It is important to control the high accurate position and force to prevent unexpected accidents by a robot manipulator. Direct-drive robots are suitable to the position and force control with high accuracy, but it is difficult to design a controller because of the system's nonlinearity and link-interactions. This paper is concerned with the study of the stabilization force control of direct-drive robots. The proposed algorithm is consists of the feedback controllers and the neural networks. After the completion of learning, the outputs of feedback controllers are nearly equal to zero, and the neural networks play an important role in the control system. Therefore, the optimum adjustment of control parameters is unnecessary. In other words, the proposed algorithm does not need any knowledge of the controlled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the force control of a parallelogram link-type robot.

This paper demonstrates the impact stresses and wave propagation characteristics of glass/epoxy laminates subjected to the low-velocity impact by a steel ball theoretically and experimentally. A plate finite element model in conjunction with experimental contact laws is used for the theoretical investigation. The specimens for statical indentation and impact test are composed of $[0/45/0/-45/0]_28 and [90/45/90/-45/90]_28$ stacking sequences and have clamped-simply supported boundary conditions. Finally, these two results are compared and then the impulsive stress and wave propagation characteristics of this laminated composite are studied.

A new system of equations governing the nonlinear thin laminated plates with large deflections using von Karman equations is derived. The effects of transverse shear in the thin interlayer are included as part of the analysis. The finite difference method is used to perform the geometrically nonlinear behavior of the plate. The resultant equations permit the analysis of the effect of transverse shear stress deformation on the overall behavior of the interlayer using the load incremental method. For the purpose of feasibility and validity of this present method, the numerical results are compared with other available solutions for accuracy as well as efficiency. The solution techniques have been implemented and the numerical results of example problem are discussed and evaluated.

A mixture fraction formulation is used to numerically simulate the structure of diluted axisymmetric methane-air nonpremixed counterflow flames. The effects of global strain rate and gravity wert! investigated and results were compared. Fuel of a mixture of 20% methane and 80% nitrogen by volume and oxidizer of pure air at low and moderate global strain rates $a_g= 20, 40, 80 s^{-1}$ in normal and zero gravity were computed. It is shown that the numerical method is capable of predicting the structure of counterflow flames in normal and microgravity environments at low and moderate global strain rates.

Recently the steel parts used in automobiles are required to be used under high stress more than ever before due to the need of keeping the weight down. To achieve this requirement of the high strength steel, it must be necessary to decrease inclusion contents and surface defects as like decarburization, surface roughness etc. In this study, the surface conditions are measured to know the influence on fatigue properties by two cases of two-stage shot peening and single-stage shot peening. And for this study, three kinds of spring steel (JISG408l-SUP7, SAE 9254 and DIN 50CrV4) are shaped. This study shows the outstanding improvement of fatigue properties at the case of two-stage shot peening in the rotating bending fatigue test and it results from (1) decreasing the surface roughness (2) unchanging the surface hardness (3) increasing the compressive residual stress. Moreover, results also show fatigue failures originated at the inclusion near the surface, and this inclusion type is turned out to be an alumina of high hardness.

Kullback Discrimination Information (KDI) is one of the pattern recognition methods. KDI defined as a measure of the mutual dissimilarity computed between two time series was studied for detection and classification of bearing flaking on outer-race and inner-races. To model the damages, the bearings in normal condition, outer-race flaking condition and inner-races flaking condition were provided. The vibration sensor was attached by the bearing housing. This produced the total 25 pieces of data each condition, and we chose the standard data and measure of distance between standard and tested data. It is difficult to detect the flaking because similar pulses come out when balls pass the defection point. The detection and classification method for inner and outer races are defected by KDI and nearest neighbor classification rule is proposed and its high performance is also shown.

This paper is aimed at predicting the life of rubber insulating gloves under normal operating stresses from relatively rapid test performed at higher stresses. Specimens of rubber insulating gloves are subject to multiple stress conditions, i.e. combined electrical and thermal stresses. Two modes of electrical stress, step voltage stress and constant voltage stress are used in specimen aging. There are two types of test for electrical stress in this experiment: the one is Breakdown Voltage (BDV) test under step voltage stress and thermal stress and the other is lifetime test under constant voltage stress and temperature stress. The ac breakdown voltage defined as the break-down point of insulation that leakage current excesses a limit value, l0mA in this experiment, is determined. Because the very high variability of aging data requires the application of statistical model, Weibull distribution is used to represent the failure times as the straight line on Weibull probability paper. Weibull parameters are deter-mined by three statistical methods i.e. maximum likelihood method, graphical method and least squares method, which employ SAS package, Weibull probability paper and FORTRAN, respectively. Two chosen models for predicting the life under simultaneous electrical and thermal stresses are inverse power model and exponential model. And the constants of life equation for multistress aging are calculated using numerical method, such as Gauss Jordan method etc.. The completion of life equation enables to estimate the life at normal stress based on the data collected from accelerated aging test. Also the comparison of the calculated lifetimes between the inverse power model and the exponential model is carried out. And the lifetimes calculated by three statistical methods with lower voltage than test voltage are compared. The results obtained from the suggested experimental method are presented and discussed.

In this study, we adopt the strength variation (equation omitted) of electromagnetic waves by their distance. The location of antenna emitting electromagnetic waves is moved to its opposite side and the distance between human body and antenna is secured more. Therefore, the cellular phone designed in this study can reduce the impact of electromagnetic waves absorbed in local part of human body (in particular, head) and then can have competitiveness in the world market facing the regulations.

This study was performed by measuring the minimum ignition temperature of polyurethane form recovered from the recycling process of the end-of-life home appliances. The critical ignition temperature of polyurethane form was lower as the size of the sample vessel was increased, and that of polyurethane form using cyclopentane as the forming agent was relatively lower than the polyurethane form using CFC and the combustion of cyclopentane-polyurethane form occurred fiercely. It is considered that the recycling process of end-of-life home appliances using cyclopentane-polyurethane form as the insulator would require a special fire and dust explosion prevention measures since there exists a high potential hazard of fire and dust explosion during crushing and storage processes.

The Decomposition of NO$_2$ (nitrogen dioxide), one of the Hazardous Air Pollutant (HAP), was studied by utilizing the SPCP (Surface induced discharge Plasma Chemical Processing) reactor so as to obtain optimum process variables and maximum decomposition efficiencies. Experimental results showed that for the frequency of 10kHz, the highest deco position efficiency of 84.7% for NO$_2$ was observed at the power consumptions of 20W. The decomposition efficiency of $NO_2$ was found to be: 1) proportional to the residence times, and inversely proportional to the initial concentrations of $NO_2$; 2) the maximum when the electrode diameter was 3mm; 3) influenced by the electrode material, decreasing in the order of W>Cu>Al; and 4) proportional to the $CH_4$ content, due to which the highest efficiency of 98% was obtained with almost all the $NO_2$ removed.

A preparation method of cobalt supported alumina catalyst for a emergency escape mask cartridge has been studied. Catalysts were prepared by incipient wetness impregnation method using pre-shaped $\gamma$=alumina powders of 70-100 mesh. The catalyst was tested in a continuous-flow reactor system and characterized by elemental analysis, BET and TGA-DTA techniques. Cobalt shows higher activity than platinum or nickel for carbon monoxide oxidation at room temperature. Optimum loading amount of cobalt was 10 wt.% for CO oxidation and the reaction activity increases gradually with the increase of calcination temperature up to $450^{\circ}C.