This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

This study proposes a new screw measurement system that is capable of measuring the pitch or lead of a screw, which is one of the most important parameters representing the screw quality. There are various conventional methods for screw measurement including some mechanical and optical ones, but they can not be applied to measure the lead except the profiles or sizes. The newly suggested method is able to measure the pitch or lead directly. This is executed by scanning the thread with a digital probe while the target screw rotates. The devised measurement system is a integrated computer system which is composed of a stepping motor, a digital linear gauge and a chuck device for holding the measured screw. In order to operate the system effectively and conveniently, a computer program having graphical user interface facility is developed. Some experiments were done to prove the effectiveness of the system.

Welding fabrication invariantly involves three district sequential steps: preparation, actual process execution and post-weld inspection. One of the major problems in automating these steps and developing autonomous welding system is the lack of proper sensing strategies. Conventionally, machine vision is used in robotic arc welding only for the correction of pre-taught welding paths in single pass. However, in this paper, multipass tracking more than single pass tracking is performed by conventional seam tracking algorithm and developed one. And tracking performances of two algorithm are compared in multipass tracking. As the result, tracking performance in multi-pass welding shows superior conventional seam tracking algorithm to developed one.

Laser surface hardening is beneficially used for surface treatment of structural steel. Due to very rapid heating and cooling rates, structural low-alloy steel(SCM4) can be hardened as self quenching. The aim of this research project is to improve the influence of the process laser parameters: laser power, spot size, surface roughness, and traverse speed. The laser beam is allowed to scan on the surface of the workpiece at the constant power(1095W), varying the traverse speed at 0.3m/min, 0.5m/min and 0.8m/min. The optical lens with the elliptical profile is designed to obtain a wide surface hardening area with uniform hardness. From the results of the experiment, it has been shown that the stable hardness is about 600$\sim$700Hv, when the laser power, focal position and the traverse speed are P=1095W, z=0mm and v=0.3m/min.

This paper proposes the Elastic force application on the obstacle avoidance of Silvermate robots. The method deals with the problem associated with a Silvermate robot driving to a goal configuration as avoiding obstacles. The initial trajectory of a robot is determined by a motion planner, and the trajectory modification is accomplished by adjusting the control points. The control points are obtained based on the elastic force approach. Consequently the trajectory of a robot is incrementally modified to maintain a smooth and adaptive trajectory in an environment with obstacles. The suggested algorithm drives the robot to avoid obstacle in real-time. Finally, The simulation studies are carried out to illustrate the effectiveness of the proposed approach.

The structure of ER valve is simple that its designing and manufacturing are easy. The flow rate and pressure of ER fluids flowing in the ER valve are controlled only by electric field. In this study a three port ER valve is designed and manufactured. Then, the flow rate and pressure dorp of ER fluids flowing in the ER valve are measured. The system proposed controls flow rate and pressure fast. So, this system can be easily substituted for the existing hydaulic and pneumaitc control system.

Surface of rapid prototype has inevitably stair-stepping error, which is attributed to the continuous building process of 2 dimensional area. In this study, rounded edge model was established to estimate the roughness of inclined surface which has stair-stepping error. To investigate the roughness of rapid prototypes, specimens that have various surface inclinations were manufactured by various types of RP machines. As the surface inclination increased, the roughness of the specimens manufactured by SL, FDM, or LOM process decreased, which coincides with the simulation results. However, surface roughness of 3DP specimen was almost independent of the inclination. Furthermore, as the angle of surface increased, roughness of poly-jet specimen also increased, which is attributed to the frictional behavior between writing head and scanned area.

With the developments in knitting, manufacturing, and polymers, coated gloves have been evolved in a way to maximize occupational safety and functionality. In this paper, we have considered the PU-coating process for the glove knitted by Dyneema to reduce the occurrence of the defects due to air bubble. This paper classifies the types of defect due to air bubble and traces their forming mechanisms. The air between coating layer of glove and mold's surface forms the defects if it is not evacuated fully in the process of submerging into water. The defects can be suppressed or avoided by forming air-evacuating path on the surface of the molds.

The high speed machining has been widely applied to manufacture dies and machine elements in industrial field. Especially, 5-axis milling has been employed to produce a wide range of turbine blades, impellers and complex molds. In this study, the machining characteristics of injection molds were investigated according to tool tilting angles in 5-axis milling. The cutting force and surface roughness were investigated with various tool tilting angles. When the tool tilting angle was over than 10 degree, the characteristics of cutting force and surface roughness were improved in machining of Al alloy.

The purpose of this study is to analyze the characteristics of a domestic developed hydraulic axial piston motor. An experimental apparatus was constructed and the output torque, the input oil pressure, the input flow rate, the speed of motor and oil temperature were measured. They were measured under both no load and load conditions. The results are as follows; 1. Motion of motor became steady state conditions after 5 seconds. 2. Output torque of motor was proportional to input oil pressure under both load and unload. 3. Speed of motor decreased with increasing load. 4. Oil temperature was almost constant. The results of this study will offer the basic data in designing and operating hydraulic axial piston motors.

The study on damaged layer is necessary for machinability improvement in micro machining. The damaged layer in metal cutting is derived from plastic deformation and transformation of metal structure. The damaged layer affects micro mold life and micro machine parts. In this study, the damaged layer of micro machined surface of copper is evaluated according to various machining condition. The damaged layer structure and metallurgical characteristics are measured by optical microscope, and evaluated by cutting forces and surface roughness. The scale of this damaged layer depends on cutting process parameters and machining environments. By experimental results, depth of damaged layer was increased with increasing of cutting depth, also the damaged layer is less occurred in down-milling compared to up-milling during micro endmilling operation.

This research was done on the basis of assumption that there is a relationship between welding parameters and geometry of the back-bead being a gap in arc welding. Multiple regression analysis was used as method for predicting the geometry of the back-bead. The analysis data and the verification data were used for the formation of multiple regression analysis. The method was used to perform the prediction of the back-bead.

Single side final polishing is a very important role to stabilize a wafer finally before the device process on the wafer is executed. In this study, the machining variables, such as pressure, machining time, and the velocity of pad table were adopted. These parameters have the major influence on the characteristics of wafer polishing. We investigated the surface roughness changing these variables to find the optimal polishing condition. Pad, slurry, slurry quantity, and oscillation distance were set to the fixed variables. In order to reduce defects and find a stable machining condition, a hall sensor was used on the polishing process. AE sensor was attached to the polishing machine to verify optimal condition. Applying data analysis of the sensor signal, experiments were performed. We can get better surface roughness from loading the quasi static force and improving wafer-holding method.

Condenser lens and objective lens are used to demagnify the image of the crossover to the final spot size. In lens, electrons are focused by magnetic fields. This fields is fringing field. It is important in electron focusing. Electron focusing occurs the radial component field and axial component field. Radial component produces rotational force and axial component produces radial force. Radial force causes the electron's trajectory to curve toward the optic axis and corss it. Focal length decreases as the current of lens increases. In this paper, we use the focal length for desiging the hardware of lens current control and present the results.

Assembly is mentioned as important process saving time and cost where we produce the machine with many parts relationships. In this study, parts assembly relationship is analysed for assembly information of micro milling machine which have been developing for research. Liaison diagram, datum flow chain and assembly tree are applied to discuss assembly characteristics of micro milling machine model. We can find out the characteristics of micro machine assembly and discuss about facility of assembly. Some analysis in this paper about micro milling machine will give a useful tools for assembly. We knew that the predicted results from analysis in this study are alignment and clearance among the parts. The 3D model of micro machine which is studied in this paper is not a complete model. Main parts of a micro milling machine are used and presented.

A new cutting force estimating approach and machining state monitoring examples are presented which uses a cylindrical displacement sensor built into the spindle. To identify the tool-spindle system dynamics with frequency up to 2 kHz, a home-built electro-magnetic exciter is used. The result is used to build an algorithm to extract the dynamic cutting force signal from the spindle error motion; because the built-in spindle sensor signal contains both spindle-tool dynamics and tool-workpiece interactions. This sensor is very sensitive and can measure broadband signal without affecting the system dynamics. The main characteristic is that it is designed so that the measurement is irrelevant to the geometric errors by covering the entire circumferential area between the target and sensor. It is also very simple to be installed. Usually the spindle front cover part is copied and replaced with a new one with this sensor added. It gives valuable information about the operating condition of the spindle at any time. It can be used to monitor cutting force and chatter vibration, to predict roughness and to compensate the form error by overriding spindle speed or feed rate. This approach is particularly useful in monitoring a high speed machining process.

Phase contrast imaging in atomic force microscopy showed a promise as an effective tool for better understanding of micromechanical properties of surfaces at nano scale. A qualitative estimation model for phase contrast images obtained with a tapping mode AFM was developed. This investigation demonstrated the high efficiency of combined analysis of topography and phase contrast images for characterizing nanosurfaces. Phase contrast images allowed estimation of relative stiffness(elastic modulus) of the sample surface. The phase contrast images revealed a significant inhomogeneity of the nano scale worn surfaces. Phase contrast images are also capable of revealing the formation of tribofilms.

The electric part of thermal SEM(Scanning Electron Microscopy) consists of high voltage generation, lens control, and image processing. Several methodologies for enhancing SEM image are addressed and those results are verified through analyses and experiments. The controller employes a DSP(Digital Signal Processing), making the system more flexible and convenient than the classical analogue based controller. In some parts based the analog circuit, there are inevitable sources of noise and image distortion. The experimental investigation is provided along with analytical proof to enhance the SEM image.

Focused Ion Beam(FIB) systems is a useful tool for the fabrication of micro-nano scale structures. In this study, the effects of FIB etching on the Au microstructure are systematically investigated. As the fabrication parameters, ion dose, dwell time and beam overlap ratio are studied. First, the increases of Ga ion dose makes the milling yield higher and the sidewall of milling profile steeper. Dwell time is found to have little effects on the milling profile due to the relatively large milling area of $1\times1{\mu}m^2$ used in this study. However, beam overlap significantly affects not only milling rate but also milling profile. As the beam overlap ratio changes from positive to negative, the development of regular cross-stripe patterns at the bottom with low milling rate is observed.

This paper presents a computer-based analysis on the thermal shock characteristics of Pb-free solder joints and UBM in flip chip assemblies. Among four types of popular UBM systems, TiW/Cu system with 95.5Sn-3.9Ag-0.6Cu solder joints was chosen for simulation. A simple 3D finite element model was first created only including silicon die, mixture between underfill and solder joints, and substrate. The displacements due to CTE mismatch between silicon die and substrate was then obtained through FE analysis. Finally, the obtained displacements were applied as mechanical loads to the whole 2D FE model and the characteristics of flip chip assemblies were analyzed. In addition, based on the hyperbolic sine law, the accumulated creep strain of Pb-free solder joints was calculated to predict the fatigue life of flip chip assemblies under thermal shock environments. The proposed method for fatigue life prediction will be evaluated through the cross check of the test results in the future work.

As an electron scanning microscopes has traditionally required a considerably large room equipped with several service and pipe lines due to its inherent size. As an alternative, a small sized SEM, simply called a mini-SEM, is introduced even if the performance in terms of magnification and resolution is a little inferior to a classical thermal SEM. However, the size and fabrication cost is dramatically reduced, dedicating to opening a new market. The optical system in the mini-SEM is redesigned and specimen stage is quitely reduced and vertical axis is excluded. The design tools and calibration techniques to develope the mini-SEM are introduced and its performance is verified through numerical analysis experiments.

Optical communication according to request of technology of communications and optical fiber to be full filed faster communication and pass over transmission capacity limit per unit area, per unit hour appeared, and this optical fiber acts the biggest role to influence performance of optical communication network. Optical fiber(PMF Polarization Maintaining Fiber) is used, and is used by electric field measurement, self-discipline measurement, sensor(Sensor) Department by high definition measure such as thermometry and storehouse component that use because make broad sense status and polarized light information in passageway and union with storehouse integrated circuit etc. that use broad sense interference developing could transmit in state that keep transmitting broad sense plane of polarization is polarized light existence. Also, research is developed by optical fiber for Coherent communication recently.

In this paper, the creep characteristics of lead and lead-free solder joint were investigated using the QFP(Quad Flat Package) creep test. Two kind of solder pastes(Sn-3Ag-0.5Cu, Sn-0.2Sb-0.4Ag-37.4Pb) were applied to the QFP solder joints and each specimen was checked the external and internal failures(i.e., wetting failure, void, pin hole, poor-heel fillet) by digital microscope and X-ray inspection. The creep test was conducted at the temperatures of $100^{\circ}C$ and $130^{\circ}C$ under the load of 15$\sim$20% of average pull strength in solder joints. The creep characteristics of each solder joints were compared using the creep strain-time curve and creep strain rate-stress curves. Through the comparison, the Sn-3Ag-0.5Cu solder joints have higher creep resistance than that of Sn-0.3Sb-0.4Ag-37.4Pb. Also, the grain boundary sliding in the fracture surface and the necking of solder joint were observed by FE-SEM.

There are technological changes to reduce the size and weight of electronic components and to accommodate multi-functions in them. To meet this trend, more complicated technological processes are required. To maintain the processes, more accurate inspection systems are also necessary. Therefore, new inspection methods are needed, which is differ from conventional inspection methods such as electrical test methods ICT(In-Circuit Test), FCT(Function Test) and visual test using optical equipments. One of the possible approaches is non-destructive test using X-ray. In this paper, an inspection method using X-ray is developed and applied to inspection of soldering state and internal defects of electronic components.

TFT-LCD process has two advantages as compared with the semiconductor-process. It is that cycle time is short and number of the final products are small. But it needs complicated inspection / assembly line to be treated manually and much higher labor costs in the TFT-LCD process. Also, It is necessary to build PICS(Production Information and Control System) which is automated and intelligent. In this paper, an automated process of LCD module assembly line that can increase productivity and reduce the cost of production to strengthen the competitiveness corresponding with global market is planned in comparison with its manual/semi-auto. It is noted that The automated line for COG$\sim$FOG process replacing with the existing facilities had the following effects; the productivity is increased to about 1.5 times and labor cost reduced 85%. In addition, whole assembly line can be short and simple.

In this paper Research development about a micro metal forming manufacturing system has been developed. A micro forming system has been achieved in Japan and it's developed micro press is limited to single forming process. To coincide with the purpose to be more practical, research and development is necessary about the press which the multi forming process is possible. We set the development of the equipment including micro deep drawing, micro punching and micro restriking process to the goal. To achieve this goal, we set the application product to a micro thin foil valve which is used in the micro pump module. The compound die set has been designed and manufactured to make two step process. The material of thin foil valve is SUS-304 and its thickness is 50$\mu$m. We can get a good forming results from micro punching experiments in this paper.

In this paper, spherical aberration and light concentrating efficiency of lens was measured. The measuring system is applying spherical aberration occurrence principal and could measure a temperature at focal plane by using the thermocouple. The sun which is located in infinite distance and could makes parallel ray is used as a illuminant or heat source in experiments. It is confirmed that light concentrating efficiency of optical lens is in inverse proportion to spherical aberration and.

This study represents the efficient depth measurement for 3-dimensional microsystems using the disparity histogram from stereo images. Implementation of user-friendly Windows program written in C++ involves the various methods for the stereo-image processing in which the minimization of matching-pixel error upon the unique point for stereo images was carried out as a pre-processing method. Even though MPC among various methods was adopted in the present measurement, the resulting measurements seem to require optimizations of the windows sizes and corrections of post-manipulation for stereo images. The present work using Windows program is promising to measure the 3-dimensional depth of micro-system efficiently in implementing the 3-dimensional structure of micro-systems.

It is well known that abrasive waterjet(AWJ) was developed as a kind of high-density energy processing technologies. AWJ is used to obtain the better cutting quality of various materials such as metals, ceramics, glass and composite materials within a short manufacturing time because of the characteristics of heatless and noncontact processing. However, AWJ device still has some problems to obtain the high quality of thin workpiece. In this paper, we investigated the optimal microcutting conditions of AWJ, such as maximum pressure, cutting speed and standoff distance of thin multi-layered materials. The experimental results show that AWJ has possibilities and potential to apply to the microcutting of thin multi-layered materials for IT industrial applications.

Inclined surface milling in the mould and die industries is one of the most commonly needed cutting process. For the variety and complexity of cutting characteristics in various cutting condition, it is difficult to select a optimal tool path orientation. Especially, when the cutting process becomes unstable, it induces self-exited vibrations, a frequent cause of poor tool life, rough surface finish, damage to the workpiece and the machine tool itself, and excessive down time. The comparative results through FFT analysis in this study provide a guideline for the selection tool path orientation.

This study was carried out to develope a flow control system using to supply PR(photo-resist) in the semi-conductor manufacturing process. The features of this system are to be able to measure the high viscosity and micro-flow. To meet above study object some ideas was induced to design a new concept valve with new material, multi-cross wheel, and new sealing method etc.. As the evaluations on the developed micro-flowmeter it was enough satisfied to use at the IT industries such as photo-resist process.

The integration method of binary and real encoding in genetic algorithm is proposed to deal with design variables of various types in gear drive design. The method is applied to optimum design of multi-stage gear drive. Integer and Discrete type design variables represent the number of teeth and module, and continuous type design variables represent face width, helix angle and addendum modification factor etc. The proposed genetic algorithm is applied for the gear ratio optimization and the volume optimization(minimization) of multi-stage geared motor which is used in field. In result, the proposed design optimization method shows an effectiveness in optimum design process and the new design has a better results compared with the existing design.

A nano-imprinting stage has been widely used in various fields of nanotechnology. In this study, an analysis method of a nano-imprinting stage machine using FEM and flexible multi-body kinematics and dynamics has been presented. We have developed a virtual imprinting machine to evaluate the prototype design in the early design stage. The simulation using CAE for the imprinting machine is not only to analyze static and dynamic characteristics of the machine but also to determine design parameters of the components for the imprinting machine, such as dimensions and specifications of actuators and sensors. Structural components as the upper plate, the rotator, the shaft and the translator have been modeled with finite elements to analyze flexibility effects during the precision stage motion. In this paper flexible multi-body dynamic simulation is executed to support robust design of the precision stage mechanism. In addition, we made the 4-axis stage model to compare the dynamic behavior with that of 3-axis stage model.