Advanced ceramics have excellent thermal resistance, wear resistance, corrosion resistance, and other properties, and are promising materials as structural materials. Over the past decade, they have been applied to some machine parts, for example, glow plugs and turbochargers of automotive engines. In the case where the advanced ceramics are used as these structural parts, te low-dimensional accuracy of sintered bodies requires secondary machining.

In sawing operation of synthetic jewelry, the performance of diamond cutter blade is very dependent on the blade variables. This investigation presents ecperimental results which show the effects of the blade variables such as types of diamond abrasives, grain size of diamond, concentration, and bond materials on the beavior of te blades. Based on the experimental results an optimum blade condition for the sawing of cubic zirconia was recommended.

This effective way for repairing a fatigue crack is making indetations around fatigue crack tip. In this paper, we performed fatigue test to investigate the optimal position of the indentations, and observed crack opening behavior at the same time. The indentation positions of specimens were on the crack tip, front and back of the crack tip. The results of the experiment showed taht it was veryeffective way to increase fatigue life that making indentations on the crack tip, and it was the optimal position that making indentations on the crack tip.

In this study, unsistered, pre-sintered and sintered low purity alumina ceramics were machined with various tools to clarify the machniability, the optimum tool materials and the optimum tool materials and the optimum cutting conditions. The maon conclusions obtained were as follows. (1) Machined withalloy steel tool, the machinabilty of te pre-sintered ceramics becomes better with the decrease of pre-sintering temperature, but that of unsintered ceramics(white body) was extremely poor. (2) In the case of carbide tool K01, the tool life in machining white body was the longest, and the machinabilty of pre-sintered ceramics becomes poorer with the increase of the pre-sintering temperature. (3) In the case of ceramic tool, the 10000-1100 .deg. C pre-sintered ceramics showed te best machinability within a certain cutting speed range. So far as dry machining, the above combination and conditions showed the highest productivity. (4) When the pre-sintered ceramics were wet machined withsintered diamond tool, the tool life becomes extremelylong, and higher cutting speed can be can be used than in the case offull-sintered ceramics. The productivity of wet cutting is much higher than that ofdry cutting.

The gas nitro-carburizing treatment with the merits of carburizing and nitriding treatment is recently applied to transmission gears. the shafls of an engine oil pump and steering shafls. For all that, the researches of the gas nitro-carburizing treatment are short of the fatigue behavior and the evaluation of fatigue life. In this paer, it is examined for the effect of inclusions and hole defects with fatigue limit and the evaluation of the fatigue strengthaccording tothe hardness and resifualstress with the specimen of a notro-carburizing treatment.

자동차 엔진의 피스톤은 핀 구멍의 복잡한 형상과 2사이클 엔진의 경우 실린더쪽 흡기 및 배기 포트의 위치에 따라 균일하지 않은 열이나 응력 등의 영향에 의한 변형을 고려하여, 상온에서의 형상이 각종 평가 시험을 거쳐 엔진마다 다양한 형상을 갖는 피스톤으로 결정된다. 본 연구에서는 컴퓨터 제어에 의한 방법으로서 타원형상을 갖는 임의의 피스톤을 고속, 고정도로 가공할 수 있는 CNC(Computer Numerical Control)선반 개발에 관하여 연구 하였다. 피스톤 데이터를 퍼스널 컴퓨터로 입력하고 CNC 제어하므로 마스터캠의 제작 불필요, Recess 등과 같은 미세가공 가능, 피스톤의 형상변경 용이, 고속가공 등으로 모방절삭 방식보다 훨씬 높은 생산성 향상이 기대된다.

In order to suggest the proper cutting conditions of the CNC milling machining for the free-from surface, some experiments were carried out. In experiments, the influence of cutting conditions on the inclined spherical surface were examined by geometrical anlysis. In thos study, the roundness and cutting force were measured to know the effect of several cutting conditions on the machined surface and the cutting characteristics were carefully investigated. As the result, it was appeared that rigidder tool must be used and the cutting speed must be maintained constantlyfor more effective machining. It can be also known from the experiments that the improved machining surface obtained under about 80 degree, but coarse surface obtained over about 80 degree because of the existance of immproper shape of ball-end mill at the extreme portion.

절삭가공 중에서도 높은 비중을 차지하는 구멍가공은 전자제품, 공작기계 뿐만 아니라 산업 전반에 걸쳐 소형 화, 다양화, 대량생산화 함에 따라 미세화, 고속화하게 되었다. 본 연구에서는 미세드릴 가공시에 발생하는 스러스트를 측정하여 이송, 절삭속도, 피삭재 두께 변화 등 각 절삭조건이 공구수면과 가공확대오차에 미치는 문제점을 해결하기 위한 방안으로 스텝이송 방식을 채택하여 그 효과에 대한 평가를 목적으로 한다.

미세드릴가공은 최근의 공업제품의 소형 경량화 추세로 인해 수요가 급증하고 있으나 가공시에 있어서 많은 난 점이 존재 하기 때문에 강도 높은 가공기와 숙련된 가공전문가를 필요로 한다. 본 연구에서는 미세드릴가공을 수행하기 위해 우선 절삭상태 검출방법으로써 실용적이고 가공상황에 간섭을 일으키지 않는 주축용 모터의 전류 값을 이용하며 제어기 설계를 위해 퍼지추론과 유전알고리즘 이론을 도입한다. 이러한 지능형 가공방법을 미세 드릴가공에 구현하기 위해서 오프라인으로 안정한 가공조건을 초기화한 다음 퍼지제어기를 이용하여 일정한 절삭력을 유지할 수 있도록 실시간으로 이송속도를 제어하며 가공상황 변동에 따른 적절한 퍼지규칙을 자기 동조하는 최적화 알고리즘을 제안한 후 실제가공을 통하여 미세드릴가공의 특성과 제어기의 성능을 평가한다.

A theoretical analysis is presented on the mechanics of diamond blade sawing. Experimental results are also presented, which show the effects of cutting variables such as cutting speed, feed speed, cutting area, and concentration of deamond blade on the cutting forces. The analytical results aggreed well with experimental ones.

A cutting experiment using diamond tool was performed to make the die cabity which is composed of micro groove with mirror surface. Fine cutting depth was generated by the elastic recovery of the modified tool holder on the conventional M/C. Surface roughness and profile were investigated with cutting speed and depth and through the low cutting speed of 10mm/min, Rmax 0.005 .mu. m or less of machined surface could be achieved.

An experimental study of hot machining has performed to improve themachinability of Inconel 718. This experiment used plasma arc for heating materials and Whisker-reinforced aluminum oxide ceramic tool insert. An assembled plasma heating system are described and experimental results obtained from bothconventional and plasma hot machining of Iconel 718 are compared. Turning experiments with plasma heating demonstrated the following effectiveness. 1) The cutting force was reduced with increasing surface temperature of workpiece from 450 .deg. C up to 720 .deg. C as much as approximately from 20 to 40%. 2) Surface roughness(Ra) was improved by as much as a factor 2 in case of one pass cutting with new ceramic tool inserts. 3) The depth of cut notchwear at primarycutting tool was singificantly reduced.

The ball screw preloaded for high nigidity and accuracy increases frictional resistance, therefore, its temperature and positioning error rise. In this paper, 2 diamensional temperature distributions of a ball screw with preload are analyzed according to the rotational speeds and stop times by a finite element method. The theremal behaviors of a ball screw are measured to examine the analyzed datum. The examined results show that the trends of temperature rising and axial distributions in steady state are nearly extimate but the temperature low. The differences of temperature ate seems to be caused by not exact heat transfer coefficients. More than an hour is consumed for calculation by FEM. So the modified lumped method for the real-time estimation of the thermal distribution is proposed. The estimated temperature of a ball serw by the modified lumped method is more exactly estimated than by FEM, nd that method takes less than several millisec. Moreover it can be used to estimate heat transfer coefficients.

This paper describes a new surface finishing process which uses magnetic abrasive polishing. This is applied to automatic finishing of die & mold surface. Nowadays, most of die & mold meanufaturing procedures have been automated by the introduction of NC machine tool and CAD/CAM system. But the surface finishing of die & mold must be done by hand work of well-skilled workers. Though many attempts were tried in the past 15 years to eliminate this hand work, the automatic finishing of die & mold surface with 3D curvature has not been achieved yet. New magnetic abrasive finishing process is thought as one of the possible methods for the automation of 3D surface finishing. In order to improve the grindability of the method, ultra-high speed and 5-axis machining was introduce. The magnetic abrasive polishing which has adopted these methods was confirmend to improve the efficiencyof die & mold surface finishing.

곡면의 폴리싱은 형상 및 공정 자체의 복잡성 때문에 아직까지 기계화 및 자동화가 잘 이루어지지 않고 있으나 정밀 기계부품 및 금형 관련 산업현장에서 매우 중요한 공정이기때문에 곡면 폴리싱 공정의 기계화 또는 자동화 연구가 최근에 활발히 진행되고 있다. 본 연구에서는 능률적이면서 정밀한 곡면 폴리싱을 위하여 유연성 있는 두 가지 형태의 자력폴리싱 공구를 제작,해석하고 이를 이용한 곡면의 2단계 자력폴리싱 방법에 대하여 실험을 수행하고 고찰하였다.

최근, 제품의 다양화, 생산성향상 등의 요구에 의해 소성가공 분야인 압연가공에 있어서도 절삭가공에서와 같이 고능률, 고정도가공이 주목되고있다. 본 연구에서는 온라인 압연롤 그라인딩(On-line Roll Grinding :ORG)법에 전해인프로세스드레싱법(ELID)을 적용하여 압연롤의 경면가공을 수행하고 최종적으로 경면압연을 수행함을써 압연품의 고부가가치화를 이루고자 한다. 이를 위해 ELID법을 적용한 ORG를 제시하여 압연기에 설치하고 정압 연삭으로 압연롤의 경면가공을 실현하며, 압연시발생하는 흠집을 고능률로 제거하기 위한가공능률 평가를 중심 으로 검토하고자 한다.

Grinding operations is accomplished by rotating a gfinding wheel with lots of random abrasive at high speed, and its object is generally obtained the fanal workpiece surface of high quality as well as the maximization of workpiece removal rate. But, especiallysince grinding operations is related with a large amount of functional parameter, it is actually difficult to therapy that the grinding trouble occurs during the grinding process. Therefore, we trytodesign grinding trouble-shooting system utilizing the back-propagation model of neural network. The conceptual method is produced byidentifying the four parameters derived from the grinding power, and we are design te to the grinding trouble-shooting system on the basis of their data. In this paper, cognition and therapy method tothe grinding trouble which utilizes neural network based four identified models are suggested, and implementation results of computer simulation with respect to the grinding burn and chatter vibration is presented.

A new grindignwheel was developed for the high performance gfinding of difficult-to-grind materials. Te grinding performance (such as grinding forces, grinding ratio, and surface roughness of ground surface) of the newly developed wheel was evaluated through experiments. Experimental results show that the performance of the newly developed wheel is superior to conventional alumina wheel and comparable to the S-G wheel.

연삭작업에 있어서 요구되는 가공능률과 가공정밀도를 얻기 위해서는 적절한 결합도를 갖는 연삭숫돌을 선택하 는 것이 중요한 요건이 된다. 본 연구에서는 결합도를 평가하기 위한 일정한 기준을 설정할 목적으로 AE계측 시스템을 이용하여 대월식결합도시험방법에 따라 연삭숫돌표면의 일부를 파괴시켰을 때 발생되는 AE신호를 검출 하고 연삭숫돌의 파괴량과 AE 신호특성과의 관계 및 AE를 이용한 결합도평가의 가능성을 검토하였다.

최근 기계가공이 CAD/CAM화되고 가공기술이 고정밀화, 고능률화 되어감에 따라 절삭공정에 대한 정확한 모델이 필요하다. 절삭공정에서 공작물의 정밀도나 가공능률에가장 큰 영향을 미치는 것이 절삭력과 표면거칠기로서 이의 해석을 위해서 절삭력 모델과 표면거칠기 모델이 사용되고 있다. 본 연구에서는 정면밀링가공에서 인서 트 초기오차와 날의 형상을 고려하여보다 쉬운 표면조도 모델을 세우고, 절삭과정을 진동계로 모델링하여 3차 원 동적 표면형상을 예측하고자 한다. 도한 본 모델을 이용하여 정면밀링작업에서 최적의 절삭조건을 찾고자 한다. 밀링가공에서 표면조도는 날딩 이송과 함께 인서트 초기위치오차에 의하여크게 좌우 되기 때문에 최적 의 이송을 찾아서 알맞은 표면조도를 얻고 절삭효율을 높이기는 힘들다. 따라서 본 연구에서 개발한 표면조도 모델을 이용하여 최적의 이송을 찾아서 목적에 합당한 표면조도를 얻고, 또한 절삭효율도 높일 수 있는 방법을 제시하고자 한다.

고정밀도와 높은 생산성을 갖는 가공방법은 좋은 제품을 값싸게 제작하여야 하는 당면과제를 해결하기 위하여 필수적인 조건이 되었다. 이를 위하여 우선적으로는 공작기계가 고강성과 고속용 스핀들을 지녀야하며 정밀한 신속한 위치제어가 가능해야한다. 이와 더불어 절삭가공의 최첨병인 절삭공구가 고속가공에서 고정밀도와 오랜수명을 보장하는 우수한 성능 또한 가장 중요한 요소중의 하나이다. 이를 위하여 고속도강으로부터 시작하여 초경합금, ceramic, CBN & PCD 공구로 이르는 고속용 재종개발이 계속되었고 또한 절삭저항의 감소와 원활한 칩배출을 위한 형상개발이 꾸준히 이루어져왔다. 이와 함께 주어진 공작기계와 공구를 사용하여 최고의 효율과 정밀도를 유지할 수 있는 최적의 절삭조건의 선정과 적용 또한 중요하다.

A study on the generation of optimum tool path for machining the concave parts is discussed. Above all, the various cutting factors and their relationships are considered. Then optimum tool path for concave parts is generated on these cutting variables and their relationships. It is difficult for existing CAD/CAM systems tomachine the concave parts. For cutting the part even the experienced craft must give many attentions and muchtime since it needs consideration of various cutting conditions and geometric properties. The optimum tool path for the concave part is generated onnot only geometric properties byut also cutting conditions. We choose, as variables, feed and cutting direction for productivity, diameter of tool and constant(stable) cutting force for machining accuracy. The results are verified through simulation of the index of performance and cutting force.

금형 제작에는 금형의 형상을 모델링 하는 모델링 기법과 이 모델링 정보로부터 공구의 경고계획, 황삭, 정삭, 잔삭가공과 가공조건등의 여러 가지 고려해야 하는 사항이 많이 있다. 근래에 들어 금형은 그 기능적인 측면뿐 아니라 미적 감각까지 만족시키는 심미안적인 측면이 많이 고려되고 있으며 CAD/CAM 소프트웨어, CNC, 머시닝 센터등릉 이용한 기술 집약적인 생 산체제로 변화하는 실정이며 금형의 생산성 향상 및 납기단축에 중점을 두고 있다. 본 연구에서는 이러한 공구간섭의 배경 을 바탕으로 하여 해석적 복합곡면에서 간섭이 발생하는 부위를 솔리드 모델링 기법을 응용하여 빠르게간섭역을 찾고 찾아진 간섭역에서의 공구간섭 현상을 검사하고 제거하고자 한다. 이러한 방법은 공구간섭검사에 필요한 계산시간을 단축하고 소요 되는 기억용량의 소모를 줄일 수 있으며 나아가 실시간 가공에도 적용할 수 있으리라 본다.

본 논문은 gouging이 있는 free-formed parametric surface 모델로부터 간섭영역을 찾아 공구간섭을 검사하고 이를 제거하여 실시간으로 3축 NC가공을 할 수 있는 방법을 제안한다. 제안되는 방법은 parametri surface로부터 cartesian 경로를 따라 offset surface를 구하고 정의된 가공평면과의 교차곡선을 구하는 것에서 부터 시작한다. 교차곡선으로부터간섭 loop의 형성 여부를 검사함으로써 간섭영역을 찾을 수 있고 간섭을 제거하기 위해 간섭영역내의 모든 CC점이 공구 중심으로 부터 최소한 공구를 벗어나 위치하도록 공구를 공구의 측방향으로 이동시켰다. 이 논문은 free-formed surface의 gouging 부위에서 발생하는 공구간섭을 신속히 제거하고 CL data를 생성하여 실시간으로 3축 NC 가공을 하기 위한 하나의 접근이다.

This paper presents an algorithm to deternine the tool path height for rough machining of sculptured surface. To minimize rough machining of sculptured surface, it is necessary to determine the tool path heights of contour planes. the proposed algorithm searches for the height at which maximum metal removal rate is obtained. This bisection method is accomplished until all shoulder heights are within roughing tolerance. The machining experiment demonstrates the superiority of the algorithm presented in this thesis.

산업,기술계에서 어떤 기계부품이 직접 제조되기 전에 샘플용으로시험 제작하여 부품의 형상, 디자인, 금형제작 에 관한 제반사항을 미리 알아보는 것은 제품의 정확한 형상이 나오도록 하는데 아주 중요하다. Rapid Prototyping( 급속입체표현)은 설계자의 의도를 실제성형물로서 제품개발 초기단계에서 빠르게 제작, 검증할 수 있으며, CAD/CAM 통합에의한 자동생산체제를 응용하여 Concurrent Engineering에도 적용 가능하다. 본 연구에서는 위의 Rapid Prototyping을 위한 형상 제작기법중의 하나인 StercoLithography를 이용한 3차원 입체형상의 제작을 위해 반드시 필요한 Supprot Algorithm에 대하여 연구하였다.

In this paper, the deformation method for inner and outer races of rollr-bearing bymeans of the warm precision forging is investigated. We adapted the process designsuch as following that, toincrease Die life, reduce heat transfer through conduction and the eccentricity of preform in warm forging of bearing gace, the bottom portion of billet is formed during upsetting process. Then it is backward extruded, and thus obtained ring preform is formed by combined extrusion. Also, we compared it with the froming method in China and Japan, and we have known it is more excellent method. Basides, this forming method is simulated by UBST which is based on the merits of UBET nd FEM. The results show that it is easy to know the exact location of neutral surface through the inspection of streamline during combined extrusion, and the velocity vector distribution along the surface of velocity discontinuity is investigationed. Also the effectiveness of this method is proved by te experiment using model material that is Plasticine.

The technique of neural networks is applied to cold forging design system. A user can select more desirable plans in cold forging design by being advised with expert's opinion from neural networks. The neural networks are learned with 3 parts which are most important in cold forging design-undercut, narrow hole, sharp corner. Using the neural networks, the cold forging design system built in this study determines forming possibility about variable shapes in product. We can get available result using the system.

A simulation method basee on upper bound method is developed in order to characterize forging characters in forging of spur gears. In this paer, utlizing a kinematically admissible velocity field and applying it to study the effect of inner diameter of holow billet. To predict the variation of inner diameter of hollow billet, neutal surface has been introduced into forging of hollow gears from hollow billes with flat punch. The neutral surface of each step is assumed as a circle and determined in order to have minimum forging energy by golden section method. According to the analysis, the magnitude of inner diameter of initial billet is vary important to reduce the relative pressure and forging load. And the variation of inner diameter of billet during spur gear forging is successfully predicted.

An experimental study to analyze thd hot extrusion processes of regular square section through square dies is carried out by using plasticine as a model material at room temperature. The experimental setup for the extrusion of squared section from round billets through square dies is designed and manufactured. In order to visullize the plastic flow in the extrusion process the technique of gridding on the planes of the sysmmetries and a stacking the desks with different colors are employed. Velocity fields on the symmetry planes are obtained by using grid distortion.

소재의 손실을 최소한 줄이면서 원하는 형상의 제품을 가공하는 가장 기본적인 금속 가공 방법은 금형을 이용하는 금속 성형(metal forming)이다. 본 논문에서는 준정적 금속 성형 문제 해석 에대한 외연적 시간 적분 유한 요소법의 적용성을 평가 하기 위하여 변형모드가 복잡한 박판튜브 (thin-walled tube)의 좌굴문제를 해석하여 변형과정이 이론 및 실험결과와 비교적 잘 일치하는지 살펴보기로 한다. 또한 준정적 금속 성형 문제 해석에 외연적 시간 적분 유한 요소법을 사용할 때 계산 시간을 줄이기 위하여 많이 사용되는 가압속도 조절법(loading velocity control technique) 의 타당성을 평가하기 위하여 박판 튜브와 중실 실린더(solid cylinder)의 변형 속도에 따른 변형 모드의 변화를 비교 관찰하여 기하학적 형상에따른 가압속도 조절법의 적용 가능 여부를 분석하여 보겠다.

In the paper, we have proposed a new technique to detemine the initial billet for the forged products using a function approximation in neural network. A three-layer neural network is used and a back propagation algorithm is employed totrain the network. An optimal billet which satisfied the forming limitation, minimum of incomplete filling in the die cavity, load and energyas well as more uniform distribution of effective strain, is determined by applying the ability of function approximation of te neural network. The amount of incomplete filling in the die, load and forming energyas well as effective strain are measured by the rigid-plastic finite element method. The new technique is applied tofind the optimal billet size for the axisymmetric rib-web product in hot forging. This would reduce the number of finite element simulation for determing the optimal billet of forging products, further it is usefully adapted to physical modeling for the forging design.

Copper magnetron anode of a microwave-oven consists of an cylindrical outer-tube and various inner-vanes. The magnetron anode is produced by the complex process ; vane blanking, pipe cutting and sliver-alloy brazing of vanes. Recently, the backward extrusion process for forming vanes has been developed to avoid the complex procedures. The developed process is analyzed by using upper-bound elemental technique(UBET). In the UBET analysis, the upper-bound load, the configuration and the vane-height of final extruded product are determined by minimizing the total power consumption with respect to chosen parameters. To verify theoretical analysis, experiments have been carried out with pure plasticine billets at room temperature, using different web-thickness and number of vanes. The theoretical predictions both for forming load and vane-height are in reasonable agreement with the experimental results.

This paper describes that the effects of punch speed and temperatures of the die and the blank holder on the drawability are examined. Up to now, multi-stage of dies sets have been used generally at room temperature in deep drawing of rectangular shaped components. But using local heating, it is shown that one stage of die set was capable of deep drawing and the drawability was increased and sheet thickness of component was drawn somewhat uniformly. Rectangular deep drawing experiments on two kinds of stainless steel STS316L, STS430 of 1.0 mm thickness have been conducted using local heating. The limiting drawing height can be increased by heating the die and the blank holder up to 100 .deg. C at STS316L. Commercial lubricants hadn't an effect on drawability in rectangular deep drawing, but vinyl and teflon film had an effect on it.

요사이 공작기계는 고생산성을 위해 고속절삭과 강력 절삭이 가능하도록 설계되고, 고성능의 Controller를 부착하여 이송과 공구착탈에 필요한 비절삭 시간을 급격히 단축시켜 나가고 있다. 본 연구에서는 공작기계 주축 베어링의 비대칭 벌열의 원인과 발열형태를 이론적으로 예측하고, 실험에 의해 비대칭 발열과 냉각특성 을 운전조건 별로 확인하였다. 또한 비대칭 발열이 주축대의 열변형에 어떤 영향을 미치는지 알기 위해 유 한요소법에 의해 열변위 특성을 분석하였다.

A study on the spalling causes of work roll for cold rolling was performed in the cold rolling mill. Performance of work roll is dependent to a great extent on spalling sothat both roll manufactures and users show great interest in spalling. So this paper shows that spalling origin on the roll surface. As being well known, spalling mostlyoccurred due to developing fatigue fracture originated a crack on a roll. But such spalling can be prevented by proper roll maintenance, The spalling accidents have sharply decreased since 1981 because of the use of ultrasonic test to detect cracks on a roll.

사출성형(Injection Molding)은 생산성이 좋으며 마무리가공을 거의 필요로 하지 않는 정형 형태( net shape)로 제조가 가능하고 복잡한 형상을 만들 수 있어 고분자 재료의 대부분이 사출성형법에 의해 성형 되고 있다. 최근들어 가볍고 강도가 매우 높은 고분자재료의 개발로 전기전자 제품은 물론 자동차, 항공기 등의 생산에 이르기까지 사출성형의 중요성은 더욱 가속화되고 있다. 본 연구에서는 복잡한 형상과 여러 형상의 캐비티를 갖는 경우에는 동시에 충진이 완료되기가 어렵다. 따라서, 다른 캐비티가 충진되고 있는 동안에 먼저 충진이 된 캐비티에서 고분자 수지는 압축을 받고있기 때문에 사출성형품의 치수정밀도를 향상시키기 위한 좀더 정확한 압력과 온도분포를 예측하기 위하여 기존 의 충진과정과 충진후과정(보압, 냉각과정)을 분리하여 해석 하는 것이 아니라 충진과정과 충진후과정을 동시에 해석할 수 있는 프로그램(program)을 만들었다.

In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is proposed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Three dimensional look-up table is used toreduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.

This paper shows that the proposed fuzzy-sliding mode for SCARA robot control could reduce chattering problemed in sliding mode control and is robust against parameter uncertainties. It was very small quantities of chattering in the fuzzy-sliding mode control conpared with that in sliding mode control with two dead-band. In here, the sliding mode control with two dead-band is the method to reduce some chattering by changing into a continuous variable lower control input gain when a state value in pahase palne converged sithin two dead-band. But, the fuzzy-sliding mode control for more reducing chattering is the method to change control input by slicing mode into that by fuzzy rule within two dead-band. Simulations show that the effect of reducing chattering by the fuzzy-sliding mode is superior to sliding mode control with two dead-band.

This paper presents a method in analyzing the output force/moments transmission form the applied input forces of the paralled manipulator. Like a serial manipulator the Jacobian matrix introduced in the paper plays role in relating the output forces/monents with the input forces. The force/moment manipulability have been investigated by considering the force transmission and momen transmission independently. Sensitivity analysis has been done and an illuatrating example is given.

정밀위치결정 기구는 정밀가공기, 계측기기, 반도체 제조장치등의 각종산업기기에 있어 중요 장치로 많이 이용되고 있다. 반도체 회로의 고정밀화, 고집적화, 가공기의 고정도화와 함께 위치결정기구의 기술은 매년 엄격해지고 있다. 현재는 0.1 -0.01 .$\mu$ m의 정도가 요구되고 있어 이에 대응할 수 있는 고정밀 미동제어 위치결정 제어에 대한 연구가 활발히 진행되고 있다. 또한 고정도와 함께 대스트로크(Stroke)를 가지며, 동시에 고속동작의 실현이필요하다. 따라서 이런 여러 성능을 만족시키는 것은 고부가가치 산업에 있어 매우 중요한 조건 중의 하나이다.

To improve the performance of the robots they must be built ever lighter, which will lead to flexibility of the links. The full order of the flexible link manipulator dynamic system does not allow the determination of a feedback linearization control as for flexible link manipulator regard low mode. In this paper, this drawback is overcome by LQG/LTR controller which is designed bya corrected reduced modle based on the singular perturbation method.

This paper presents a new adaptive-neuro control scheme to control the velocity and position of SCARA robot with parameter uncertainties. The adaptive control of linear system found wiedly in many areas of control application. While techniques for the adaptive control of linear systems have been well-established in the literature, there are a few corresponding techniques for nonlinear systems. In this paper an attempt is made to present a newcontrol scheme for theadaptive control of ponlinear robot based on a feedforward neural network. The proposed approach incorporates a neuro controller used within a reinforcement learning framework, which reduces the problem to one of learning a stochastic approximation of an unknown average error surface Emphasis is focused on the fact that the adaptive-neuro controoler dose not need any input/output information about the controlled system. The simulation result illustrates the effectiveness of the proposed adaptive-neuro control scheme.

The paper describes an approach for measuring flow ripple generated by oil hydraulic axial piston pumps. Flow ripple has periodic waveforms due to the cyclic nature of a pump's operation, and interacts with the connected hydraulic systems such as pipes and components to produce a pressure ripple, also known as fluid-borne noise. It is indispensable to measure a flow ripple because increasing of vibration and noise caused by a flow ripple has become a point to be considered and has need of solving these problems. The measurement of flow ripple with high frequencies from oil hydraulic axial piston pumps is msde by using the remote instantaneous flow rate measurement method. As a result, the reverse flow through the relief groove in valve plate has an important effect upon a flow ripple generated by a pumps.

Many hudraulic components have nonlinearities to some extent. These nonlinearities often cause the time delay, thus degrading the performance of the hydraulic control systems and making it difficult to modelthem. In this paper, a new vibration isolation control algorithm that eliminates the necessity of a sophiscated modeling of hydraulic system was proposed. The algotithm is a hybrid type control shecheme consisting of a linear controller and a hetero-synaptic neural network controller. Using this control scheme, simulations and experiments were performed for 1 DOF(Degree of freedom) and 2 DOF vibration isolation. The hybrid type control algorithm can isolate the base vibration signifcantly rather than linear control algorithm. And from the weights in hetero-synaptic neural network, we can get the 2nd equivalent differentialmodel of the hydraulic control system with on-line control operation. This equivalent model provides us with much information, such as stability and the characteristics of the control system.

We developed a part of storke sensing cylinder using magnetic sensor and estimated is performance. In this paper, for the performance estimation of stroke sensing cylinder. We consist of hydrallic system using solenoid valve with ON/OFF motion. In order to the control of solenoid valve for the position control of cylinder rod, PWM (Pulse Width Modulation) method which modulates time pulse width in proportion to error was used. A performance of cylinder rod with magnetic scales was evaluated by its hydraulic system.

Dynamic model of 3-way PWM high speed solenoid valve was derived considering reluctance and inductance of electromagnet through valve spool by Bondgraph modeling method. Computer simulations of hydraulic system with 3-wayhigh speed solenoid valve were performed and the results were compared to te experimental results in order to validate the PWM valve dynamic model obtained.

근래에 서보 제어용 엑투에에터의 사용 경향은, 전기 서보 모터 및 그 제어 기술의 발전으로, 중간 용량이내의 제어 시스템 분야에서 전기 서보 모터를 사용한 시스템의 채용이 급증하고 있는 추세이다. 본 연구에서는 고유 진동수 밍 댐핑이 적은 유압 서보 시스템에 소프트웨어적인 방법으로 부하 압력 또는 가속도를 궤환시키는 방법을 적용하여 시 스템의 bandwidth를 유압 시스템의 고유 진동수 영역까지 확대 시키고, 응답 특성의 신뢰성을 증가시키기 위해 직렬 제어기가 없을 경우에는 적용이 어려운 강인 제어기 (robust controller)를 압력 또는 가속도 궤환제어기의 앞 부 분에 직렬로 배치하여 실험을 통하여 그 성능을 관찰한다.

A digital preview controller is designed for tandem cold mills to achieve a better improvement of the thickness accuracy. And simultaneously a blocked noniteracting controller is synthesized for rejecting the interactive effects among adjacent stands and for controlling independently each roll stand of landem cold mills. The performance effects and characteristics of the suggested roll control system are discussed in the practical view points. The simulation results show that the thickness accuracy of tandem cold mills can be largely improved by the blocked noninteracting and digital preview contoller.

A monitoring technique of spindle fairure should be investirated prior to researcs of fairure diagnosis. This work is about monitoring of unbalanced shaft and defected bearings. The major work is done via experiments and the vibration signal is analysed means of power spectrum technique, and root mean squqre, peak-to-peak. Relationship is quantitatively investigated between defects and these monitoring paramenters.

Non-destructive inspection techniques using laser have been broading their application areas as well as growing their measurement skills together with the rapid development of circumferential technology like fiber optics and computer. The remarkable inspection technique using laser speckle, so-called ESPI is aleady on the stage of on-line testing with commercial products in other nations. Especially, this technique is expected to be applied to the nuclear industry. Because it is proper for the vibration measurement and it can be applied to objects of a high temperature. This paper describes the use of the ESPI system for measuring vibration patterns on the reflecting objects. Using this system, high-quality Jo fringers fso that fringe shift algorthms can be used to determine vibration interferograms recorded by the ESPI system.

The effect of liquid level on the natural frequencies and mode shapes of a partially liquid-filled circular cylindrical shell with various boundary conditions is investigated by means of a theoretical analysis based upon Fourier series expansion method and a finite element analysis using ANSYS computer program. Two dimensional mode shapes of the liquid-coupled shell structure are obtained by the ANSYS finite element analysis and show that the liquid level affect the nodal point movement. It is found that the variation of normalized naturalfrequencies (natural frequencies of liquid-filled shell/antural frequencies ofempty shell) to the liquid level is depend on the axial mode numbers and circumferential wave numbers. Additionally, it is found that the number of variational steps of normalized natural frequencies is identicial to that of axial nodal points of the mode shape.

This study deals with the active vibration control system for an all-clamped rectangular plate with piezoceramic actuators and sensors. A line nonent algorithm (LMA) with the distributed modal sensitivity(DMS) is proposed to reduce the structural vibrations effectively and to select the optimal locations and the optimal directions (skewed angles) of uniform piezoelectric actuators or sensors. Experimental results show that eachmode can attenuated byabout 10 .approx. 13 dB in case a piezoelectric actuator generate the psuedo-random disturbances that excite the plate modes.

PID control has been widely used for real control system Further, there are muchreasearches on control schemes of tuning PID gains. However, there is no results for discrete-time systems with unknown time-dealy and unknown system parameters. On the other hand, Generalized predictive control has been reported as a useful self-tuning control technique for systems with unknown time-delay. So, in this study, based on minimization of a GPC criterion, we present a self-tuning PID control algorithm for unknown parameters and unknown tiem-delay system. A numerical simulation was presented to illuatrate the effectiveness of this method.

The actuator's response delay, disturbance and measurement noise can often cause a significant error in the target tracking of an underwater vehicle. The first purpose of this paper is error analysis about motion of an underwater vehicle when the closed loop system has actuator and disturbance and noise. The underwater vehicle is simulated for cases of various disturbances. The second purpose is robust controller design for the underwater vehicle with parameter uncertainty. So, two robust control methods are applied for the underwater vehicle. One is standard $H_{\infty}$ control, and the other is time-varying sliding mode control with modified saturation function. Suboptimal design parameters for $H_{\infty}$ control, and design parameters for time-varying switching surfaces are provided Simulations for the two controllers are carried out and their performances are analyzed.lyzed.

종래의 Cam 구동방식 Pirn Winder에서는 낮은 권취속도와 만권시 권취 Bobbin이 Cradle에서 이탈될 때 권취 Yarn의 대량손실, Pirn 형성시 사층의 붕괴에 따른 과다권취등 기술적 난제가 대두되었다. 이러한 문제점을 해결하기 위하여 구미선진국에서는 Micom 제어 Pirn Winder가 개발되었다. 국내에서는 이 기계를 전량 수입에 의존하고 있어 수입 대체가 시급하지만 선진국의 기술보호주의 때문에 기술도입도 어려운 실정이다. 본 논문에서는 Micom제어 Pirn Winder에서 기본적으로 사층이 무너지지않기 위한 권취량, Traverse속도, 사속(Yarn Speed), 스핀들의 각속도 등을 결정함으로써 기구 학적 제어를 할 수 있는 알고리즘을 제시하고 컴퓨터 모사실험을 통하여 타당성을 보였다.

Loop shaping $H_{\infty}$control with normalized coprime factorization was applied to a servo-motor driven high-speed powitioning system. The high-gain controller was designed to attenuate the postion errors caused byfriction effects and extermal disturbances. The non-existence of limit cycle was analyzed, though there is actuator saturation. The designed $H_{\infty}$control system was experimently tested in a rotary index table. Results showed its effectiveness to improve postion accuracy with out any compensation scheme for friction, and robustness to model perturbation and external disturbances.ces.

In the conventional linear elasticity, ultrasonic velocity is determined by elastic modulus and density of te medium which ultrasonic wave propagates through. But, practical ultrsonic wave depends on the stress acting in the medium, and as the stress increases such dependency becomes nonlinear. This nonlinear dependencyof ultrasonic velocity on stress can be identified by using nonlinear elastic modulus up to 4th order. In thid paper, with the above background relationships between nonlinear elastic modulus and the internalstatus of materials, normal, plastic deformed or heat stressed, are discussed. For this purpose, a new type of measuring system extended from the general nondestructive UT(ultrasonic test) equipment is constructed.

교반기나 펌프등의 회전기계에서의 트러블은 베어링 부분의 파손이나 결함보다는 미케니컬시일(이하 시일이라 한다)의 이상상태로 인한 액이나 기체의 누설에 의한 경우가 많다. 기계 또는 설비의 가동중에 이 실일의 고장은 단순히 시일 자체뿐만 아니라 설비 전체의 파손을 야기하고 시스템의 가동 중단으로 생산 계획에 막대한 차질을 가져오기 때문에 시일이 장착된 시스템에서는 시일의 이상상태에 대한 관리, 감시가 중요한 문제가 되고 있다. 본 연구에서는 온도와 토오크의 출력변화를 온라인 센싱 하고이들 센싱정보를 통합처리하여 시일의 이상 상태를 진단하는 방법에 대해 검토하였다. 센싱정보의 통합처리 모델로는 예측기능을 갖는 다충신경회로망을 이용하였다.

Precision electronic equipments are composed of sophisticated microcircuits that are extremely vulnerable to lightning-caused voltage spike. This transient voltage spike may cause upset, latent failure or interference on electronic equipments. In order to develop efficient lightning protection measures on AC power lines for a road traffic controller, experimental surge immunity tests were conducted according to IEC standard 801-5. The combination of gas tube arrester and metal-oxide varistor was installed at the input of AC power lines and the silicon avalanche suppressor installed at the output of DC power supply as lightning protection measures.

A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

Computer vision is applicated to measure the position and orientation of the SMD on 8mm Camcoder PCB and advanced image processing algorithms for high accuracy and real time processing are proposed. Illumination conditions are optimized for the best image formation and a set of LEDs is used as economic illuminator, which is regarded as a summation of many point sources. Conctete optical system is constructed and the performance of the proposed algorithm is verified by several experiments.

Conventional measurement methods using ultrasonic wave or x-ray, eddy current for non-destructive testing(NDT) in nuclear power plants and other industrial plants have been performed as the method of contact with objects to be inspected. With this reason these methods have been taken relatively much time and the inspected area is limited by the location of probe or film. But holographic interferometry which is a non-contact optical measurement method using a coherent light source has an advantage that the quantitative measurement can be performed at a time. In this paper a new method using holographic interferometry and image processing for detecting internal flaws of pressure vessels is presented.

The ARC light has been measured using photo-detect system under different TIG welding condition. Light detect system consists of photo diode, ND Filter, OP Amp. A/D convertor and PC. The purpose of this experiment is to show the relationship between ARC light and process variables such as welding current, torch travel speed, etc. The results can be applied to estimate the condition of welding process and the quality of welding products. The signal of ARC light has periodic patterns in good TIG welding condition whereas in abnormal condition the signal has different pattern. Amount of Ar shielding gas and distance from electrode to specimen affect the signal pattern significantly.

The bicycle production process mainly consists of welding process of pipes and its quality is determined by geometrical symmetry of arrangement of welded pipes. Hence, manual quality control of bicycle frames was very ineffecient and required much time in dimensional inspection and does not reserve high precision. In this paper we introduce a method of fast and accurate dimensional inspection of bicycle frame, using the Stereo Vision system and related some image processing techniques.

In this study, Acquisition system is proposed to acquire 3 dimensional data of the free surface model using direct pulse control to machining center. Todo this, I/F to connect between manual operating handle and computer is made, and 3 dimensional shape measuring algorithm using Z-map is applied. The 3 dimensional shape data of the free surface model measured by laser displacement sensor and electric touch probe are achieved directly. Performance of the proposed system is evaluated through measurement of various shape model.

The straightness property is one of fundamental geometric tolerances to be strictly controlled for guideways of machine tools and measuring machines. The staightness measurement for long guideways was usually difficult to perform, and it needed additional equipments or special treatment with limited application. In this paper, a new approach is proposed using the profile matching technique for the long guideways, which can be applicable to most of straghtness measurements. An edge of relativelly sthort length is located along a divided section of a long guideway, and the local straightness measurement is performed. The edge is then moved to the next section with several positions overlap. After thelocal straightness profile is measured for every section along the long guideway with overlap, the global straightness profile is constructed using the profile matching technique based on theleast squares method. The proposed techinique is numerically tested for two cases of known global straightness profile arc profile and irregular profile and those profiles with and without random error intervention, respectively. When norandom errors are involved, the constructed golval profile is identical to the original profile. When the random errors are involved, the effect of the number of overlap points are investigated, and it is also found that the difference between the difference between the constructed and original profiles is very close to the limit of random uncertainty with juist few overlap points. The developed technique has been practically applied to a vertical milling machine of moving table type, and showed good performance. Thus the accuracy and efficiency of the proposed method are demonstrated, and shows great potential for variety of application for most of straightness measuirement cases using straight edges, laser optics, and angular measurement equipments.

Nowadays, manufacturing system is trending toward integrated circumstance by helping of CAD/CAM/CAT. To use this system effectively, it is necessary to get exact 3 dimensional surface data of an object. We have been using contact method to measure 3 dimensional object profile. But his method has demerit of leaving scrach or small distortion on the object. To improve this, a non-contact measuring method using optical system is adopted. In this paper, We propose optical ring method. Withthis system, We could measure displacement of the object in the range of 45mm having 150mm having 150 .mu. m resolution with no scratch or distortion.

The wire displacement of wire electric discharge machine has been measured using He-Ne laser. A measurement system consisted of He-Ne laser, A/D converter, 4 divided photodiode, amplifier, sensor process instrument, and personal computer. The processing parameters were varid with feed rate, wire tension, wire speed and voltage. The laser beam intensity transmitted on a 4 divided photodiode was varied by processing wire electric descharge machine with various process parameters. The 4 divided photodiode and amplifier were used to change the detected beam intensity into voltage. Variation of wire displacement was between 11 and 125 .mu. m. The wire tension was dominant on the variation of wire displacement among many parameters.

Compound solid is maded for specially fixed object. A number of compound soild are devided as a unit germetric solid. The special case of rotation about an arbitrary axis makes according selection modelfor transformation. View plane and View region are estiblished for back face removal. After back-face removal eachedge is checked for point of intersection. The designing of of fset surface id maded and tool-path gernerted on the part surface. In tersection point is checked among the offset surfaces. The paper used an efficient algorithm for generating tool paths to apply a notion view volume. Through machining experiments with a 3-axis machining centre, the adequacy of the analysis was confirmed.

본 논문에서는 선삭가공을 부품에 대한 가공 특징형상 추출 알고리즘을 개발하였다. 면저, 설계 특징형상과 가공 특징형상 을 효율적으로 나타내기 위한 데이터 구조를 설계하고, 선삭가공에 사용되는 가공 특징형상의 특성을 검토하였다. 이러한 특성 을 이용하여 주사선(Scan Line)과의 교점으로부터 가공 특징형상을 이루는 요소를 검색하고, 검색된 구성요소를 이용하여 가공 특정형상을 구성하였다. 본 연구에서 개발된 알고리즘은 기존에 사용되어 왔던 패턴비교 방법에서 주어지 패턴이외의 특징 형상을 추출하기가 어렵고 계산 시간이 많이 걸리는 단점을 극복하였다. 또한 기존의 방법으로는 해결되기 어럽던 가공 특징 형상 의 간섭의 검출에서 효율적으로 적용됨을 확인하였다.

StereoLithography는 3차원 CAD로 작성된 모델데이타를 이용하여입체조형 실물을 빠르게 제작 하는 Rapid Prototype 기술의 한 방식으로서, 감광성 수지를 자외선 Laser 광에 의해 선택적으 로 경회시켜 원하는 한 단면형상을 이룬후 적층하는 반복작업에 의해 입체 형상을 조형하는 기법 이다. Rapid Prototype 시스템은 제품개발기간 단축과 설계완성도를 높이는 목적으로 최근 산업계에서 그 활용도가 점차 증가하는 추세에 있으며, 3차원 CAD 시스템과 함께 제품개발 체제를 통합화하고 Concurrent Engineering의 실현을 위한 주요한 Tool로써 자리를 잡아가고 있다.

This paper deals with conversion from STL file to Slice cross-sectional information for Stereolithography. The STL file consist of three vertices of triangle and normal vectors in order to represent three dimension shape, but It is very difficult to convert STL file intoSlice file directly, because of file size from one Mbyte to tens of Mbytes. So, The system is accomplished data flow such as neutral.dat, .SL1, .SL2, .SL3, and .SLC file. The data processing is as follows: 1. Create a neutral file including common information. 2. Modify STL file within effective scope of SLA. 3. Calculate a point of intersection between plane equation and line equation. 4. Sort z values by increasing order. 5. Search closed loop by method of singlylinked linear list. The system is developed by using Borland C++ 3.1 compiler in the environment of Pentium PC. We get a satisfactory prototype as a result of application about a lot of household electrical appliances.

This study investigates the feasibility of the real time detection of tool breadage in face milling operation. The proposed methodology using an ART2 neural network overcomes a cumbersome task in terms of the learning or determining a threshold value. The features taken in the researchare the AR parameters modelled from a RLS, and those are proven to be good features for tool breakage from experiments. From the results of the off line application, we can conclude that an ART2 neural network can be well applied to the clustering of tool states in real time regardless of the unsupervised learning.

This paper describes diagnosis strategy of the Flexible Multiple Fault Diagnosis Module for forecasting faults in system and deciding current machine state form sensor information. Most studydeal with diagnosis control stategy about single fault in a system, this studies deal with multiple fault diagnosis. This strategy is consist of diagnosis control module such as backward tracking expert system shell, various neural network, numerical model to predict machine state and communication module for information exchange and cooperate between each model. This models are used to describe structure, function and behavior of subsystem, complex component and total system. Hierarchical structure is very efficient to represent structural, functional and behavioral knowledge. FT(Fault Tree). ST(Symptom Tree), FCD(Fault Consequence Diagrapy), SGM(State Graph Model) and FFM(Functional Flow Model) are used to represent hierachical structure. In this study, IA(Intelligent Agent) concept is introduced to match FT component and event symbol in diagnosed system and to transfer message between each event process. Proposed diagnosis control module is made of IPC(Inter Process Communication) method under UNIX operating system.

설계, 가공, 조립, 검사기술로 대표되는 생산시스템의 근간 기술은 공작기계에 의한 부품가공 소위, 기계 가공 기술이다. 가공에 필요한 NC 프로그램의 효율적인 관리를 위해 이용되던 종래의 DNC(Direct Numerical Control) 는 가공 Cell 의 효율을 높이기 위해, CNC 가공기 및 주변기기에 대한 실시간 감시/제어기능을 가진 분산제어시스템( DNC(Distributed Numerical Control)으로 발전하고있다. 본 연구에서는 이기종 CNC로 이루어진 가공 Cell에 적합 하고, 경제성, 범용성 및 확장성을 고려하여 RS485 Network 및 RS232C를 이용하여각 CNC 공작기계 및 주변기기와 연결 해서 실시간(Real Time) 동시작업(Multi Tasking) 가능한 DNC 시스템을 개발하였다.

This paper focues on development and implementation of a perfomance management algorithm for IEEE802.4 token bus networks to serve large-scale integrated manufacturing systems. Such factory automation networks have to satisfy delay constraints imposed on time-critical messages while maintaining as much network capacity as possible for non-time-critical messages. This paper presents the structure of a network performance manager that possesses the knowledge about perfomance management in a set of fuzzy rules and deriving its action through fuzzy inference mechanism. The efficacy of the performance management has been demonstrated by a series of simulation experiments.

Dccisions of optimal filling conditions for the chip encapsulation have been done primarily by an ad hoc use of expertise accumulated over the years because the chip encapsulation process is quite complicated. The current CAE systems do not provide mold designers with necessary knowledge of the chip encapsulation for the successful design of optimal filling except flow simulation capability. There have been no attempts to solve the optimal filling problem in the process of the chip encapsulation. In this paper, we have constructed an design system for optimal filling to avoid short shot in the chip encapsulation process which combines an optimization methodology with CAE software.

3차원 CDA 시스템의 보급 및 설계단게에 적용이 확대 되어 가면서 CAD 시스템에 의한 3차원 입체모형제작 기술에 많은 관심이 주목되고있다. 특히 최근에는 광조형 장치가 상품개발사이클의 단축화와 Concurrent Engineering 실현의 중요한 도구로써 자리매김을 하고있으므로 본 논문에서는 광조형장치의 구성 및 조형 사례에 대하여 기술하고자 한다.

From the relationship between the two different views of an object with grid, the three dimensional coordinates of intersection points are determined. The images are captured and digitized with a CCD camera and a frame grabber. To find intersection points, local thresholding and line thinning operations are performed. By establishing the correspondence between the points in the two views, the three dimensional corrdinates of intersection points are calculated.

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

VTR은 생산체제에 있었서 대량생산방식을 채택하는 전형적인 제품으로서 그 기구부와 회로부의 설계 및 해석에 관하여 많은 연구가 수행되어왔다. 본 연구에서는 조정공정의 자동화를 위하여 헤드드럼에서의 테이프 변형을 결정하는 요소 p2, p3 포스트의 조정에 관한 연구가 수행되었다. 테이프의 변형을 측정하기 위해서 먼저 테이프 변형의 단순화된 모델이 제안되었으며 영상헤드에 의해 읽혀지는 RF 신호로 부터 테이프의 변형을 측정하는 방법과 테이프 변형으로 부터 p2, p3 포스트의 오조정량을 찾는 신경외로망을 이용한 역모델이 개발되었다.

In this paper, we developed a position correction system of industrial robot for door-chassis assembly task. With the aid of a dedicated vision system, industrial robot accomplished visually acceptable door-chassis's assembly task. The alogorithm of the position detection of notch and 2 dimesional position correction algorithm are noteworthy. The obtained algorithms were satisfatorily implemented for a real door-chassis model.

설계 초기 단계에서 자동차 샤시 부품의 내구강도를 평가하는 것은 대단히 중요하므로 실제 전산수치해석을 통하여 예측도 행하고 있지만 양산 적용여부는 차량제작 후 실차 내구시험을 시행 후 결정되고 있다. 본 연구에서는 컴퓨터의 잇점을 적극 활용하여, 차량의 주요부품인 Lower Arm과 Rear Axle Housing 등의 내구시험에서 부품의 변형을 탐지하기 위한 자동 측정 프로그램을 개발하고자 한다. 사용한 프로그램은 IBM-PC 호환기종(80286, 80386, 80486)에 사용되는 Turbo-C 언어를, 한글입력을 위해서 한글 라이브러리 <한>을 사용하였다. 그리고사용자가 임의로 시스템 각 요소의 모듈(module)을 대치할 수 있도록 각 함수별로 서브루틴(subroutine)화 하였다.