In this paper, we discuss the control scheme on active compliance control of flexible manipulators. The active compliance control scheme is extended from the scheme for rigid manipulators. To illustrate the validity of the proposed control scheme, we show experimental results for the case when the end-effector is not moving and when it is moving while applying force. Although flexible manipulators show some problems of stability yet it is clear from these results that flexible manipulators are more effective to reduce damage of environment because of link flexibility than rigid ones.

The cylindrical object such as a water pipe or an oil pipeline are widely used in the infrastructure. Those pipes should be inspected periodically by human or a robot. However, since there is no edge or vertex in the pipe, it is very difficult for the robot to navigate along the pipe. In this paper in order to guide the robot along the axis of the pipe, an algorithm which find the axis using the measured range data from the robot to the pipe wall is developed The algorithm is verified using both the simulated range data and the measured one.

Keeping the layer thickness constant is very essential for improving the shape accuracy in the stereolithography process. The layer thickness is created by recoating process, and also affected by recoating parameters such as blade speed and thickness. The created layer in this process can determine the whole accuracy of the entire parts. The aim of this paper is to improve the accuracy of the layer thickness by adjusting the recoating process parameters. Several experiments with different recoating conditions are Performed to find the optimal recoating parameters that produce the most accurate layer thickness. The effective recoating method is suggested by measuring and analyzing the cured layer thickness.

In the gas cutting of plate steel, the quality of the cut surfaces and sections is strongly dependent on the cutting conditions such as cutting speed, kerf width, plate thickness, material, distance between tip and specimen, and cutting oxygen pressure etc. The cutting tests of plate steel were carried out using CNC gas cutting machine. This paper deals with cut surface and section characteristics of plate steel in CNC gas cutting. Both top and bottom widths of kerf, the surface roughness(Ra, Rmax) of cutting surfaces are measured under various cutting conditions such as cutting speed, material, distance between tip and specimen, and cutting thickness. The photographs of cut surface and cut section are also analyzed under various cutting conditions.

Evaluation of fatigue strength on the spot welded part is very important for strength design of spot welded steel structures. In this paper, we could get the life cycle of the spot welded part using the lethargy coefficient obtained through the quasi-static tensile shear test for the specimen welded by current 10kA. The reliability evaluation of the life cycle is completed by comparing the life cycle calculated under the constant loading rate with the life cycle obtained by dynamic fatigue test. And then the result calculated by the lethargy coefficient is verified through the lift cycle calculated using the dynamic final tensile stress formula under the increased loading speed. This way can make save the time and cost in processing of predicting the life cycle of a structure.

In this study, endurance limit and fatigue behavior of load carrying fillet welded cruciform joints depending on commonly used welding methods such as SMAW, SAW, MIG and FCAW are investigated. In respect of endurance limit SMAW specimen showes highest result, and then MIG, SAW, FCAW in descending order. However, SMAW specimen showes lowest crack growth rate and it followed by MIG, FCAW, SAW. By these results, it is needed to use SMAW or MIG welding methods for welding structures with small welding capacity and SAW or FCAW methods for large welding structures with respect to economic benefits and operation efficiency of welding. It was also shown fatigue crack growth rate was more influenced by the strenght of welding materials than the endurance limit of welding materials.

Tensile strength of the woven glass fiber reinforced PET (Poly-Ethylene-Terephthalate) matrix composite manufactured by rapid press consolidation technique was investigated and evaluated. During pre-heating, consolidation and solidification stages, the optimal manufacturing conditions for this composite were discussed based on the void content and tensile properties depending on vacuum condition. It is found that the effect of vacuum condition during preheating gives a substantial difference on the strength as well as microstructure. It is also found that the failure micromechanism shows several energy absorption processes enhancing fracture toughness.

In this paper, an automated design and 3-D modeling system of an axial fan and a boss for cooling towers was developed. API and parametric design Provided by a commercial solid-modeler are engaged to automate modeling process. Design data of the boss are assumed to be given by a user with design experiences while the fan from the fan design program using three-dimensional flow analysis. An algorithm avoiding the interferences between fans and a boss is developed. The design data are registered on the database not only to remove duplicate design but also to transfer the data to ERP system.

A mechanical press joining was investigated in ender for joining A1-5052 sheets for automobile body weight reduction. Static tensile and fatigue tests were conducted using tensile-shear specimens for evaluation of fatigue strength of the joint. During Tox joining process for A1-5052 plates, using the current sheet thickness and punch diameter, the optimal applied punching force was found to be 32 kN under the current joining condition. For the static tensile-shear experiment results, the fracture mode is classified into interface fracture mode, in which the neck area fractured due to influence of neck thickness, and pull-out fracture mode due to influence of plastic deformation of the joining area. And, during fatigue tests for the A1-5052 tensile shear specimens, interface failure mode occurred in the region of low cycle. The fatigue endurance limit approached to 6 percents of the maximum applied load, considering fatigue lifetime of $2.5\times10^6$ cycles.

In a high speed spindle system it is very important to monitor the state of rotating rotor. Particularly in active control spindle system the position sensor must provide feedback to the control system on the exact position of the rotor. In order to monitor the state of a high speed spindle exactly, high accuracy and wide frequency bandwidth of sensors are important. The focus in this paper is to make a fiber optic sensor for monitoring rotor of magnetic bearing, to design the circuit for detecting optical signal, and to evaluation static and dynamic characteristics of fiber optic sensor.

The stable driving condition of high speed gear is approached by shape modifications of a gear tooth. Recently, many gear designers are using FEM for the design and the manufacture of a high precision gear. In this paper, it is aimed to drive in stable sound level through the modification of the tooth and the shape of a gear. The simulation is used to understand the effect of holes for the decrement of weight and the stress variation for the tooth modification. Beam elements used to simulate the same condition as a real gear drive by FEM. The driven gear is simulated to 60,000rpm for the tooth modification.

Electro-rheological(ER) fluids are suspensions in which rheological properties show an abrupt change with variation of electric fields. We modeled the parallel-plates relating to ER-Valve system and yielded shear stress according to the strength of electric field. The purpose of the present study is to examine the flow characteristics of ER fluids according to the strength of electric field between parallel-plates. Then the steady relationship between pressure drop and flow rate of the ER fluids between parallel-plates under application of an electric fields was measured. The pressure drop and flow rates of ER fluids under the application of electric fields for steady flow were measured. For the experiment, we used the ER fluids, 35w% zeolite having hydrous particles and differential pressure gauge. This test reviewed experiment for the special changes of ER fluids in the steady flow condition.

The equipment of textiles let off is a part of inspection machine which inspects finished textiles and it checks up textiles through that. This study suggests a method to select the capacity and initial gas pressure of accumulator to control surge rising pressure occurring when suddenly braking action to a desired degree. An accumulator in hydraulic systems is by hydraulic machinery which stores kinetic energy of inertia body during braking. A series of computer simulations were done for the brake action The results of the simulation work were compared with those of experiments.

Using a quarter car model, an analytic method for performance estimation of a vehicle suspension system with respect to frequency response, RMS response and performance index is presented. From frequency response function, compromization of response performance to the whole frequency range is verified and from RMS response and performance index, sensitivity of ride md handling characteristics are examined. Using a full car model, sweet area(stable ride area) are determined and performance sensitivity is estimated according to the change of feedback gains. In order to esimate the output sensitivity, response we is displayed using a 3-dimensional contour plot. Design data n suggested for optimal design parameter esimation, which maximize the performance of the given suspension system.

Motorcycle industry, for its competitive position, depends on part design technology. This part design has a bulky amount of data and asks the accumulation of advanced technical skill and experience, and fragmentary technical application is not enough to get to the kernel of a problem. Therefore, the improvement of proper productivity - the starting point of engineering design - and useful Design Methodology for products manufacturing are needed. Thus this paper is aimed to create a program that outputs dynamic characteristics of a vehicle when the data from fully understanding on motorcycle's brake system and induced formula for brake design are inputted. This paper is intended to show a creative design method by the thermal analysis data through FEM study and using shape design parameters derived from our programs.