Metal-organic frameworks (MOFs) are widely used in various fields because they make it easy to control porous structures according to combinations of metal ions and organic linkers. In addition, ZIF (zeolitic imidazolate framework), a type of MOF, is made up of transition metal ions such as Co2+ or Zn2+ and linkers such as imidazole or imidazole derivatives. ZIF- 67, composed of Co2+ and 2-methyl imidazole, exhibits both chemical stability and catalytic activity. Recently, due to increasing need for energy technology and carbon-neutral policies, catalysis applications have attracted tremendous research attention. Moreover, demand is increasing for material development in the electrocatalytic water splitting and metal-air battery fields; there is also a need for bifunctional catalysts capable of both oxidation/reduction reactions. This review summarizes recent progress of bifunctional catalysts for electrocatalytic water splitting and metal-air batteries using ZIF-67. In particular, the field is classified into areas of thermal decomposition, introduction of heterogeneous elements, and complex formation with carbonbased materials or polyacrylonitrile. This review also focuses on synthetic methods and performance evaluation.

Though the final goal of mobile robot navigation is to be autonomous, operators intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas acnnot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. Acollision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.