. A deinterleaving address generator(122) calculates deinterleaving addresses corresponding to the interleaved data symbols according to a deinterleaving function corresponding to an inverse function of the interleaving function. A deinterleaving processing part(123) directly receives the interleaved data symbols from the receiving part. The deinterleaving processing part performs deinterleaving by changing the order of the interleaved data symbols according to the deinterleaving addresses. [Reference numerals] (110) Interleaving device; (121) Receiving part; (122) Deinterleaving address generator; (123) Deinterleaving processing part; (124) Data storage part; (125) Transmission part
Patent KR-20120126853-A (KR)
Title: Recycling Apparatus for Waste Wire Covering
IPC: H01B15/00
Filed: 2011-05-13
Abstract: PURPOSE: An apparatus for recycling waste wire sheath is provided to improve recycling efficiency of waste wire sheath by performing maintenance like screen cleaning and replacement. CONSTITUTION: A main body(110) comprises an internal space, a closed one end, and an opened other end as an outlet. A hopper portion(120) inserts separated wire sheath into the main body while being arranged at one end of the main body. An extrusion portion(130) extrudes heated wire sheath. A screen portion(140) discharges the extruded wire sheath by the extrusion part while being arranged at the other end of the main body. A cylinder portion(150) moves the screen portion through a connection rod.
Patent KR-20120127846-A (KR)
IPC: H01H33/42
Filed: 2011-05-16
Abstract: 가스 절연 개폐장치는 고정 도체, 상기 제1 고정 도체와 수직선 상에 이격하여 배치되는 제1 이동 도체 및 상기 수직선 상에서 상기 제1 고정 도체와 대향하여 이격되어 배치되는 제2 이동 도체를 포함한다. 상기 제1 및 제2 이동 도체는 왕복 운동으로 상기 고정 도체에 접촉할 수 있다.
Patent KR-20120128900-A (KR)
Title: apparatus for repairing defect and method of repairing the same
IPC: H01S3/10
Filed: 2011-05-18
Abstract: PURPOSE: A repair device and a method thereof are provided to efficiently generate holes without generating ripples. CONSTITUTION: A laser oscillating unit(1100) generates/outputs a laser beam. A beam shape modulating unit(1200) modulates/concentrates the shape of the laser beam according to an irradiation condition. A reflective mirror(1300) changes a route of the laser beam in a desired direction. A beam size changing unit(1400) reduces the size of the laser beam to correspond to the size of a contact hole. [Reference numerals] (1100) Laser oscillating unit; (1200) Beam shape modulating unit; (1300) Reflective mirror; (1400) Beam size changing unit; (1500) Scanner; (1600) Process lens unit
Patent KR-20110131139-A (KR)
Title: Decimal floating point quantum exception detection
Inventor: SCHWARZ ERIC MARK
IPC: G06F7/483
Filed: 2011-05-27
Abstract: PURPOSE: A decimal floating point quantum exception detection is provided to efficiently reduce efficient accuracy for emulation of one decimal floating point by using the highest significant position number as an indicator of potential scale loss. CONSTITUTION: A decimal floating point operand is received(202). The decimal floating point operand is performed by the decimal floating point operand(210). Output is supplied for displaying quantum exception(220). The preference quantum displays a definition value by the lowest floating point of significant. The quantum exception is generated in response to a decimal floating point result.
Patent KR-20120134430-A (KR)
Title: System and method for managing bycicle station using mobile device
Inventor: KIM SANG CHUL
IPC: G06K17/00
Filed: 2011-06-02
Abstract: PURPOSE: A bicycle station management system using a portable terminal and a method thereof are provided to enable a manager to confirm a condition and related information of a plurality of bicycle stations by using the portable terminal in anytime and anywhere. CONSTITUTION: A plurality of bicycle stations(110) is separately installed in different areas and respectively accommodates bicycles. A plurality of data processing devices(120) collects state information including bicycle management information of each of bicycle stations. A web server(130) receives the state information of the bicycle stations from a plurality of data processing devices. The web server stores the received state information in a database(140). The web server processes the state information as data for a mobile application. [Reference numerals] (110) Bicycle station; (120) Data processing device; (130) Web server; (140) Database; (150) Communication network
Patent KR-20120135946-A (KR)
Inventor: BAE HAN JOO
IPC: H04N5/45
Filed: 2011-06-08
Abstract: PURPOSE: A large display device and a brightness control method thereof are provided to improve screen quality by preventing the brightness deviation between unit panels. CONSTITUTION: A multi display panel(100) is composed of adjacent unit panels. Light measuring sensors(SR1,SR2,SR3,SR4) are respectively installed in the unit panel. The light measuring sensor measures brightness. A brightness compensation operation processor(110) compares the measured brightness values. The brightness compensation processor controls the brightness of the unit panels by calculating brightness control information. [Reference numerals] (110) Brightness compensation operation processor; (111) Light signal processor; (112) Reference brightness setting part; (113) Brightness controller
Patent KR-20120136186-A (KR)
Title: Array test apparatus
Inventor: CHOI YUN KYU
IPC: G01R33/02
Filed: 2011-06-08
Abstract: PURPOSE: An array test device is provided to prevent formation of an air layer between a glass panel and a supporting plate, thereby exactly performs an inspection on a glass panel. CONSTITUTION: A supporting plate(31) includes a test part(311). An inspected region is attached to the test part of a glass panel. Multiple inlet holes(312) are formed in both sides of the test part. Multiple absorption grooves(313) are formed in one side of the test part of the supporting plate. The multiple absorption grooves are connected with the inlet holes.
Patent KR-20120136690-A (KR)
Inventor: KIM CHANG NAM
IPC: B65G49/07
Filed: 2011-06-09
Abstract: 본 발명은 웨이퍼 픽업장치에 관한 것으로, 보다 상세하게는 웨이퍼 가공 또는 검사 장치에 사용되는 웨이퍼 픽업장치에 관한 것이다. 상기 픽업장치는, 수평방향으로 회전하는 회동부, 중심부가 상기 회동부에 연결 지지되어 수평방향으로 연장되는 회전판, 및 회전판의 단부에 배치되는 적어도 하나 이상의 웨이퍼 픽업 어셈블리를 포함하는 웨이퍼 픽업 장치로서, 상기 웨이퍼 픽업 어셈블리는, 적어도 하나 이상의 웨이퍼 흡착 수단과, 웨이퍼 흡착 수단을 고정하기 위한 지지판과, 지지판 및 회전판에 연결되어 지지판의 승하강 운동을 안내하기 위한 적어도 하나 이상의 가이드 봉과, 및 지지판의 승하강 운동을 유도하는 수직변위수단을 포함하되, 상기 수직변위수단은, 지지판에 고정되는 롤러와, 상기 회전판에 고정되는 승하강 모터와, 및 승하강 모터에 고정되고 상기 롤러에 접촉되어 회전하는 편심자와, 상기 가이드 봉의 축방향에 배치되는 적어도 하나 이상의 탄성체를 포함하는 것을 특징으로 하며, 특히 픽업 어셈블리에 대한 수직변위수단으로서 탄성체와 모터의 편심운동을 이용함으로써 픽업장치의 고속 운전에 수반하여 내구성 및 동작 신뢰성이 구현될 수 있다.
Patent KR-20120122843-A (KR)
Title: Bubble generator
IPC: B01F3/04
Filed: 2011-06-16
Abstract: PURPOSE: A bubble generator is provided to allow a disinfection function in a shower without using a separate sterilizing filter. CONSTITUTION: A bubble generator comprises a first housing(10), a second housing(20), a first bubble generator, and a second bubble generator(50). The first housing is formed with a combining hole on the upper side thereof and has an open bottom. The second housing has an open top and is formed with a space. A plurality of third discharge holes is formed in the lower part of the second housing. The first bubble generator comprises a body unit, a combining unit, and a stopper unit. The combining unit is protruded from the upper center of the body unit. The stopper unit covers the lower part of the body unit.
Patent KR-20110138193-A (KR)
Title: Volute shaped pump casing for a centrifugal pump
Inventor: RODRIGUES ARNALDO
IPC: F04D1/00
Filed: 2011-06-17
Abstract: PURPOSE: A volute type pump casing for a centrifugal pump is provided to reduce the distance between upper and lower crossovers and the height of a multi-stage pump. CONSTITUTION: A volute type pump casing for a centrifugal pump comprises a chamber accommodating one or more impeller(4) which are installed to rotate around a shaft, a volute type chamber which forms a flow channel divided into first and second volutes(5.1,5.2), and first and second channels(6.1,6.2) which are connected to the first and second volutes The first, long channel is moved from the second, short channel in the axial direction.
Patent KR-20120140424-A (KR)
Title: Radiating plate having magnet
Inventor: KO BEOM JUN
IPC: H01L23/34
Filed: 2011-06-21
Abstract: PURPOSE: A radiating plate having a magnet is provided to circulate fluid by using a magnet within the fluid. CONSTITUTION: A space(11) is formed at a radiating plate(10). The space is closed. A magnet(12) is inserted within the space. Fluid(13) is filled in the space. A driving means moves the magnet in the fluid. The driving means generates magnetic field around the outside of the radiating plate.
Patent KR-20130000952-A (KR)
Title: Cart for fixing cell guide
Inventor: YANG DAL JOO
IPC: B63B9/06
Filed: 2011-06-24
Abstract: PURPOSE: A vehicle for installing a cell guide is provided to be stably fixed on the ground when loading and unloading a cell guide. CONSTITUTION: A vehicle for installing a cell guide(10) comprises a frame part(190), a cell guide support(200), and a fixing pin(300). The frame part is moved by moving wheels(140) installed at the bottom. The cell guide support supports a cell guide(400) and is movably installed on the frame part. The cell guide support moves the cell guide to a position to be welded while moving on the frame part. The fixing pin is installed through the cell guide support and the frame part and fixes the cell guide support moved at a desired position on the frame part.
Patent KR-20130002016-A (KR)
Title: Apparatus for removing foreign substance
Inventor: YUN GANG SUK
IPC: B65G45/14
Filed: 2011-06-28
Abstract: PURPOSE: A residue removing device is provided to prevent the abrasion of a conveyor belt by removing residues, which a cleaner does not remove, in a conveyor part of the conveyor belt. CONSTITUTION: A residue removing device(100) comprises a conveyor belt(110), a residue collecting part(130), and a residue removing part. The conveyor belt is located under an article dropping path(10) and comprises a conveyor part(C) and a return part(R) so that the conveyor belt is able to transfer articles(M1) dropped via the article dropping path while circulating. The residue collecting part is connected to the article dropping path not to be attached to the surface of the conveyor belt so that residues(M2) on the conveyor belt after passing through the return part is able to be collected. The residue removing part is connected to the residue collecting part to open and close a part of space of the residue collecting part. The residue removing part pushes the residues in a heading direction of the conveyor belt when it is contacted with the residues.
Patent KR-20130002812-A (KR)
Title: Drinking fountain for using rain water
Inventor: KIM JEONG HAN
IPC: E03B9/20
Filed: 2011-06-29
Abstract: PURPOSE: A drinking fountain using rainwater is provided to use rainwater as drinking water by effectively arranging rainwater intake, sterilization, and purification systems. CONSTITUTION: A drinking fountain using rainwater comprises a rainwater storage tank(10), a body unit(30), and a water supply unit(50). The rainwater storage tank comprises a water storage unit(11) and a manhole unit. The body unit comprises a machine room(31) and a door structure. The machine room supplies water stored in the rainwater storage tank. The door structure opens and closes the machine room. The water supply unit comprises an intake(51), an intake pipe(53), an intake pump(55), and a water purifier(57). The intake pipe sends water from the intake to a faucet unit(60).
Patent KR-20130003356-A (KR)
Inventor: KIM HYE RYEON
IPC: A01K29/00
Filed: 2011-06-30
Abstract: 본 발명은 애완견 발에 착용시키거나 벗기기 편리한 애견용 신발을 애완견 몸통에 걸쳐지는 연결부재에 탈부착 가능하게 체결시킨 애완견용 장신구에 관한 것이다. 
본 발명의 목적을 이루기 위해, 본 발명은 애완견 발을 수용하는 외피(10)와, 상기 외피의 상단 가장자리에 형성되는 고무 재질의 탄성 밴드부(20)와, 상기 외피의 일측면에 형성되는 제1 체결부(30)와, 상기 외피의 외부 바닥면에 부착되는 네오프렌 고무 재질의 바닥창(40)을 포함하는 애완견용 신발(100)과; 애완견 목 부위에 걸쳐지도록 고리형태를 가지며 애완견 줄이 체결되는 목줄체결부(51)가 상단면에 형성된 목걸이부(50)와, 상기 목걸이부와 일체로 형성되어 애완견 몸통에 걸쳐지는 몸통걸이부(60)로 이루어진 연결부재(200)로 구성된다.
Patent KR-20130005769-A (KR)
Title: Intelligent lighting control system and method thereof
Inventor: LEE SANG CHEOL
IPC: H05B37/02
Filed: 2011-07-07
Abstract: PURPOSE: An intelligent lighting control method is provided to maximize the saving of illumination energy. CONSTITUTION: An intelligent lighting control comprises a dimming control device(100) which controls a dimming step of output load(20) like an AC LED by sensing peak power. The intelligent lighting control comprises a sensor unit(190) which senses the illumination of an illumination environment. The intelligent lighting control comprises a control office server(200) which controls the peak setting value and illumination setting value of the dimming control device. The control office server controls load state like an AC LED. [Reference numerals] (10) Input power; (110) Integrated control unit; (111) Comparing unit; (120) Power sensing unit; (130) Power/dimming step conversion unit; (140) Load ON/OFF unit; (150) S/W control unit; (160) Switch unit; (170) Peak power sensing unit; (180) Communication unit; (191) Occupancy detecting sensor; (193) Illuminance sensor; (20) Output load; (200) Control office server; (30) Total load; (300) Wired-wireless communication network; (D1) Illuminance set value; (D2) Illuminance measured value; (D3) Peak set value
Patent KR-20120023534-A (KR)
Title: Coating-developing apparatus, coating-developing method and storage medium
Inventor: HAYASHI SHINICHI
IPC: H01L21/027
Filed: 2011-07-27
Abstract: PURPOSE: A coating-developing apparatus, a coating-developing method thereof, and a storage medium are provided to prevent degradation of a processing quantity by performing a process with the other side module when one side module is not available by a unit block of a liquid processing system. CONSTITUTION: A processing block(S20) is comprised of a front side heating system block(S2), a liquid processing block(S3), and a rear side heating block(S4). The front side heating system block is arranged toward a washing block(S5) side from a carrier block side. The liquid processing block comprises first to fifth liquid processing unit blocks(B1-B5) for performing a liquid process on a wafer. Each liquid processing unit block is partitioned by a partition wall. The rear side heating block comprises first to third heating processing unit blocks(C1,C2,C3). The wafer is returned to an interface block after exposure treatment.
Patent KR-20130013117-A (KR)
Title: Fuel oil supplying system for fuel oil service tank and level control method for fuel oil service tank
Inventor: SHIM GYU HO
IPC: B63B11/04
Filed: 2011-07-27
Abstract: PURPOSE: A fuel supply device of a fuel supply tank for a ship and a method for controlling the level of the fuel supply tank are provided to reduce a space for fuel supply facility in a ship. CONSTITUTION: A fuel supply device of a fuel supply tank for a ship comprises a single fuel storage tank(10), a plurality of fuel supply tanks(120), a single fuel supply pump(16), a level switch(18), and a control unit(20). The single fuel storage tank holds fuel. The fuel supply tanks individually connect a supply path(14) to the fuel storage tank. The fuel supply pump is installed in along the supply path and supplies the fuel to the fuel storage tank. The level switch detects the level of the fuel in the fuel supply tank. The control unit controls the operation the fuel supply pump according to the level of the fuel.
Patent KR-20130015785-A (KR)
Title: Bulk acoustic wave resonator
Inventor: KIM CHUL SOO
IPC: H03H9/17
Filed: 2011-08-05
Abstract: PURPOSE: A volume acoustic resonator is provided to control electro-acoustic coupling coefficients by using capacitance generated between a volume acoustic resonating part and a ground plane. CONSTITUTION: An anti-resonance frequency changing part(120) is located at a fixed distance from a volume acoustic resonating part(110). The volume acoustic resonating part includes a first electrode(210), a piezoelectric layer(220), and a second electrode(230). The anti-resonance frequency changing part includes ground planes(241,251), a piezoelectric layer, and ground planes(243,253). Fringe capacitance is generated between the fringe of the first electrode and the fringe of the second electrode. The ground planes are formed in a shape symmetrical to the first electrode.
Patent KR-20130022441-A (KR)
Title: Adhesive tape with magnetic receptive layer and method for manufacturing electronic component using the same
Inventor: MOON KI JEONG
IPC: C09J133/04
Filed: 2011-08-23
Abstract: PURPOSE: An adhesive tape with a magnet-adhesive layer is provided to reduce process cost, to simplify a semiconductor package process, and to improve workability. CONSTITUTION: An adhesive tape comprises an adhesive layer formed on one side of the substrate film and a magnet-attached layer(2) spread on the other side of the substrate layer. The adhesive layer comprises 100.0 parts by weight of an acrylic copolymer, 0.01-30 parts by weight of hardener, 0.05-30 parts by weight of an energy-curable acrylic oligomer, and 0.0-125 parts by weight of a photoinitiator. The molecular weight of the acrylic copolymer is 400,000-4,000,000. The adhesion of the adhesive layer is 1-350 gf/inch.
Patent KR-20130030868-A (KR)
Title: Recycling type livestock wastewater treating system
Inventor: KYE CHANG SEOK
IPC: B01D36/04
Filed: 2011-09-20
Abstract: PURPOSE: A recycling type livestock wastewater treating system is provided to reuse filtered sludge as compost and to burn a float material to emit clean air into the atmosphere. CONSTITUTION: A recycling type livestock wastewater treating system comprises a wastewater treating apparatus(200) which treats waste water generated in a resource-obtaining apparatus and method. The resource-obtaining apparatus comprises a selector, acid fermenter, pH controller, and anaerobe fermenter and generates biogas. The biogas includes a desulfurizer, gas preservation apparatus, and a gas purifier. The waste water-treating apparatus comprises a pre-treating apparatus, a main-treating apparatus, and a final treating apparatus. [Reference numerals] (100) Livestock excrement treating and resourcing apparatus; (200) Wastewater treating apparatus; (410) Cogeneration power plant; (AA) Livestock excrement; (BB) Methane gas; (CC) Liquid fertilizer; (DD,HH,II) Electricity; (EE) Heat; (FF) Condenser; (GG) Heat storing bath; (JJ) Water; (KK) Compost
Patent KR-20120031892-A (KR)
Title: Manufacturing method of hermetically sealed container for holding therein atmosphere of reduced pressure
Inventor: MATSUMOTO MAMO
IPC: C03C27/06
Filed: 2011-09-22
Abstract: PURPOSE: A manufacturing method of an airtight container which keeps a depressurized inner environment is provided to improve bond strength and sealing function of the airtight container by reducing tensile stress in a face plate. CONSTITUTION: A manufacturing method of an airtight container which keeps a depressurized inner environment comprises the following steps: forming an assembly unit which has an inner domain surrounded by a frame member(14) and a pair of glass substrates(13) by arranging a joining member(1) between one of the pair of glass substrates and the frame member; heating and melting the joining member in order to place a center(G) of an incoming heat flux distribution closer to an inner domain(E) of the assembly than a center(46) of the joining member in a width direction and compressing the joining member at the same time. In the assembly forming step, the joining member has a negative temperature coefficient viscosity and has a lower softening point than one of the glass substrates and the frame member.
Patent KR-20130039012-A (KR)
Title: Mobile terminal and method for controlling the same
Inventor: CHO DAE DUEK
IPC: G06F3/14
Filed: 2011-10-11
Abstract: PURPOSE: A portable terminal and a control method thereof are provided to display works included in a list according to importance levels. CONSTITUTION: A memory(160) stores a plurality of work articles. A display unit(151) displays the work articles such as a list. When two or more importance levels are set for the work article, a control unit(180) displays the work articles by rearranging the work articles according to the set importance levels. The control unit displays highlight color indicating the importance level corresponding to the importance levels. [Reference numerals] (110) Wireless communication unit; (111) Broadcasting reception module; (112) Mobile communication module; (113) Wireless Internet module; (114) Local area communication module; (115) Location information module; (120) A/V input unit; (121) Camera; (122) Microphone; (130) User input unit; (140) Sensing unit; (141) Proximity sensor; (150) Output unit; (151) Display unit; (152) Sound output module; (153) Alarm unit; (154) Haptic module; (155) Projector module; (160) Memory; (170) Interface unit; (180) Control unit; (181) Multimedia module; (190) Power supplying unit;
Patent KR-20130041461-A (KR)
Title: Plant stand
Inventor: KIM HYANG HEE
IPC: A01G9/04
Filed: 2011-10-17
Abstract: PURPOSE: A flower pot support is provided to enable interior decoration by mounting a flower pot on a glass wall or a window. CONSTITUTION: A flower pot support comprises: a support part(10) for placing a flower pot at the lower portion; a fixing part(20) which is perpendicularly extended with respect to the support part and fixed and supports a glass wall or a window; and a rib(30) which is formed at the left end and right end of the fixing part and the support part to prevent falling and departure of the flower pot. The support part and fixing part are formed of a transparent material. The support part has a plurality of air holes(11) for circulation of air.
Patent KR-20130041557-A (KR)
Title: Touch type security media
Inventor: KOO HONG SIK
IPC: G06Q20/30
Filed: 2011-10-17
Abstract: PURPOSE: A touch type security medium is provided to store and generate a security code, thereby eliminating necessity of memorizing the security code. CONSTITUTION: A switching unit(20) opens and closes electronic connection of a touch contact point(10) of a conductor material and a bulk electrostatic derivative(40). A control unit(30) controls the opening of the switching unit corresponding to a bit pattern of transmission data. The transmission data is a security code for authentication. The control unit successively opens and closes the switching unit corresponding to each bit of the transmission data by using one touch contact point and one switching unit.
Patent KR-20130045754-A (KR)
Title: 로봇의 주행 안정성 향상을 위한 외란 정보맵 작성 및 운영방법
Inventor: KIM JAE WON
IPC: G05D1/02
Filed: 2011-10-26
Abstract: 본 발명에 의한 로봇의 주행 안정성 향상을 위한 외란 정보맵 작성 및 운영방법은, 지정된 주행경로를 따라 이동하는 다수의 로봇(100)과, 상기 로봇(100)과 통신으로 데이터를 주고받는 서버(200)가 구성되고, 상기 로봇(100)은 주행경로 및 주행경로 이탈을 감지하는 센서로 구성된 감지부(120)와, 주행하는 바닥면의 상태를 감지하는 비전센서(130)를 포함하고, 상기 로봇(100)은 상기 감지부(120)를 통해서 주행경로 이탈을 확인하고 주행경로로 복귀하도록 구성되고, 후술하는 외란정보맵을 전송받아서 마찰계수의 변화에 의해 외란이 발생한 지점을 인식하여 상기 지점에서 보상 운전을 하도록 구성되고, 상기 서버(200)에는 상기 로봇(100)의 주행경로를 데이터로 변환한 정상주행경로맵이 저장되는 로봇 주행 시스템(90)에 있어서; 상기 서버(200)가 상기 로봇(100)의 주행 및 위치오차를 상기 정상주행경로맵과 비교하여 외란에 의해 로봇(100)의 이탈이 발생한 정도를 데이터로 취득하여 경로이상 발생맵을 작성하여 저장하고, 상기 비전센서(130)를 통해서 바닥면의 상태를 데이터로 받아서 노면마찰력 추정데이터맵을 작성하여 저장하는 정보취득단계(S1)와, 상기 서버(200)에서 정보취득단계(S1) 후에, 경로이상 발생맵과 노면마찰력 추정데이터맵을 중첩하여 바닥면의 마찰계수에 따라 외란 정도를 파악하여, 외란정보맵을 작성하는 외란정보맵 작성단계(S2)와, 상기 서버(200)에서 외란정보맵을 각 로봇(100)으로 전송하여 상기 로봇(100)이 마찰계수의 변화로 인해서 외란이 발생한 지점을 인식하여 상기 지점에서 보상 운전을 하는 주행제어반영단계(S3)를 포함함으로써, 임의의 로봇(100)이 바닥면의 마찰계수 변화로 인해서 외란이 발생하여 주행경로를 이탈한 후 복귀할 경우, 뒤따르던 상대 로봇(100)에게 상기 외란 현상을 전달하여 상기 오류를 반복하지 않도록 한 것을 특징으로 한다.