Recently high speed machining is being studied actively to reduce machining time and to improve machining precision. To perform efficient high speed machining, evaluation of high speed machinability must be studied preferentially and it can be identified by investigation of cutting force. To measure cutting forces in high speed machining, dynamometer which has high natural frequency was newly designed using 3-axes piezo force sensor. For newly designed dynamometer, calibration is conducted with sensitivity of force sensor modulated and proper preload and interference force are investigated experimently. Also, cutting force signals of newly designed dynamometer are compared with those of conventional one in high speed cutting experiment and its superiority is confirmed. Then using newly designed dynamometer, high speed machinability is evaluated about cutting force and tool wear in various cutting conditions.

In this study, a real-time simulation system and a washout algorithm for an excavator have been developed for a driving simulator with six degrees of freedom. The excavator model consisting of a boom. bucket, upper frame, lower frame and four wheels, has total 11 degrees of freedom. The suggested washout algorithm consists of high and low pass filters with second order. The high pass filters cut off low frequency of the motion cues limited by platform motion. The cut off frequency for the tilt coordination are suggested for a realistic regeneration of excavator motion.

Many industrial products can be assembled in various sequences of assembly operations. To save time and cost in assembly process and to increase the quality of products, it is very important to choose an optimal assembly sequence. In this paper, we propose a methodology that generates an optimal assembly sequence by using the knowledge of experts. First, a product is divided into several sub-assemblies. Next, the disassembly sequences of sub-assembly are generated using disassembly rules and special information can be extracted through the disassembly process. By combining every assembly sequence of sub-assemblies, we can generate all the possible assembly sequences of a product. Finally, the expert system evaluates all the possible assembly sequences and finds an optimal assembly sequence. It can be achieved under consideration of the parameters such as assembly operation, tool change, safety of part. basepart location, setup change, distance, and orientation. The developed system is applied to UBR(Unit Bath Room) example.

In CMP for semiconductor wafer films, the acceptable within-chip planarity, within-wafer and wafer-to-wafer nonuniformity could be achieved by conditioning. The role of conditioning is to remove continuously polishing residues from pad and to maintain the initial pad surface pores. To reach these requirements, the diamond grits disk has been considered as a conventional conditioner. However, we have investigated many defects as scratch on wafers out of diamond grits shedding, contaminations from bonding materials, and pad pore subsidences by over-conditioning. So, this paper studies the effect of ultrasonic vibration in CMP conditioning as a representative. The effect of ultrasonic vibration was certified through ILD, Metal CMP.

Applications of thresholding technique are based on the assumption that object and background pixels in a digital image can be distinguished by their gray level values. For the segmentation of more complex images, it is necessary to resort to multiple threshold selection techniques. This paper describes a new method for multiple threshold selection of gray level images which are not clearly distinguishable from the background. The proposed method consists of three main stages. In the first stage, a probability distribution function for a gray level histogram of an image is derived. Cluster points are defined according to the probability distribution function. In the second stage, fuzzy partition matrix of the probability distribution function is generated through the fuzzy clustering process. Finally, elements of the fuzzy partition matrix are classified as clusters according to gray level values by using max-membership method. Boundary values of classified clusters are selected as multiple threshold. In order to verify the performance of the developed algorithm, automatic inspection process of ball grid array is presented.

A magnetic levitation system requires a robustness to overcome a dynamic instability due to disturbances. In this paper a robust controller for a magnetically levitated fine manipulator is presented. The proposed controller consists of following two parts: a model reference controller and an $H_{\infty}$ controller. First, the model reference control stabilizes the motion of the manipulator. Then, the motion of the manipulator follows that of the reference model. Second, the $H_{\infty}$ control minimizes errors generated from the model reference control due to noise and disturbance since the $H_{\infty}$ control is a kind of robust control. The experiments of position control and tracking control are carried out by use of the proposed controller under the conditions of free disturbances and forced disturbances. Also, the experiments using PID controller are carried out under the same conditions. The results from above two controllers are compared to investigate the control performances. As the results, it is observed that the proposed controller has similar position accuracy but better tracking performances comparing to the PID controller as well as good disturbance rejection effect due to the robust characteristics of the controller. In conclusion. it is verified that the proposed controller has the simple control structure, the good tracking performances and good disturbance rejection effect due to the robust characteristics of the controller.

To enhance machining efficiency, tool exchange time have to be reduced. Most automatic tool changer is made up of compound cam and motor. it is not easy to design and manufacture compound cam, and it has no flexibility. But if servo motor is used, it is easy to changer is developed with servo motor, clutch, ball-screw and spline nut. Experimental results show that automatic tool changer designed with servo motor have good faculties.

To meet the needs of the hydraulic excavator of large capacity, tandem axial type piston pump which is high pressure and high speed have been developed. But inevitably we can not help facing the problem of noise at that time. In order to reduce the noise of this pump, many researchers have been studying the problem of oil distribution manner. But they are not interested in the symmetric structure of tandem type pump. So, focusing on the symmetric structure of tandem type pump, this paper analyzed unbalanced force developed in the pump chamber and verified the effect of the pumping phase of the piston on vibration and noise of the tandem axial type piston pump theoretically.

The prevalence of microprocessor-based controllers in automotive system has greatly increased the need for tools which can be used to validate and test control system over their full range of operation. The objective of this paper is to develop a real time simulator of an anti-lock braking system and traction control system by the methodology of using hardware-in-the-loop simulation based on a personal computer. By use of this simulator, the analyses of commercial electronic control units and components for ABS/TCS were performed successfully. The simulator of this research can be applied to development of more advanced control system(such as vehicle dynamic control system) and other automotive system.

The background of appearing MMS is to cope with the difficulty that occurred in constructing CIM with multi-vendor production devices such as CNC, PLC and robot. But so far the popularized use of MMS service in machine shop is not generalized because of economical and environmental reason. In this paper to solve this problem the CNC_VMD gateway for 3 types of heterogeneous machine tools in which MMS support is not available is developed and its performance is evaluated in shop floor having CIM environment. The developed VMD has the functions such as MMS service, driver for CNC interface and supporting for network. Non-MMS compatible machine tool can be MMS-compatible by using the developed gateway with CNC_VMD.

The application field of porous mold is more and more expended. A mixture of alumina and cast iron is used for making porous mold using slip and vacuum casting method in this study. Slip casting is a process that slurry is poured into silicon rubber mold, dried in vacuum oven, debinded and sintered in furnace, In this procedure, slurry is composed of powder, binder, dispersion agent, and water. Vacuum casting is a technique for removing air bubbles existed in the slurry under vacuum condition. Since ceramics has a tendency of over-shrinkage after sintering, cast iron is used to compensate dimensional change. The results shows that sintering temperature has a great effect on characteristics of alumina-cast iron composite sintered parts. Finally ceramic-metal composite sintered mold can be used for aluminum alloy casting of shoe mold using this process.

A semi-active suspension system for a vehicle using an Electrorheological Fluid damper has been studied. Apparent viscosity of ERF(Electrorheological Fluid) can be changed rapidly by applying electric field. The damping force of ER damper can be selectively controlled by employing electric field to the ER fluid domain. This paper deals with a two-degree-of-freedom suspension using the ER damper for a quarter car model. An intelligent control method using fuzzy control with genetic algorithm has been employed to control the damping force of the ER damper. The GA designs the optimal structure and performance of Fuzzy Net Controller having hybrid structure. The designed fuzzy net controller has been compared with the skyhook type controller for a quarter car model. The computer simulation results show that the semi-active suspension with ER damper has a good performance in the sense of ride quality with less vibration for ground vehicle.

Virtual reality is becoming a powerful tool for various applications such as training, entertainment, surgery, tele-robotics etc. One potential use for virtual reality is to allow several users to interact in a single virtual environment, for example several students sitting in front of different computers connected over a network. In this paper, we present a loosely coupled architecture of haptic display in the multi-user virtual world. The method of controlling haptic devices as well as the way of configuring individual haptic display system are addressed. We will develop an experimental virtual reality system for two remote users and conclude with an experimental work for the task of a multi-player ping-pong and grasping of a common object.

DVD(Digital Versatile Disk) is the data storage media devised to make high storage density and high speed data input/output possible. For example, a whole length movie can be stored in a disk as large as a CD(Compact Disk). Therefore higher rotational speed and better accuracy in optical pick-up are required compared with the existing optical storage device. Without these operational functional requirements being satisfied DVD will lose its place as the high capacity storage device. This paper evaluated whether the currently developed DVD satisfies the requirements and provides improved methods with the Axiomatic Approach which is superb in evaluating and designing newly concepted designs.

In this study, the complexity of the product was evaluated quantitatively considering the product structure, assembly process and disassembly process. To evaluate the complexity of the product, subassemblies of automobile were analyzed and then characteristics of part and subassembly were determined according to product structure, assembly process and disassembly process. Evaluation criteria of complexity were determined considering each characteristics of part and subassembly. Experiential evaluation was accomplished by classified evaluation criteria and time-motion evaluation was accomplished by the relational motion factor with characteristics of part and subassembly in MTM(Methods Time Measurement) and WF(Work Factor). The total complexity of product was determined by experiential evaluation and time-motion evaluation.

We have studied on the tribological characteristics of surface modification by Arc Ion Implantation(AIP) coating method. Coating materials were deposited by the Titanium carbide(TiC) and Titanium nitride(TiN). An experimental process was established to determine the tribological characteristics of friction and wear behaviour with the variation of applied load, temperature and the time by the Falex friction and wear test machine. The results, It can be improved that when the surface modification of hard coatings(TiC, TiN) was deposited steel, the tribological characteristics become better. It is argued that improved because of excellence of the anti-wear, the extreme pressure properties and the heat stability.

A self-propulsive polishing robot is proposed as a method which automates a floor polisher. The proposed robot with two rotary brushes does not require any mechanism such as wheels to obtain driving forces. When the robot polishes a floor with its two brushes rotating, friction forces occur between the two brushes and the floor. These friction forces are used to move the robot. Thus, the robot can move in any direction by controlling the two rotary brushes properly. In this paper, firstly a dynamics model of a brush is presented. It computes the friction force between the brush and the floor. Secondly, the dynamics of the proposed robot is presented by using the bush dynamics. Finally, the inverse dynamics is solved for the basic motions, such as the forward, backward, leftward, rightward motions and the pure rotaion. This paper will contribute to realize a self-propulsive polishing robot as proposed above, In addition, this paper will give basic ideas to automate the concrete floor finishing trowel, because its basic idea for motion is similar to that of the proposed robot.

This paper describes one method of reverse engineering that machines a free form shape without descriptive model. A portable five-axes 3D CMM was used to digitize point data from physical model. After approximation by rational B-spline curve from digitized point data of a geometric shape, a surface was constructed by the skinning method of the cross-sectional design technique. Since a surface patch was segmented by fifteen part, surface merging was also implemented to assure the surface boundary continuity. Finally, composite surface was transferred to commercial CAD/CAM system through IFES translation in order to machine the modeled geometric shape.

In this paper, the CLQR(Constrained LQR) controller, which considers the actuator saturation in a cross-product term of a given performance index for an automotive active suspension control has been proposed. The effects of actuator saturations have been reflected directly in the states by using the linear relation between the control input and states. The method proposed here is more effective and intuitive compared with the conventional schemes. The CLQR has been applied to designing an automotive active suspension control system to verify its effectiveness and practical aspects.

Acoustic emission(AE) measurement was carried out to evaluate the fracture behavior of high tension steel. Fracture toughness $K_{AE}$ could be determined reasonably by using the load value corresponding to an abrupt change of the accumulated AE counts AE emitted from the test specimens. AE characteristics of the base metal, the weld metal and the heat-affected zone could be distinguished using a constant value b which represented the AE amplitude distribution, Consequently the structure integrity can be evaluated by variation of the constant b at the load level. In addition it was found that AE signals due to crack growth have high amplitude but low rise time and duration.

Sensor feedback for process control is one of the essential elements is an automated deburring procedure. This paper presents the implementation of acoustic emission (AE), which has been developed as a feedback sensing technique for precision (mechanical) deburring, in a precision laser deburring process. AE signals were sampled for laser machining/deburring under various experimental conditions and analyzed using several signal-processing methods including AErms and spectral analysis. The results, such as the sensitivity of AE signals for different laser cutting depths, edge detection capability and the frequency analysis show a clear correlation between physical process parameters and the AE signals. A subsequent control strategy for deburring automation is also briefly discussed.

For the purpose of improving accuracy in friction and wear test, a hydraulic pin-on-disk type tribotester was developed and its performance was evaluated experimentally. The performance estimation of the tribotesrer was accomplished by comparing both the consistency of the applied normal load and the robustness of the control against the mechanical disturbances with those of the pneumatic and the dead weight loading method respectively. The developed hydraulic pin-on-disk type tribotester showed the better reliability in the performance and the hydraulic loading method provided the more accurate friction coefficient.

The statics relation of the Stewart platform has been investigated from the viewpoint of the forward and inverse force transmission analyses. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses have been formulated. The forward force transmission analysis is to determine the ranges of the magnitudes of the force and moment generated at the end-effector for the given magnitude of linear actuator forces. In reverse order, the inverse force transmission analysis is to find the range of the magnitude of actuator forces for the given ranges of the magnitudes of the force and moment at the end-effector. The inverse force transmission analysis is important since it can provide a designer with a valuable information about how to choose the linear actuators. It has been proved that two eigenvalue problems have a reciprocal relation, which implies that solving either of the eigenvalue problems may complete the forward/inverse force transmission analysis. A numerical example has been also presented.

이상적인 초음파 물체 감지 센서는 감지거리가 길고, 고해상도와 작은 크기이어야 한다. 그러나 현재 공기 중에 사용되고 있는 선형 초음파센서로는 공기의 높은 음흡수 때문에 이 세 가지 조건을 동시에 만족하기는 어렵다. 본 논문은 서로 다른 주파수성분의 두 음파의 비선형 상호작용으로 생성되는 두 주파수 차이에 상당하는 주파수의 음파를 이용한 물체감지 비선형적 초음파 감지센서에 관한 연구이다. 링-디스크 두 요소로 구성된 비선형적 초음파센서에 의해 형성되는 음장을 예측할 수 있는 컴퓨터 프로그램을 개발하였으며, 이 프로그램을 이용하여 비선형적 초음파센서의 최적 형태와 주파수를 결정하고, 선형 초음파센서와 세 조건 측면에서 비교 검토하였다. 비교 결과 비선형적 초음파센서가 해상도측면에서 유리하고, 75 dB이하의 초음파 소음환경에서 사용할 때 감지거리면에서 유리하다.