A curing process in post-printing section of R2R process is required for an electrical property of the printed pattern when devices such as RFID, Solar cell are printed. PEN as well as heat-stabilized PET which is used as a plastic substrate would be deformed at high temperature due to change of its elastic modulus. And crack in the printed pattern, which is on the plastic substrate is occurred due to the deformation of the substrate. The occurrence of crack causes electrical resistance to increase and the quality of the device to deteriorate. In case of RFID antenna, the range of reading distance is shortened as the electrical resistance of the antenna is increased. Therefore, the deformation of the plastic substrate, which causes the occurrence of crack, should be minimized by setting up low operating tension in R2R process. In low tension, slippage between a moving substrate and a roller would be generated when the operating speed is increased. And scratch would be occurred when slippage is generated due to an air entrainment, which is related to the thickness of the air film. The thickness of the air film is increased when operating speed is increased as shown by simulation based on mathematical model. The occurrence of scratch in conductive pattern printed by roll to roll process is a critical damage because it causes degradation or failure of electrical property of it.

This paper presents a manipulation system consisting of a coarse/fine XY positioning system and an out-of-plane manipulator. The object of the system is to conduct tine positioning and manipulation of micro parts. The fine stage and the out-of-plane manipulator have compliant mechanisms with flexure hinges, which are driven by stack-type piezoelectric elements. In the fine stage, the compliant mechanism plays the roles of motion guide and displacement amplification. The out-of-plane manipulator contains three piezo-driven compliant mechanisms for large working range and fine resolution. For large displacement, the compliant mechanism is implemented by a two-step displacement amplification mechanism. The compliant mechanisms are manufactured by wire electro-discharge machining for flexure hinges. Experiments demonstrate that the developed system is applicable to a fine positioning and fine manipulation of micro parts.

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

In a post printing section of roll to roll printing systems, scratch problem is the major defects. The functional qualities such as conductivity, mobility could deteriorate because of the scratch defect. In general, the scratch of the printed pattern on the flexible substrate was induced from a contact between rolls and printed pattern in the post printing section. In this paper, for non-contacting transfer of a moving web, a mathematical tension model has been developed considering strain due to air floatation and the proposed mode has been validated by numerical simulation. Additionally, the correlation between floatation height and speed compensation to control the tension and register are investigated. On the basis of the proposed model, a guide line of speed control in R2R printing system is presented to guarantee the non-contact between rolls and R2R printed pattern on the flexible substrate.

There are many different types of surface defects on semiconductor Integrated Chips (IC's) caused by various factors during manufacturing process, such as Scratch, Flash, Resin bleed, and Melting. These defects must be detected and classified by an inspection system for productivity improvement and effective process control. Among defects, in particular, Resin bleed and Melting are the most difficult ones to classify accurately. The brightness value and the shape of Resin bleed and Melting defects are so similar that normally it is difficult to classify the Resin bleed and Melting. In this paper, we propose a segmenting method and a set of features for detecting and classifying the Resin bleed and Melting defects.

AVI (Automatic Vision Inspection) systems automatically detect defect features and measure their sizes via camera vision. It is important to predict the performance of an AVI to meet customer's specification in advance. Also the prediction can indicate the level of current performance of an AVI system. In this paper, we propose a statistical method for prediction of false alarm rate regarding inconsistency of defect size measurement process. For this purpose, only simple experiments are needed to measure the defect sizes for certain number of times. The statistical features from the experiment are utilized in the prediction process. Therefore, the proposed method is swift and easy to implement and use. The experiment shows a close prediction compared to manual inspection results.

This work is to develop a vision system for high precision alignment between upper and lower plates required at the imprinting process of the large LCD flat panel. We compose a gantry-stage that has highly repeated accuracy for high precision alignment and achieves analysis about thermal transformations of stage itself. Position error in the stage is corrected by feedback control from the analysis. This system can confirm alignment mark of upper and lower plates by using two cameras at a time for the alignment of two plates. Pattern matching that uses geometric feature is proposed to consider the recognition problem for alignment mark of two plates. It is algorithm to correct central point and angle for the alignment from the recognized mark of upper and lower plates based on the special characteristics. At the alignment process, revision for error position is performed through Look and Move techniques.

The technology to inspect and measure an inner structure of micro parts has become an important tool in the semi-conductor industrial field with the development of automation and precision manufacturing. Especially, the inspection skill on the inside of highly integrated electronic device becomes a key role in detecting defects of a completely assembled product. X-ray inspection technology has been focused as a main method to inspect the inside structure. However, there has been insufficient research done on the customized inspection technology for the flip-chip assembly due to the interior connecting part of flip chip which connects the die and PCB electrically through balls positioned on the die. In this study, therefore, it is implemented to detect shape error of flip chip bonding without damaging chips using an x-ray inspection system. At this time, it is able to monitor the solder bump shape by introducing an edge-extracting algorithm (exponential approximation function) according to the attenuating characteristic and detect shape error compared with CAD data. Additionally, the bonding error of solder bumps is automatically detectable by acquiring numerical size information at the extracted solder bump edges.

This thesis puts forward a suggestion of measuring inner crack and center segregation in steel processing by using scanner and image processing with sulfur printer. To sum up, there are three points in this system. First, it scans sulfur printer and process the image by using histogram, image processing, and the mask. Second, it measures crack and center segregation by the fictitious image and output the length, thickness, exponent and grade on the mornitor. And finally, it gathers the measurement result image and data at the server and this information is used as data for the next casting.

This paper presents a novel control methodology for communication network based nonlinear systems with time delay nature. We construct a nominal nonlinear control law for representing a linear model and a reset control system which is aimed for corrective control strategy to compensate system error due to uncertain time delay through wireless communication network. Next, online neural control approach is proposed for overcoming nonstationary statistical nature in the network topology. Additionally, DBN (Dynamic Bayesian Network) technique is accomplished for modeling of its dynamics in terms of casuality, which is then utilized for estimating prediction of system output. We evaluate superiority and reliability of the proposed control approach through numerical simulation example in which a nonlinear inverted pendulum model is employed as a networked control system.

In this paper, we proposed a method which corresponds people under the structured spaces with multiple cameras. The correspondence takes an important role for using multiple camera system. For solving this correspondence, the proposed method consists of three main steps. Firstly, moving objects are detected by background subtraction using a multiple background model. The temporal difference is simultaneously used to reduce a noise in the temporal change. When more than two people are detected, those detected regions are divided into each label to represent an individual person. Secondly, the detected region is segmented as features for correspondence by a criterion with the color distribution and context information of human body. The segmented region is represented as a set of blobs. Each blob is described as Gaussian probability distribution, i.e., a person model is generated from the blobs as a Gaussian Mixture Model (GMM). Finally, a GMM of each person from a camera is matched with the model of other people from different cameras by maximum likelihood. From those results, we identify a same person in different view. The experiment was performed according to three scenarios and verified the performance in qualitative and quantitative results.

The small multi-jointed robots for most education are developed with the way of firmware. But the firmware may be very difficult to develop as gradually increasing throughputs and control routines. Due to limit of firmware we try to use on RTOS, but hard to adapt on the small multi-jointed robots. It would be hard to install RTOS into the small multi-jointed robots because of the size capacity of RTOS, and lack of libraries for control of the particular hardware. Moreover, even its RTOS with many functions causes its to make overheads scheduling, TCB (Task Control Block), and task states. Also to keep maintenance of RTOS, it is composed of components for the whole structure of my proposed RTOS. Additionally, We provided with libraries of servo motor and sensor control and developed RMS (Rate Montonic scheduler) to handle tasks on real time and reduce overheads. Therefore, It is possible to work the fixed priority and task preemptive way. We show one example of the multi-jointed robot installed with my proposed RTOS, which shows to obstacle avoidance and climbing up the slope.

This article presents a combined structure of serial and parallel mechanisms for a humanoid robot. The 3 DOF parallel structure is designed and added to the waist of the humanoid robot arm to give flexible bending and rotating motions. Forward and inverse kinematics of a serial and parallel robot have been analyzed to generate motions. Simulation studies of verifying kinematics solutions of the parallel robot have been done. Experimental studies of mimicking shake-hands motion have been conducted to show the feasibility and usability of the combined structure.

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.