This study deals with the truing of diamond wheel fur the manufacture of micro v-shaped grooves with fine sharp edges in the grinding. Fine micro v-shaped grooves are key components to fabricate LGP(light guide plate), optical fiber connector and so on. Conventional v-shaped groove methods such as etching and lithography are difficult to make grooves with accuracy and cutting by lathe is difficult to select target materials. Therefore, as a preliminary stage to developing the grinding technology that will be expected fabrications for micro 3-dimensional structure of high effectivity and accuracy and freed up the restrictions of machinability to the materials for micro v-shaped grooves, truing is carried out with resin bond diamond wheel and electroforming diamond wheel using a cup-type truer. From the experimental results, it is found that the effects according to working direction of the cup-type truer and the restrainable methods of plastic deformation that is generated at wheel edge are examined. As a result, fine micro v-shaped diamond wheel was obtained, which are applicable to micro grinding for optical devices.

Laser welding of thermoplastics is a new jointing technique with a host of advantages. It is not only another extremely useful welding method but also a cost-effective alternative to traditional techniques involving screws or adhesives. Transmission laser-welding of thermoplastics such as polycarbonate(PC), polypropylene(PP), polyvinyl chloride(PVC), low density polyethylene(LDPE) and acrylic using a high power diode laser has been studied experimentally. The optical transmission of each plastic has been measured at laser wavelength of 808nm. The weld process has been characterized by the specific energy and weld time required for each plastic. The characteristics of laser welding between same plastics have also been analyzed.

In this study, to improve the formability of the rear floor in series stamping process, the method for predicting the temperature of tools and steel sheet is proposed using FE analysis. To do this, tensile tests and straight pulling friction tests of three steel sheets are carried out at temperatures up to $300^{\circ}C$, and the effect of temperature on the tensile properties and the characteristics of friction are examined. The steel sheets have a higher n-value in the temperature range of about $50^{\circ}C$, and it is related to the maximum uniform elongation. Also, the blue shortness occurs in the temperature range of about $150^{\circ}C$. When the temperature is higher than $200^{\circ}C$, the friction coefficient increase with increasing temperature. From the FE-simulation, the effects of the punch temperature considering heat expansion in the number of stamping are examined and discussed. The technique developed in this study fur estimating tool temperature can be used to develop more feasible ways to improve continuous productivity in series stamping process.

This paper describes a development of the extrusion process and estimation of the weldability for multi cell tubes used to cooling system of automobiles. A study on extrusion process is performed through the 3D FE simulation in non-steady state and extrusion experimentation. Also, nano-indentation test is employed to estimate the weldability of tubes. Especially, An evaluation of the weldability using the nano-indentation is accomplished as compared with nano-hardness in welded part and in the others. Finally, the pattern of the mandrel defection is investigated according to shapes of the porthole and/or chamber.

To investigate the effects of beam focusing in the etching of polymers with short pulse Excimer lasers, a polymer etching model of SSB's is combined with a beam focusing model. Through the numerical simulation, it was found that in the high laser fluence region, SSB model considering both photochemical and thermal contribution is considered to be suitable to predict the etched hole shape than a simple photochemical etching model. The average temperature distribution into the substance obtained by assuming 1-D heat transfer is found to be fairly similar to the fluence distribution on the ablated surface. The experimental etching data fur polymers are used to give material properties for ablation model. The fitted etch depth curve gives a nice agreement with the experimental data.

The laser interferometer system such as HP5529A is one of the most powerful equipment fur measurement of the straightness error in precision stages. The straightness measurement system, HP5529A is composed of a Wollaston prism and a reflector. In this system, the straightness error is defined as relative lateral motion change between the prism and the reflector and computed from optical path difference of two polarized laser beams between these optics. However, rotating motion of the prism or the reflector used as a moving optic causes unwanted straightness error. In this paper, a compensation method is proposed for removing the unwanted straightness error generated by rotating the moving optic and an experiment is carried out for theoretical verification. The result shows that the unwanted straightness error becomes very large when the reflector is used as the moving optic and the distance between the reflector and the prism is far. Therefore, the prism must be generally used as the moving optic instead of the reflector so as to reduce the measurement error. Nevertheless, the measurement error must be compensated because it's not a negligible error if a rotating angle of the prism is large. In case the reflector must be used as the moving optic, which is unavoidable when the squareness error is measured between two axes, this compensation method can be applied and produces a better result.

In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes ire needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

This paper describes the recognition method of small-obstacles using a camera for a mobile robot in indoor environment. The technique of image processing using a camera has been widely used for an automaton of industrial system, an inspection of inferior goods, a lookout of an invader, and a vision sensor of intelligent robot. Mobile robot could meet small-obstacles such as a small plastic bottle of about 0.5 l in quantity, a small box of $7{\times}7{\times}7cm^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the recognition of small-obstacles using a camera and program. In this paper, 2-D image processing algorism and method fur recognition of small-obstacles using a camera for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could judge the size and the position of small-obstacles accurately.

The purposes of this paper are the review and derivation of design characteristics for the new construction of the practical flexible manufacturing system. The basic ideas to analyze the manufacturing system which is the automatically operated are dependant on the various manufacturing procedures in factory. The practical flexible manufacturing systems have various mechanical subsystems appropriated fur the final manufacturing products. Therefore the systems have the various kinds of hardwares as well as softwares. We study the software for the practical flexible manufacturing system designed and developed in the Halla University with the related company. Specially the design concepts and using specifications of all subsystems which are composed of mechanical and electronic movements of the product are analyzed and introduced in this dissertation.

In recent years, vision sensors are widely used to mobile robot for navigation or exploration. The analog signal transmission of visual data being used in this area, however, has some disadvantages including noise weakness in view of the data storage. A large amount of data also makes it difficult to use this method for a mobile robot. In this paper, a digital data compressing technology based on MPEG4 which substitutes for analog technology is proposed to overcome the disadvantages by using DWT(Discreate Wavelet Transform) instead of DCT(Discreate Cosine Transform). The TI Company's DSP chip, TMS320C6711, is used for the image encoder, and the performance of the proposed method is evaluated by PSNR(Peake Signal to Noise Rates), QP(Quantization Parameter) and bitrate.

With the recent progress in flexible manufacturing systems (FMS) in industry, increasing attention has been given to Automatic Guided Vehicle (AGV) systems. An AGV is a self-powered unit for transporting materials between stations without needing to be controlled by an operator. Such a system has several sensors to recognize the external state, and it is designed to travel between stations automatically without external assistance. To manage each device automatically in real time it requires a distributed controller with a main computer as the host, as well as a number of micro-controllers. In this study, an AGV system with dual motor drive was constructed. A Pentium 4 personal computer was set up as the main host for the distributed control, and this communicated with other micro-controllers in the management of the motor. The speed of each motor was also controlled by a micro-controller.

Errors resulting from magnification variations of a optical system are largely generated in three-dimensional shape measurements based on depth-from-focus. In the case of measuring the surface morphology of tiny objects based on DFF, images are acquired with a very small interval so that magnification changes can be minimized. However, the magnification variations are actually existed in the acquired images and so focus measures are wrongly or ambiguously extracted. In this paper, a methodology with linear magnification calibrations, based on DFF, is proposed to make more accurate measurement in surface morphology with high depth discontinuity, compared with previous ones. Several experiments show that the proposed method outperforms existing ones without magnification calibrations.

As the robot industry changes from industrial robot into personal robot used in home, the concept also changes from the existing fixed manipulator into Mobile Manipulator of free move in the aspect of appliance. For personal robot with such features, the role of mobile system is very important technology that rules the roost of robot functions. Especially, it is necessary to develop moving mechanism for free move in a narrow environment with obstacles such as home. This study introduces 3-axis structure in order to develop synchronous method that has turret capable of endless revolution for practical use as well as semi-omnidirectional function, and suggests applicable method to solve the problem of mechanical coupling.

This paper presents an optimal design and the performance evaluation of two-axis nano positioning stage with round notched flexure hinges. A flexure hinge mechanism with round notched flexure hinges is to guide the linear motions of a moving plate in the nano positioning stage. A Min-Max algorithm is applied to the design of the flexure hinge mechanism for nano positioning stage. In the design process, the structure of the flexure hinge mechanism is fixed, then the radius of a round hole and the width of two round holes are chosen as design variables, and finally the do sign variables are calculated by the Min-Max algorithm. The machined flexure hinge mechanism, stack type PZTs for actuation and capacitance type displacement sensors for position measurement are assembled into the nano positioning stage. The experimental results of the manufactured nano positioning stage show the first modal resonance frequency of 197 Hz, the operating range of 40 um, and the resolution of 3 nm.

This paper describes a research work to develop a computer-aided design for the product made by progressive working of bending and piercing. An approach to the system for progressive working is based on the knowledge-based rules. Knowledge for the system is formulated from plasticity theories, experimental results and the empirical knowledge of field experts. The system has been written in AutoLISP on the AutoCAD with a personal computer and is composed of three main modules, which are input and shape treatment, flat pattern layout, strip layout modules. The system is designed by considering several factors, such as piercing and bending sequences by fuzzy set theory, complexities of blank geometry, punch profiles, and the availability of a press equipment. Strip layout drawing generated in the strip layout module is presented in 3-D graphic forms, including piercing and bending sequences with punch profiles divided into for external area. Results obtained using the modules enable the manufacturer for progressive working of electric products to be more efficient in this field.

A precision hi-directional actuator for a high precision leveling system with $Z{\Theta}_x{\Theta}_y$ motions is proposed and designed in this paper. The actuator is composed of a force generation structure, a guide mechanism, and a symmetric structure. At first, its driving force is generated by a change of flux in air gaps by permanent and changeable flux. The permanent flux is generated by a permanent magnet. The changeable flux is created by variable current flowing through coil. The combination of permanent and changeable flux makes various flux densities in air gaps between moving part and fixed yokes. And then, the difference between flux densities in lower and upper gaps creates forces fur the $bi-direction({\pm}z)$ motion. The guide mechanism of this actuator is composed of two circular plates and one shaft. Reducing motions generated by forces except z-motion, these circular plates endow the actuator with high stiffness for fast settling time. And the function of the shaft is to transfer motion to an object. At last, total body has a symmetric structure to be stable on thermal error. The actuator is designed by MAXWELL 2D and ProMECHANICA. The designed actuator is evaluated by 8nm laser doppler vibrometer, dynamic signal analyzer, and simple PID controller.

Up to now, a lot of unmanned demining systems have been developed. However, some inferiority surely exist by reason of their large platform and explosive mechanism. To settle this inferiority, non-explosive demining system adaptable to a mobile robot already has been developed. Brief experiment indoors showed that developed demining system can remove landmines well. But, out of doors, several problems are detected. In this research, a study on the performance improvement of developed non-explosive demining system is mainly discussed. To overcome downhill effect, mechanical sensor composed of shaft and spring is used. It is confirmed that clearance depth control using the mechanical sensor is a good solution for the inclination of the system.

The objective of this research works is to investigate into characteristics of bending stiffness and failure for the ISB ultra-lightweight panel with internally structured material. The expanded metal with a crimped pyramid shape and woven metal are employed as an internally structured material. Through three-points bending test, the force-displacement curve and failure shape are obtained to examine the deformation pattern, characteristic data, such as maximum load, displacement at maximum load, etc, and failure pattern of the ISB panel. In addition, the influence of design parameters fur ISB panel on the specific stiffness, the specific stiffness per unit width, failure mode and failure map has been found. Finally, it has been shown that ISB containing expand metal with the crimped pyramidal shape is prefer to that containing woven metal from the view point of optimal design for ISB panel.

Recently plastic parts are molded for the purpose of mass production in multi-cavity system. Therefore, designer is usually designing mold that has geometrically balanced runner lay-out for filling balance at each cavity. Although, mold is manufactured with geometrically balanced runner lay-out, there are actually filling imbalances in the cavities. These filling imbalances phenomenon are caused by complicated interaction between melt and mold. In this study, based on previous studies for filling imbalances in cold-runner mold, filling imbalances in hot-runner mold were investigated by CAE and injection molding experiments. ABS and PMMA as amorphous polymer, PA as crystalline polymer were used to compare the filling imbalances. There were different results of CAE and experiment. The filling imbalances decreased as injection rate increased without regard to kind of resins and were lower than the one of cold-runner.

The characteristics of blood flow and the interaction between the blood vessel and blood flow play important roles in plaque cap rupture and the growth of atherosclerosis which may lead directly to a heart attack or a stroke. In this study, carotid arteries with different stenoses have been numerically simulated to investigate the wall shear stress(WSS) and the elastic motion of the vessel. Blood flow has been treated as physiological, laminar and incompressible flow. To model the shear thining behavior of the blood, the Carreau-Yasuda model has been employed but the viscoelasticity of blood has not been considered. The results show that the WSS of $severe(75\%)$ stenosis is much higher than those of $25\%\;and\;50\%$ stenosis in the region of stenosis. With the increase in the stenosis thickness, the expansion ratio of the center of the stenosis decreases while the expansion ratio of the upstream region of the stenosis increases.

To provide the various machining materials with excellent quality and dimensional accuracy, high -speed machining is very useful tool as one of the most effective rapid manufacturing processes. However, high-speed machining is not suitable for microscale thin-walled structures because of the lack of the structure stiffness to resist the cutting force. A new method which is able to make a very thin-walled structure rapidly will be proposed in this paper. This method is composed two processes, high-speed machining and filling process. Strong workholding force comes out of the solidification of filling materials. Low-melting point metal alloys are used in order to minimize the thermal effect during phase change and to hold arbitrary shape thin-walled structures quickly during high-speed machining. To verify the usefulness of this method, we will show some applications, for examples thin -wall cylinders and hemispherical shells, and compare the experimental results to analyze the dimensional accuracy of typical parts of the structures.

Recently, as Rapid Prototyping is attracting people's attention, many peoples are actively participating in the research on STL format. The STL files are transformed to be input for RP after modeling in CAD system. When the shape, however, needs to be changed or edited, it is impossible without the original data. So, if the original data is lost, new modeling is required. Therefore, this study suggests a way to edit the shape in STL format and to make the Boolean operation possible between the original and edited shapes. In addition, the reliability was confirmed after going over the errors of the edited data.

This paper introduces and illustrates the results of a new method fer offsetting triangular mesh by moving all vertices along the multiple normal vectors of a vertex. The multiple normal vectors of a vertex are set the same as the normal vectors of the faces surrounding the vertex, while the two vectors with the smallest difference are joined repeatedly until the difference is smaller than allowance. Offsetting with the multiple normal vectors of a vertex does not create a gap or overlap at the smooth edges, thereby making the mesh size uniform and the computation time short. In addition, this offsetting method is accurate at the sharp edges because the vertices are moved to the normal directions of faces and joined by the blend surface. The method is also useful for rapid prototyping and tool path generation if the triangular mesh is tessellated part of the solid models with curved surfaces and sharp edges. The suggested method and previous methods are implemented on a PC using C++ and illustrated using an OpenGL library.