An analysis model for an elliptical fluid film bearing is described. The principles of hydrodynamic lubrication are outlined together with an expanded version of the governing pressure field equation as related to elliptical journal bearing. Finite element method approximations are given for the pressure field equation and a temperature model, both related to the fluid film thickness. The thermal effects in the lubricant viscosity, lubricant film thickness, variation of the journal rotating speed and influence of turbulence are investigated in this paper A finite element model and an iterative computational process are described, whereby full simultaneously converged field solutions for fluid film thickness, temperature, viscosity, pressure, stiffness and damping coefficient are obtained.

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

This paper presents two actuators for levitation using repulsions of permanent magnet and two magnetic levitation tables using the actuators. Here, one actuator for levitation consists of one fixed magnet and one moving magnet, and the other actuator consists of two fixed magnets and one moving magnet. The moving part of the magnetic levitation table contains the moving magnets. repulsive forces caused by the permanent magnets are linearized, and then the equation of motion of the moving part of the table is derived. Using the equation of motion, stability conditions of the moving part are deduced. The stability conditions are analyzed for positional relations of the moving magnets and the minimum number of active control required for stable system. As a result, in the each case of magnetic levitation tables, the requirements for stabilization are expressed by the positional relations and the number of the active controls.

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

In this paper, the characteristics of silicon wafer surface which is textured by KOH anisotropic etching method and mechanical polishing are investigated from the viewpoint of stiction and friction. It was found that the characteristics of stiction and friction of each textured surface are dependent on the contact area characterized by surface parameters such as bearing length ratio and peak count. To find the mechanism of the variation of stiction and friction in textured surface, OTS SAM coated wafer was used. In this case, the variation of stiction and friction was diminished, Therefore, it is concluded that the reason of variation of stiction and friction on textured surface is mainly caused by capillary which in turn is affected by the surface topography

Laser lithography technique is useful for fabricating micro-patterns of silicon wafers. In this work, the laser lithography micromachining technique is optimized based on Taguchi method. Sensitivity analysis was performed using laser scanning speed, laser power level, developing time and mixture ratio between developer and Di-water as the parameters. The results show that for the photoresist used in this work, 70${\mu}m$/s scan speed, 50㎽ laser power, 60sec. developing time and 6: 1 mixture ratio gives the best result. This work shows the effectiveness of laser lithography technique in fabricating patterns with a flew micrometer in width.

The positioning system fur the ultraprecision machine tool should have nanometer order of positioning resolution. For the purpose of achieving that resolution, various feed drive devices have been proposed and currently hydrostatic lead screw and friction drive are paid attention. It is reported that an angstrom resolution can be achieved by using twist-roller friction drive. So we have manufactured ultraprecision feeding system driven by the twist-roller friction drive and perform performance assessment for problem definition and solution finding. As a result, we found that the twist-roller friction drive is mechanically suitable for ultraprecision positioning but some considerations are needed to get higher resolution.

A new rapid prototyping process, Variable Lamination Manufacturing using a 4-axis-controlled hotwire cutter and expandable polystyrene foam sheet as a laminating material of the part (VLM-S), has been developed to reduce building time and to improve the surface finish of parts. The objective of this study is to reconstruct the surface of the original 3D CAD model in order to generate mid-slice data using the advancing front technique. The generation of 3D layers by a 4 axis-controlled hot-wire cutter requires a completely different procedure to generate toolpath data unlike the conventional RP CAD systems. The cutting path data for VLM-S are created by VLM-Slicer, which is a special CAD/CAM software with automatic generation of 3D toolpath. For the conventional sheet type system like LOM, the STL file would be sliced into 2D data only. However, because of using the thick layers and a sloping edge with the firstorder approximation between the top and bottom layers, VLM-Slicer requires surface reconstruction, mid-slice, and the toolpath data generation as well as 2D slicing. Surface reconstruction demands the connection between the two neighboring cross-sectional contours using the triangular facets. VLM-S employs thick layers with finite thickness, so that surface reconstruction is necessary to obtain a sloping angle of a side surface and the point data at a half of the sheet thickness. In the process of the toolpath data generation the surface reconstruction algorithm is expected to minimize the error between the ruled surface and the original parts..

Liquefied petroleum gas (LPG) is used in spark ignition (SI) engines. Fuel injection rate of an injector is affected by fuel temperature and pressure in LPG liquid injection systems for either a multi-point-injection (MPI) or a direct injection (DI) engine. Even fuel injection conditions are varied, the air-fuel ratio should be accurately controlled to reduce exhaust emissions. In this study, a correction factor fur the fuel injection rate of an injector is derived from density ratio and pressure difference ratio. A compensation method of injected fuel amount is proposed for a fuel injection control system. The experimental results for the LPG liquid injection system in a SI engine show that this system works well fur a full range of engine speed and load condition, and the air-fuel ratio is accurately controlled by the proposed correction factor.

High-speed machining is one of the most effective technologies to improve productivity. Because of the high speed and high feed rate, high-speed machining can give great advantages for the machining of dies and molds. This paper describes on the improvement of machining accuracy in high-speed machining. Depth of cut, feed rate and spindle revolution are control factors. The effect of the control factors on machining accuracy is investigated using two-way factorial design.

The use of rapid prototyping (RP) has reduced time to market, cut total costs and improved product quality by giving design and manufacturing teams the opportunity to verify and fine tune designs before committing them to expensive tooling and fabrication. In order to improve their unique characteristics according to the working principles, Variable Lamination Manufacturing process (VLM-ST) and corresponding CAD/CAM software (VLM-Slicer) is developed. The objective of this study is to improve the accuracy of VLM-ST process, and it can be done by offset fur cutting error correction, cutting path overrun fur sharp edge and reference shape generation for off-line stacking. It has been shown that, through the verification experiments for given practical shapes, the proposed algorithms are effective for diverse categories of three-dimensional shapes.

Growth characteristics of micro carbon structures fabricated by laser-assisted chemical vapor deposition are studied. Argon ion laser and ethylene were used as the energy source and reaction gas, respectively, to grow micro carbon rod through pyrolytic decomposition of the reaction gas. Experiments were performed at various conditions to investigate the influence of process parameters on growth characteristics such as the diameter or growth rate of the micro carbon rod with respect to reaction gas pressure and incident laser power. Reaction gas pressure in experiments ranges from 200 to 600Torr and the incident laser power from 0.3 to 3.8W. For these conditions, the diameter of the rod increases linearly with respect to the laser power but is almost independent of the reaction gas pressure. Growth rate of the rod changes little with gas pressure when the laser power remains below IW. For a constant reaction gas pressure, the growth rate increase with Increasing laser power, but the rate of increase decreases gradually, implying that the chemical vapor deposition condition changes from a kinetically-limited regime to a mass-transport-limited regime. When the carbon rod was grown at near threshold laser power, a very smooth surface is obtained on the rod. By continuously moving the focusing lens in the direction of growth, a micro carbon rod with a diameter of 287${\mu}{\textrm}{m}$ and aspect ratio of 100 was fabricated..

The planning of part feeder and other manufacturing automation equipments is almost always underestimated. Planning ahead for those crucial pitfalls can permit steps to take to minimize heir impacts, especially if the problems can be discovered in the planning phase, not on the shop floor. Planning process is an engineering process, namely a series of trade-offs. The effective trade-offs in the shortest amount of time can be possible with the help of a computer-aided ngineering (CAE) technique. The main parts of CAE fur part feeder are database system of fabricated workpiece parts, part feeders, part feeder components. In this study, a planning process of part feeder is presented. Especially, a systematic analysis of workpiece parts and part feeders is performed for the design of databases of CAE system.

This paper shows an experimental magnetic levitation table using one degree-of-freedom active control. The magnetic levitation table using repulsions of permanent magnets was theoretically presented already. Thus the objective of this paper is to prove stable levitation with only one degree-of-freedom active control experimentally. For the design of the system, at first, permanent magnets are selected. Secondly, the spring constants of the virtual spring are obtained by simulation. Thirdly, the moving magnets are arranged using a stable layout relation. Fourthly, a linear voice coil motor is designed. Finally, the magnetic levitation system is manufactured. The phenomenon of stable levitation in the manufactured table is proven by means of dynamic time and frequency responses. The differences between the theoretical natural frequencies and experimental ones are analyzed. Also, stable range in the control direction is shown experimentally.

Ultrasonic Machining (USM) is widely used in cutting of non-conductive, brittle workpiece materials such as engineering ceramics. However, USM has a limitation in its application to micro machining because problems are occurred in attaching micro tools to the machine and maintaining high precision. Therefore Micro Ultrasonic Machining (MUSM) with WEDM is proposed in this research. The experiments are produced as the change of shaft diameter and abrasive size.

In this paper, we developed an automated program for the design and machining of spiroid bevel gear, A computer program employing the theory of gearing between gear and pinion is developed to design spiroid bevel gear mechanism. A new method fur machining spiroid bevel gears is proposed, and effectviely used for two examples.

The exhaust muffler is designed to reduce the engine noise with the minimum back pressure. It is composed of several elements, and we chose the five types of muffler elements : expansion, extended, offset, reversal, and perforated type. These elements are modeled with I-DEAS, and the transmission loss is analyzed with SYSNOISE, and the back pressure with STAR-CD. We verified the numerical results of transmission loss and pressure loss by experiments for the case of extended muffler. We find a database with the numerical results, which can be used in the design of exhaust muffler in the field.

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to model. This paper is concerned with the compensation for friction using the variable structure system approach as nonmodel based method. The problem of chattering in the sliding mode controller is suppressed by the implementation of the boundary layer concept. And the estimation for friction using sliding mode observer makes the upper bound of matched uncertainty reduced. Accordingly, the effect of chattering can be more suppressed. And the sliding surface is constructed by adding an integral component to the switching function that is made by using error dynamics. This sliding surface guarantees the good tracking performance. Experimental results for a XY table system show that the proposed method has a good performance especially in the low velocity.

This paper presents some measures far the optimization of the thermal behavior of linear motors, which are used as a high speed feed mechanism in machine tools. Thermo-Sandwich-Construction using two cooling circuits and an insulation layer shows an effective cooling system for linear motors. Conducting sheet can be also used to reduce heat flow from linear motor to machine table. Cooling pipe is a simple and effective cooling system for the secondary part of synchronous linear motor. Through the combination of the Thermo-Sandwich-Construction, conducting sheet and cooling pipe the thermally optimized linear motor shows a well improved thermal behavior in comparison with the prototype motor.

STEP-NC is the next generation CNC controller taking STEP-based data model as the interface scheme (or language) between CAM and CNC, and carrying out various intelligent functions. At the moment, efforts are being made worldwide to establish international standard for the new interface scheme formalized as ISO14649. As the new language is being established, increasing attention is being paid to the development of the new CNC. Korea STEP-NC is an integrated STEP-NC system taking ISO 14649 as an input, and carrying out various intelligent functions. It is composed of 5 modules: 1) Shop Floor Programming System (PosSFP), 2) Tool Path Generator (PosTPG), 3) Tool Path Viewer (PosTPV), 4) Man Machine Interface (PosMMI), and 5) CNC Kernel (PosCNC). Distinguished from other prototypes (of Europe and USA), the Korea STEP-NC is top-down designed, and bottom-up implemented comprehensively incorporating all the crucial components for realizing the full benefit of STEP-NC paradigm, without using any existing commercial CAD/CAM systems and CNC kernels. The Korea STEP-NC prototype was successfully demonstrated and evaluated in the ISO conventions Together with prototypes of Europe and USA, Korea STEP-NC will be used as a reference system fur the Triangular Conformance Test to be jointly carried out by ISO TC184 SC1, SC4, and IMS Project.