• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.1
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• pp.121-127
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• 2010

We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.2
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• pp.8-15
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• 2008

Current trend of design technologies shows engineers to objectify or automate the given decision-making process. The numerical optimization is an example of such technologies. However, in numerical optimization, the uncertainties are uncontrollable to efficiently objectify or automate the process. To better manage these uncertainties, Taguchi method, reliability-based optimization and robust optimization are being used. Based on the independence axiom of axiomatic design theory that illustrates the relationship between desired specifications and design parameters, the designs can be classified into three types: uncoupled, decoupled and coupled. To best approach the target performance with the maximum robustness is one of the main functional requirements of a mechanical system. Most engineering designs are pertaining to either coupled or decoupled ones, but these designs cannot currently accomplish a real robustness thus a trade-off between performance and robustness has to be made. In this research, the game theory will be applied to optimize the trade-off.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.1
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• pp.1-8
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• 2017

Warpage is a major defect frequently found in the injection molding process, and the reduction of warpage is a very challenging problem because of the uncontrollable factors, such as variations in the process parameters. Without any countermeasure against these noises, attempts to reduce the defects often lead to failure. In this research, a new robust design methodology, based on the Mahalanobis Taguchi System (MTS) to reduce warpage, is presented. The MTS performs the orthogonal array experiments and uses the signal-to-noise (SN) ratio of the Mahalanobis distance as a performance metric. The validity of the proposed method is illustrated through an optimal design of the injection molding process of a CPU base plate.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.2
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• pp.125-136
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• 2012

Wrinkle and fracture are two major defects frequently found in the sheet metal forming process. In this process there are more than one design attributes to optimize and several uncontrollable factors which cannot be ignored in determining the optimal values of design variables. Therefore, attempts to reduce defects through a traditional optimization technique are often led to failures. In this research, a new design method for reducing the wrinkle and fracture under uncontrollable factors is presented by using decision-making theory. To avoid the psychological difficulties in determining the scaling constants of the multi-attribute utility function by using the ordinary lottery questions, a pair-wise comparison procedure is adapted to avoid this problem. The effectiveness of the proposed method is illustrated through a robust design of sheet metal forming process of a side member of an automotive body.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.3
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• pp.465-472
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• 2012

This paper describes a new robust control algorithm which can be used to enhance the positioning performance of an ultra-precision positioning system. The working table is supported by flexure hinges and moved by a piezoelectric actuator, whose position is measured by an ultra-precise linear encoder. The system dynamics is very complicated because the movement of the table is governed by both the mechanical characteristics and those of the PZT actuator. So that, the dynamics of the stage was modeled roughly in this paper, and the overall system was formularized to solve the small gain problem. A series of experiments was conducted in order to verify the usefulness of the proposed algorithm. From the experimental results, the positioning performance such as the accuracy, the rise time and the hysteresis nonlinearity were greatly improved.

• Industrial Engineering and Management Systems
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• v.14 no.4
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• pp.392-400
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• 2015

Monitoring of plasma etch processes for fault detection is one of the hallmark procedures in semiconductor manufacturing. Optical emission spectroscopy (OES) has been considered as a gold standard for modeling plasma etching processes for on-line diagnosis and monitoring. However, statistical quantitative methods for processing the OES data are still lacking. There is an urgent need for a statistical quantitative method to deal with high-dimensional OES data for improving the quality of etched wafers. Therefore, we propose a robust relevance vector machine (RRVM) for regression with statistical quantitative features for modeling etch rate and uniformity in plasma etch processes by using OES data. For effectively dealing with the OES data complexity, we identify seven statistical features for extraction from raw OES data by reducing the data dimensionality. The experimental results demonstrate that the proposed approach is more suitable for high-accuracy monitoring of plasma etch responses obtained from OES.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.8 no.3
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• pp.90-97
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• 2009

In the study, a design methodology for robust minimization of a warpage in injection-molded part is presented. Taguchi's parameter design method is integrated with a computer simulation tool for injection molding to search for best design with robustness against the process variability by noises. The proposed methodology is based on a two-stage process: (1) reducing a warpage in the part by optimizing the part geometry including the layout and size of ribs, and (2) additionally minimizing the warpage by optimizing process conditions. An example is used to illustrate the usefulness of the design methodology.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.1
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• pp.22-31
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• 2008

The operating window method is a novel approach in quality improvement. But it has not received deserved attention in academic research. If a critical factor for competing failure modes can be identified, the probability of failure can be reduced by widening the operating window of this factor. Traditional SN ratio for the operating window advocated by Taguchi has a critical shortcoming, which has been derived under the assumption that failure rates are determined by the operating window factor only. A new metric for robustness is given for the operating window method, which has relaxed the restrictive assumption of Taguchi's SN ratio. And procedures for determining optimal conditions based on the new metric is presented. The effectiveness of the proposed approach over the traditional practice is tested with the aid of a wave soldering process.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.2
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• pp.13-22
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• 2003

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason. the exact model of the undersea robot manipulator is difficult to obtain. In this paper, instead of having efforts to get the exact model of the robot dynamics, a control-based approach was performed. We modeled the dynamics of the undersea robot manipulator whose parameters are unknown, and then applied a proposed direct adaptive and robust control, which is different from previous studies. The unknown added mass, and added moment of inertia, drag force and friction are estimated by the direct adaptive control scheme, and the drag force which is dominant disturbance is compensated by the robust control. Also, stability of the proposed control scheme is analyzed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.1 s.256
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• pp.113-120
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• 2007

Design optimization of layered plates bonding process is conducted by considering uncertainties in a manufacturing process, in order to reduce the crack failure arising due to the residual stress at the surface of the adherent which is caused by different thermal expansion coefficients. Robust optimization is peformed to minimize the mean as well as its variance of the residual stress, while constraining the distortion as well as the instantaneous maximum stress under the allowable reliability limits. In this optimization, the dimension reduction (DR) method is employed to quantify the reliability such as mean and variance of the layered plate bonding. It is expected that the DR method benefits the optimization from the perspectives of efficiency, accuracy, and simplicity. The obtained robust optimal solution is verified by the Monte Carlo simulation.