In this study, Ultra-precision finishing system using micro abrasive film experimented using experimental variable film feed speed and grinding speed and structural steel(SM45C) with respect to 12~3{\mu}m$ micro abrasive film. the result are follows; (1) Experimental condition must setup dissimilar about each micro abrasive film. (2) To measurement deviation the smallest machined condition are 20mm/min in 12{\mu}m$, 5mm/min and 15mm/min in 9{\mu}m$ and 5{\mu}m$, 5mm/min in 3{\mu}m$ in film feed speed. (3) To measurement deviation the smallest machined condition are 180m/min in 12{\mu}m$, 84m/min in 9{\mu}m$, 56 and 84m/min in 5{\mu}m$, 104m/min in 3{\mu}m$ in grinding speed.

본 논문에서는 새로운 적응 퍼지 슬라이딩 모드제어 방법을 제시하였다. 제어기는 정확한 수확적인 모델이 없이도 점근적으로 시스템을 안정화시킬 수 있으며 적분항을 포함시킴으로서 정상상태에서의 오차를 좀 더 줄일 수가 있다. 직접구동모터는 감쇄기어가 없어서 부하나 외란 토크의 변화에도 모터 역학에 직접적으로 많은 영향을 줄 수가 있다. 제어기의 실제성능을 확인하기 위하여 불확실한 부하나 변소를 갖는 직접구동모터의 위치제어에 적용하였다.

In this paper, an algorithm is presented to recognize lane and obstacles based on highway road image. The road images obtained by a video camera undergoes a pre-processing that includes filtering, edge detection, and identification of lanes. After this pre-processing, a part of image is grouped into 27 sub-windows and fed into a three-layer feed-forward neural network. The neural network is trained to indicate the road direction and the presence of absence of an obstacle. The proposed algorithm has been tested with the images different from the training images, and demonstrated its efficacy for recognizing lane and obstacles. Based on the test results, it can be said that the algorithm successfully combines the traditional image processing and the neural network principles towards a simpler and more efficient driver warning of assistance system

The performance of interrupted cutting operations like milling is consideraly affected by cuter runout. In this study, cutter runout is selected as an important machining parameter for evaluation of machinability in ball-end milling and caused from misalignments of tool and holder, unbalanced mass of parts and tool deflection under machining. To evaluate the machinability due to cutter runout, the rotating accuracy of spindle, cutting force and surface roughness are measured. The rotating characteristics of spindle in each revolution speed were investigated by cutter runout in freeload. The predicted surface form of workpiece by measuring cutter runout data was compared with real surfaces. The results show that measuring runout with high response gap sensor is useful for studying the phenomenon of high-speed machining and the monitor surface form using in-process runout measurements in ball-end milling is possible.

The online realtime positioning error compensation system 'SKY-PACS' is developed to correct geometric errors, thermal errors and tool deflection errors induced by cutting forces on the vertical machining center. 'SKY-PACS' communicates position commands and position compensation signals with the CNC controller at 100Hz, which is CNC control frequency. So the compensation procedure can be applied during axis movement. Using 'SKY-PACS', Maximum 1 axis positioning accuracy was corrected from 5{\mu}m$ to 2{\mu}m$and the squareness error of X-Y table was corrected from 51{\mu}m$/m to below 4{\mu}m$/m. The error compensation under the cutting condition is carried out by ISO10791-7. And the measurement of test-pieces shows that the roundness is corrected rom 8{\mu}m$ to below 5{\mu}m$.

Even I the Electronic Speckle Pattern Interferometry(ESPI) method that measure the strain of object within wavelength of light is less visibility than Holographic Interferometry(HI) method, the merits of application, convenience and time-save have made the method practical in industry. However, the existing ESPI methods that are based on dual-exposure, real-time and time-average method have difficulties for accurate measurement, due to irregular intensity and shake of phase. Recently, in order to solve this problem, phase shifting method have been proposed. In this method, the path of reference light in interference is shifted to make improvement in distinction and precision. But this method includes too many noise, caused by the problem of relationship between object and phase. Therefore, a method to reduce noise muse be introduced. In this paper, least square fitting method is proposed. As results, the phase-map is influenced by precise phase shifting and current of notes and speckle pattern obtained by phase shifting method is improved on the existing method driven from time-average method.

The lead time for new products is very limited in the current manufacturing processes, therefore the Rapid Prototyping process has been introduced and generally used in the industry. Fused Deposition Manufacturing (FDM) is one of the most common methods in this field. In the FDM process, the patterns are made of Wax of ABS and ABS shows better quality of the patterns. To date, the FDM/ABS patterns are used in investment casting for making silicon moulds to produce was patterns because it is very difficult to dewax FDM/ABS directly. The aim of this paper was to propose a feasibility of using FDM/ABS parts as wax-pattern substitutes in the investment casting process. The effects of casting conditions, such as pre-heat temperature and casting temperature, are provided. Comparisons with the conventional investment casting processes using the wax-patterns under the same prototype are made. Lead-time and saving cost are discussed in using FDM/ABS parts as was-pattern substitutes compared with the products from other rapid prototype systems.

This paper describes an approach to collaborative design which focuses on the effects of individual activities on the overall design process. We utilize a new process modeling tool to define the process and then analyze and refine the process based on critical paths. This information is then shared over the Internet with all participants. The goal of this system is to detect critical errors at initial design stage and guide the designers to make better decisions based on the knowledge of the overall process. This system enables participating designers to publish his local process through an Internet bulletin board. Other members of the team can then provide feedback based on how the proposed process impacts their activities. The system provides a context-rich, persistent forum for collecting, preserving, and refining corporate expertise of the team. For example, designers can select any process from the bulletin board and use it as a template for his current project and then use it to maintain his own design history. This paper is based on the process modeling concepts of Design Roadamap and describe several key extensions in the area of CPM calculations and collaborative interfaces.

Since the quality of the coated wires is in various applications dependant on the coating depth, accuracy of hole size of dies used for coating wires must be maintained precisely, in general within one micron. This paper proposes a new vision system which measures automatically the size and shape of small holes having diameters less than 1mm within an error limit of 1 micron. To quickly obtain the focused image, this paper proposes an estimation method of the camera position using only a couple of defocused hole images. It measures the distributions of light intensity around the image boundary and decides the direction and distance of a camera motion. The proposed system measures the size, shape distortion, inclination of the hole against the axis of the dies structure, to decides the acceptability of the dies for use. The proposed algorithm has been implemented using a cheap 640${\times}$480 image system and has shown an average size error of 1micron when measuring the dieses having 0.1mm to 1.0mm diameters. It can be applied to the inspection of the size and position of holes in PCB, too.

To propose a useful modelling method for an actual muffler, the noise attenuation effects of muffler was investigated according to the flow condition and the hole shape of tubes. In this work, the finite element method was used to calculate the transmission loss of muffler, The noise attenuation characteristics of four different types of muffler in the hole shape of tubes were compared mutually to find a more simple equivalent model. Analytical results showed that the overall value of transmission loss increases and the peaks of transmission loss curve shift to the low frequency with mean flow for the given muffler, Also the noise attenuation characteristics of the equivalent model having the split holes is almost the same as those of the actual muffler having many circular holes.

Micro-EDM is widely used in machining of miro-parts such as micro-shafts and micro-holes. In order to select proper machining conditions and to reduce the machining time, it is necessary to understand machining characteristics under various machining conditions. Micro-hole machining tests were performed with round shape electrodes with different capacitances and voltages of the power source. The effects of the electrode rotational speed and diameter on the machining rate were also observed. From the experimental results, it was found that capacitance and voltage have significant effects on machining rate and the machined surface integrity. With higher capacitance and higher voltage, higher machining rate was observed together with poorer surface integrity. The electrode diameter was also found to have an effect on the machining rate and electrode wear.

Most of researches for deep drawing process have been performed on the formability of axisymmetric blank, but there is an insufficient study on the formability of non-axisymmetric blank. In addition, the conventional blank shape has been determined by the trial-and-error method using industrial experience and post processing test. Therefore only approximated shape of the blank can be presented. In this study, the optimal blank shape and concrete drafting method in deep drawing process with biaxisymmetric elliptical shape is proposed. Through the deep drawing experiment, it is found that the optimal blank shape gives the most uniform thickness of the products in the first process

In this paper, a direct adaptive control, based on Lyapunov Function Candidate, is applied to a nonlinear Gunner's Primary Stabilized Head Mirror system to derive a parameter adaptation scheme; furthemore, a nonlinear sliding mode control, but also compensating the error in identification of the parameters which are even varying of have uncertain values. The performance of the adaptive controller is determined by the tracking ability to a desired model under some disturbances and the slowly varying parameters of the system. Both adaptive scheme and sliding mode play an important fole in the improvement of the nonlinear system control.

In the grinding process, generally, the exciting forces with high frequency can be generated due to the wheel wear and the grinding process. As the grinding speed increases, the precise investigation about the wheel dynamic characteristics is required. Conventionally the wheel-spindle has been considered with lumped model in dynamic modeling. With this lumped model, the significant mode resulted from the shell mode of wheel can be readily ignored. This paper suggests the new analysis model which includes the shell mode of wheel in modeling the wheel-spindle assembly. Furthermore, based on the suggested model, the effects of the bolt tightening force and the taper tightening force on the dynamic properties are investigated by the finite element modal analysis and the experimental method. As a result of investigation, the shell mode vibration of wheel affects the dynamic characteristics of the spindle assembly. Also, the vibration modes of the spindle assembly are significantly affected by the joint tightening forces.

Up until now, it is said that no satisfactory computer solutions have been found for synthesizing four-bar linkage based on the prescribed coupler link curve. In our study, an algorithm has been developed to improve the design synthesis of four-bar linkage automatically generating prescribed path by using B-spline interpolation. The suggested algorithm generates the desired coupler curve by using B-spline interpolation, and hence the generated curve approximates as closely as to the desired curve representing coupler link trajectory. Also, when comparing each generated polygon with the control polygon, rapid comparison by applying convex hull concept. finally, optimization process using ADS is incorporated into the algorithm based on the 5 precision point method to reduce the total optimization process time. As for examples, three different four-bar linkages were tested and the results showed the effectiveness of the algorithm.

This paper treats the estimation of human impedance and their application to human-robot collaboration work. Initially, we perform an experiment at which the human becomes a slave and the robot behaves like a master having F/T sensor on its end. The human impedance expressed in terms of mass, damping, and stiffness properties are estimated based on the force data measured by F/T sensor and the commanded position data of the robot. To show the effectiveness of the estimated human impedance, we perform the second experiment at which the roles of the human and the robot are reversed. It is shown that the robot using the estimated human impedance follows the trajectory commanded by human very smoothly.

The resistance Spot Welding is widely used in the field of assembling the plates. However we don't still have any satisfactory solution, which is non-destructive quality evaluation in real-time or on-line, against it. Moreover, even though the rate of welding under the condition of expulsion has been high until now, quality control of welding against expulsion hasn't still been established. In this paper, it was proposed on the quality assurance technique of resistance spot welding pieces using Neuro-Fuzzy algorithm. Four parameters from electrode separation signal in the case of non-expulsion, and dynamic resistance patterns in the case of expulsion are selected as fuzzy input parameters. The parameters consist of Fuzzy Inference System are determined through Neuro-Learning algorithm. And then, fuzzy Inference System is constructed. It was confirmed that the fuzzy inference values of strength have within ${\pm}$4% error specimen in comparison with real strength for the total strength range, and the specimen percent having within ${\pm}$1% error was 88.8%. According to KS(Korean Industrial Standard), tensile-shear strength limit for electric coated of zinc is 400kgf/mm2. Judging to the quality of welding is good or bad, according to this criterion and the results of inference, the probability of misjudgement that good quality is valuated into poor one was 0.43%, on contrary it was 2.59%. Finally, the proposed Neuro-Fuzzy Inference System can infer the tensile-shear strength of resistance spot welding pieces with high performance for all cases-non-expulsion and expulsion. And On-Line Welding Quality Inspection System will be realized sooner or later.

The problem of eigenvalue and eigenvector for v-notched cracks in pseudo-isotropic and anisotropic dissimilar materials was obtained to discuss stress singularities from traction free boundary and perfect bonded interface conditions assuming like the form of complex stress function for v-notched cracks in an isotropic material. Eigenvalues were solved by a commercial numerical program, MATHEMATICA. The relation between wedged angle and material property for eigenvalue, ${\lambda}$ indicating stress singularities of v-notched cracks in pseudo-isotropic and anisotropic dissimilar materials was examined.

An optimum blank design technology is required for near-net of net-shape cold forming using sheets. Originally, the backward tracing scheme has been developed for preform design in bulk forming, and applied to several forming processes successfully. Its key concept is to trace backward from the final desirable configuration to an intermediate preform of initial blocker. A program for initial blank design in sheet forming which contains the capabilities of forward loading simulation by the finite element method and backward tracing simulation, has been developed and proved the effectiveness by applying to a square cup stamping process. In the blank design of square cup stamping, the backward tracing program can produce an optimum blank configuration which forms a sound net-shape cup product without machining after forming. Another general application appears in the blank design of a cup stamping with protruding flanges, one of typical automobile components. The blank configurations derived by backward tracing simulation have been confirmed by a series of loading simulations. The approach or decision of an initial blank configuration presented in this study will be a milestone in fields of sheet forming process design.

The objective of this research is to develop a measurement error model for sculptured surfaces in On-Machine Measurement (OMM) process based on a closed-loop configuration. The geometric error model of each axis of a vertical CNC Machining center is derived using a 4${\times}$4 homogeneous transformation matrix. The ideal locations of a touch-type probe for the scupltured surface measurement are calculated from the parametric surface representation and X-, Y- directional geometric errors of the machine. Also, the actual coordinates of the probe are calculated by considering the pre-travel variation of a probe and Z-directional geometric errors. Then, the step-by-step measurement error analysis method is suggested based on a closed-loop configuration of the machining center including workpiece and probe errors. The simulation study shows the simplicity and effectiveness of the proposed error modeling strategy.

Structural ceramics such as $Al_2O_3$, SIC, and $Si_3N_4$ are difficult to grind materials because of their high hardness and brittleness. They are normally ground in brittle mode, but it is possible to be ground in ductile mode depending upon the grinding conditions. In this paper an experimental investigation has been carried out to see the relationship between the grinding energy and grinding mode. It has been found that the ductile mode grinding consumes more grinding energy than the brittle mode grinding. Thus, the grinding conditions of the higher specific grinding energy leads to the plastic deformation in the ground surface of workpiece and results in the better surface finish.

Dimensional difference by welding deformation is usually occurred at steel bridge manufacturting or multi-pass welding used at joining of thick plates. Be this, root gap out of standard is frequently developed at butt weld joints. For example, although standard root gap below 6mm at butt weld joints of plates under 15mm thickness, maximum 30mm root opening is developed at the weld field. At this case, 24mm parts out of standard is generally built up. But, there are no accumulated data and restriction about this built up welding pars. In this study, therefore, the accumulation of data for built up parts and the verification of the mechanical properties of weld part as root gap is performed. It is included that tensile, bending, impact, hardness test and microstructural review for each welding specimen of 0mm, 6mm, 30mm root opening.

A method for pattern recognition based on wavelet transform is proposed in this paper. The boundary of the object to be recognized includes shape information for object of machine parts. The contour is first represented using a one-dimensional signal and normalized about translation, rotation and scale, then is used to build the wavelet transform representation of the object. Wavelets allow us to decompose a function into multi-resolution hierarchy of localized frequency bands. The recognition of 2-dimensional object based on the wavelet is described to analyze the shape of analysis technique; the discrete wavelet transform(DWT). The feature vectors obtained using wavelet analysis is classified using a multi-layer neural network. The results show that, compared with the use of fourier descriptors, recognition using wavelet is more stable and efficient representation. And particularly the performance for objects corrupted with noise is better than that of other method.

By tilting the reference mirror of Twynman-Green interferometer having a reference mirror and a moving mirror, firinge pattern composed of bright and dark parallel lines can be obtained and the fringe pattern is shifted according to the displacement of the mowing mirror. Several studies are executed for displacement measurement by detecting the intensity of the fringe with photo-diodes having small detecting area. In this study, to improve the sensitivity and robustness, the intensity of fringe is detected by using a large-area quadratic photo-diode masked with a grating panel having four kinds of binary grating having phase-difference of 0, {\pi}$/4, {\pi}$/2, 3 {\pi}$/4. The phase of the fringe is calculated with a simple 4-buckets algorithm. A experimental result shows that standard deviation of 5.653 nm is obtained comparing with a capacitive type gap sensor having nearly 1 nm accuracy.

일반적으로 힘 제어는 힘 센서의 사용 여부에 따라 능동적 힘 제어와 피동적 힘 제어로 분류시킬 수 있다. 능동적 힘 제어는 힘 세서를 이용하여 구속력을 목표한 힘에 근접하도록 제어한다. 유연 매니퓨레이터의 함수(위치, 속도, 가속도)를 이용하여 일정한 힘에 근접하도록 제어한다. 유연 매티퓨레이터에 있어서 링크 선단의 강성 증대는 힘 제어뿐만이 아니라, 링크의 진동을 크게 유발함으로서 위치 제어에 불리하게 작용한다. 주로 사용되고 있는 힘 센서는 많은 변형 게이지(strain gauge)로 구성되어 있다. 유연 매니퓨레이터 또한 링크 선단의 변형을 측정하기 위해 변형 게이지를 사용하고 있다. 본 논문에서는 이점에 착안하여, 유연 매니퓨레이터의 선단의 탄성 변형을 측정하기 위해 장착한 변형 게이지를 이용한 위치/힘 제어를 제안한다. 먼저, 유연 매니퓨레이터의 집중 정수 모델로부터 링크의 탄성 변형과 구속력 관계를 도출한 후 이 관계를 이용하여 3차원 실험 유연 매니퓨레이터를 실시간 위치/힘 제어 실험을 수행하였다. 또한 범용 동력학 해석 소프트웨어인 ADAMS FEM 을 이용하여 해석하였다. 마지막으로, 실험 결과와 해석 결과를 비교 분석하여 본 논문에서 제안한 유연 매니퓨레이터의 위치/힘 제어의 타당성을 입증시켰다.

Trouble shooting of modern machine tools equipped with sophisticated electronic as well as mechanical parts is so difficult that it is usually depends upon the experience and accumulated knowledge of the diagnosing persons. On the other hand, tool users are scattered in wide area, which makes it expensive for a machine tool maker to run a vast service network. An unmanned diagnosis system to which users can have access at all times could be an efficient alternative. For this purpose, a rule-based expert system for diagnosing machine tools is developed. This paper describes the structure of diagnostic knowledge, the rule firing mechanism, the diagnosis flow, and user query process. An example shows the feasibility of problem solving on site without help of a service expert from machine tool maker.