An enhanced real-time dynamic imbalance correction for precision rotors

Even a moderate mass imbalance of a high-precision rotor produces a significant level of vibration when it spins at high revolutionary speed such as 10,000 rpm or faster. As a result, many attempts have been made for the development of dynamic rotor balancing methods mostly by the precision mechanical system industry; however, intensive studies about the fundamental principles from a theoretical point of view should be carried out further. In the present paper, a new dual axes dynamic imbalance correction method is introduced and tested through simulations. The proposed method is more efficient and effective than its predecessors. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Jung Kwan Lee is currently a masteral student in the School of Mechanical Engineering at Sungkyunkwan University Korea. He received his B.S. degree from Sungkyunkwan University. His primary research interests are rotor design, analysis, and rotor dynamics. Hyungpil Moon received his Ph.D. degree in mechanical engineering from the University of Michigan in 2005. He was a postdoctoral fellow at Carnegie Mellon University. He joined the faculty of the School of Mechanical Engineering at Sungkyunkwan University in 2008. Dongho Oh received his Ph.D. degree from KAIST in 1996. He worked as a Principal En-gineer of Samsung Electronics and SAIT. Dr. Oh is currently an Associate Professor at the Department of Mechanical Engineering at Chungnam National University. Ja Choon Koo is an associate professor of the School of Mechanical Engineering at Sungkyunkwan University Korea. He was an engineer at IBM Corporation, San Jose, California. He received his Ph.D from the University of Texas at Austin. His primary research interests are analysis, and control of dynamic systems, mechatronics, sensors, and actuators.     

Optimal operating points of PEM fuel cell model with RSM

The output power efficiency of the fuel cell system mainly depends on the required current, stack temperature, air excess ratio, hydrogen excess ratio, and inlet air humidity. Therefore, the operating conditions should be optimized to get maximum output power efficiency. In this paper, a dynamic model for the fuel cell stack was developed, which is comprised of a mass flow model, a gas diffusion layer model, a membrane hydration, and a stack voltage model. Experiments have been performed to calibrate the dynamic Polymer Electrolyte Membrane Fuel Cell (PEMFC) stack model. To achieve the maximum output power and the minimum use of hydrogen in a certain power condition, optimization was carried out using Response Surface Methodology (RSM) based on the proposed PEMFC stack model. Using the developed method, optimal operating conditions can be effectively selected in order to obtain minimum hydrogen consumption. This paper was recommended for publication in revised form by Associate Editor Tong Seop Kim Dong-Ji Xuan received his B.S. degree in Mechanical Engineering from Harbin Engineering University, China in 2000. He then received his M.S. degree in Mechanical Engineering from Chonnam National University, South Korea in 2006. Currently, he is a Ph.D. candidate of the Department of Mechanical Engineering, Chonnam National University, South Korea. His research interests include control and optimization of PEM fuel cell system, dynamics and control, and mechatronics. Zhen-Zhe Li received his B.S. degree in Mechanical Engineering from Yanbian University, China in 2002. He then received his M.S. degree in Aerospace Engineering from Konkuk University, South Korea in 2005 and his Ph.D. degree in Mechanical Engineering from Chonnam National University, South Korea in 2009. Dr. Li is currently a Researcher of the Department of Mechanical Engineering in Chonnam National University, South Korea. Dr. Li’s research interests include applied heat transfer, fluid mechanics, and optimal design of thermal and fluid systems. Jin-Wan Kim received his B.S. degree in Aerospace Engineering from Chosun University, South Korea in 1990. He then received his M.S. degree in Aerospace and Mechanical Engineering from Korea Aerospace University, South Korea in 2003 and his Ph.D degree in Mechanical Engineering from Chonnam National University, South Korea in 2008. He is currently a Post Doctor of the Department of Mechanical Engineering in Chonnam National University, South Korea. His research interests include control of hydraulic systems, dynamics and control, and mechatronics. Young-Bae Kim received his B.S. degree in Mechanical Design from Seoul National University, South Korea in 1980. He then received his M.S. degree in Mechanical Engineering from the Korean Advanced Institute of Science and Technology (KAIST), South Korea in 1982 and his Ph.D. degree in Mechanical Engineering from Texas A&M University, USA in 1990. Dr. Kim is currently a Professor of the School of Mechanical and Systems Engineering in Chonnam National University, South Korea. Dr. Kim’s research interests include mechatronics, dynamics and control, and fuel cell hybrid electric vehicle (FCHEV) systems.     

Trajectory control of electro-hydraulic excavator using fuzzy self tuning algorithm with neural network

This paper presents the trajectory control of a 2DOF mini electro-hydraulic excavator by using fuzzy self tuning with neural network algorithm. First, the mathematical model is derived for the 2DOF mini electro-hydraulic excavator. The fuzzy PID and fuzzy self tuning with neural network are designed for circle trajectory following. Its two links are driven by an electric motor controlled pump system. The experimental results demonstrated that the proposed controllers have better control performance than the conventional controller. This paper was recommended for publication in revised form by Associate Editor Kyongsu Yi Le Duc Hanh received the B. S. degree in the department of Mechanical Engineering from Hochiminh City University of Technology in 2006, the M.Sc. degree in Mechanical and Automotive Engineering from University of Ulsan in 2008. His research interests are electro-hydraulic excavator, remote control, intelligent control. Kyoung Kwan Ahn received the B. S. degree in the department of Mechanical Engineering from Seoul National University in 1990, the M. Sc. degree in Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST) in 1992 and the Ph.D. degree with the title “A study on the automation of out-door tasks using 2 link electro-hydraulic manipulator from Tokyo Institute of Technology in 1999, respectively. He is currently a Professor in the school of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea. His research interests are hybrid excavator, fluid power control, design and control of smart atuator using smart material, rehabilization robot and active damping control. He is a member of IEEE, ASME, SICE, RSJ, JSME, KSME, KSPE, KSAE, KFPS, and JFPS. Bao Kha Nguyen received the B. S. and M. S. degree from Hochiminh City University of Technology in 2001 and 2003, respectively, all in Automatic Control Engineering and the Ph.D. degree from University of Ulsan in 2006. His research interests focus on intelligent control, modern control theory and their applications, design and control of smart actuator systems. WooKeun Jo received the B.S. degree in the department of Mechanical and Automotive Engineering from University of Ulsan in 2007. And he matriculated M.S. at University of Ulsan. Currently, he’s syudying on it. His research interests focus on fluid control, welfare vehicle, mobile robot     

Trajectory optimization with GA and control for quadruped robots

This paper proposes an optimal galloping trajectory, which costs low energy and guarantees the stability of the quadruped robot. In the realization of fast galloping, the trajectory design is important. For a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of animal galloping motion, does not guarantee stability and minimal energy consumption. We propose optimization based on energy and stability using a genetic algorithm, which provides a robust and globally optimized solution to this multi-body, highly nonlinear dynamic system. To evaluate and verify the effectiveness of the proposed trajectory, a series of computer simulations were carried out. This paper was recommended for publication in revised form by Associate Editor Doo Yong Lee Jong Hyeon Park received the B.S. degree in mechanical engineering from Seoul National University, Seoul, Korea, in 1981 and the S.M. and Ph.D. degrees from the Massachusetts Institute of Technology (MIT), Cambridge, in 1983 and 1991, respectively. Since 1992, he has been with the School of Mechanical Engineering at Hanyang University, Seoul, Korea, where he is currently a professor. He was a KOSEF (Korea Science and Engineering Foundation)-JSPS (Japan Society for the Promotion of Science) Visiting Researcher with Waseda University, Tokyo, Japan, in 1999, and a KOSEF-CNR (Consiglio Nazionale delle Ricerche) Visiting Researcher with Scuola Superiore Sant’Anna, Pisa, Italy, in 2000, a Visiting Scholar with MIT, Cambridge, USA, in 2002–2003. He was also associated with Brooks Automation Inc., Chelmsford, MA, in 1991–1992 and 2001–2002. His research interests include biped robots, robot dynamics and control, haptics, and bio-robots. He is a member of the IEEE (Institute of Electrical and Electronics Engineers), KSME (Korea Society of Mechanical Engineers), ICROS (Institute of Control, Robotics and Systems), KROS (Korea Robotics Society), KSAE (Korean Society of Automotive Engineers), KSPE (Korean Society of Precision Engineering) and KSEE (Korean Society for Engineering Education).     

Development of a motion simulator for testing a mobile surveillance robot

A 6-axis motion simulator has been developed, in order to regenerate UGV (unmanned ground vehicle) motion and to test the stabilization system of the mobile surveillance robot that is mounted on the UGV. For developing the 6-axis motion simulator, a simulation-based design procedure was introduced. The 3D geometric model of the motion simulator was created by using 3D CAD modeler ProE. The multibody dynamics model of the motion simulator has also been created by using the general purpose dynamic analysis program ADAMS to validate the design of the motion simulator. Dynamics and control co-simulation model for the motion simulator has been also established for control performance analyses. Actual hardware of the motion simulator has been fabricated based on the proposed simulation based design. Hardware test of the motion simulator has been tried to validate the design. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Oskar Wallrapp was awarded a Ph.D. degree in Mechanical Engineering at the Technical University of Berlin, Germany in 1989. Dr. Wallrapp is currently a Professor in the Department of Precision and Micro Engineering, Muenchen University of Applied Science, Munich, Germany. His research interests are mechanism analysis and design, robotics, and bio-mechanics. Sung-Soo Kim received a Ph.D. degree in Mechanical Engineering from the University of Iowa in 1988. Dr. Kim is currently a Professor in the Department of Mechatronics Engineering at Chungnam National University in Daejeon, Korea. His research interests are real-time multibody formulation and its application to the automotive systems and military robot systems.     

Fault detection and isolation of DURUMI-II using similarity measure

This paper describes the flight test method for studying the primary control surface stuck condition and the combination stuck of the primary control. An aircraft must show controllability and trimmability under post-failure conditions. An aircraft is successfully tested under various fault conditions. It is recognized that a control surface fault is detected by monitoring the value of the coefficients related to the control surface deviation. The control surface stuck position is determined by comparing the trim value with the reference value. To detect and isolate the fault, an analysis that employs the real-time parameter estimation method is used. If the flight control system is reconfigured using online estimates of aircraft parameters from a real-time parameter estimation scheme, the reliability increases without the addition of sensors or additional cost. This paper was recommended for publication in revised form by Associate Editor Eung-Soo Shin Wook-Je Park received the B.S. and the Ph.D. degrees, both in Aeronautical Engineering, from Korea Aerospace University in 1994 and 2005, respectively. He is now a Post-Doc in Mechanical and Aeronautical Engineering, Western Michigan University. His research interests are in fault detection and isolation, real-time parameter estimation method, flight test, and their application in aircraft and UAV. Sang-Hyuk Lee received the Ph. D. degree in Electrical Engineering from Seoul National University in 1998. Dr. Lee has been with the Changwon National University as a research professor since 2006. His research interests include fuzzy theory, game theory, and nonlinear control. Jung-Il Song received his Ph. D. degree in Mechanical Engineering from POSTECH, Korea, in 1997. Dr. Song is currently a Professor at the School of Mechanical Engineering at Changwon National University in Changwon, Korea. His research interests include manufacturing process and evaluation of composites, biomedical engineering and rehabilitation engineering.     

Optimal design of a variable stiffness joint in a robot manipulator using the response surface method

The response surface method combined with the design of experiment-based design optimization of a variable stiffness joint (VSJ) is presented in this article. A VSJ used in a manipulator of a robot arm to support 1 kg payload at the end is designed by considering the minimization of the total weight as the objective function. Owing to the requirement of large rotational stiffness of the VSJ, over 10 N · m, ring-type permanent magnets are adopted. First, a model composed of two permanent magnets was initially manufactured and tested for comparison with the analysis results. Then, a three-ring-type permanent magnet-based model is suggested and optimized to increase the torque of VSJ. The finite element method is used as a magnetic field analysis method to substitute for the expensive experimental process. Optimization results decrease the weight from 0.899 kg to 0.538 kg, still satisfying the requirement for the rotational stiffness. This paper was recommended for publication in revised form by Associate Editor Tae Hee Lee Jeonghoon Yoo received his B.S. and M.S. degrees in Mechanical Design and Production Engineering from Seoul National University, in 1989 and 1991, respectively. He then received his Ph.D. degrees from the University of Michigan, Ann Arbor, in 1999. Dr. Yoo is currently a Professor at the School of Mechanical Engineering at Yonsei University in Seoul, Korea. Dr. Yoo’s research interests include analysis and design of electromagnetic field systems. Myung Wook Hyun received his B.S. and M.S. degrees in Mechanical Engineering from Yonsei University, Korea, in 1995 and 1997, respectively. While studying for his M.S. degree, Mr. Hyun also studied variable stiffness unit design. He is now working at Samsung Electronics, Co. Ltd.. Jun Ho Choi received his B.S. and M.S. degrees in Mechanical Design from Hanyang University, Korea and his Ph.D. degree from the University of Michigan, Ann Arbor. He is currently a senior research scientist in the Korea Institute of Science and Technology. His research interests include nonlinear control, manipulator control, and safe-joint design. Sungchul Kang received his B.S., M.S., and Ph.D. degrees in Mechanical Design and Production Engineering from Seoul National University, Korea, in 1989, 1991, and 1998 respectively. Dr. Kang is currently a Principal Research Scientist in the Center for Cognitive Robotics Research, Korea Institute of Science and Technology, in Seoul, Korea. Dr. Kang’s research interests include mobility and manipulation of field and service robots and haptics. Seung-Jong Kim received his B.S. degree in Mechanical Engineering from Seoul University, Korea, in 1989, and his M.S. and Ph.D. degrees from KAIST in 1991 and 1998, respectively. Dr. Kim is currently a Principal Research Scientist at the Korea Institute of Science and Technology in Seoul, Korea. Dr. Kim’s research interests include the design, control, and dynamic analysis of mechatronic systems.     

Variable structure fuzzy control using three input variables for reducing motion tracking errors

Conventional fuzzy controllers for motion tracking utilize generally two input variables (position error and velocity error) to deal with highly nonlinear and time-varying dynamics associated with complex mechanical motion with multi- DOF. This results in some tracking errors at steady state, in general, mainly due to friction existing in mechanical systems. To eliminate the steady-state tracking errors, a variable structure fuzzy control algorithm is proposed using three input variables (position error, velocity error, and integral of position errors) and a switching logic between two inputs and three inputs. Simulation and experimental studies have been conducted to show the validity of the proposed control logic using a direct-drive SCARA manipulator with two degree-of-freedom. It has been shown that the proposed fuzzy control logic has significantly improved motion-tracking performance of the mechanical system when it is applied to complex polygon-tracking in Cartesian space with inverse kinematics and path planning. This paper was recommended for publication in revised form by Associate Editor Kyongsu Yi Chul-Goo Kang received his B.S. and M.S. degree in Mechanical Design and Production Engineering from Seoul National University, Korea, in 1981 and 1985, respectively. He then received his Ph.D. degree from Univ. of California, Berkeley in 1989. Dr. Kang is currently a Professor at the Department of Mechanical Engineering, Konkuk University in Seoul, Korea. He serves as a board member of the Institute of Control, Robotics and Systems, and also Korea Robotics Society. His research interests include motion and force control, train brakes, and intelligent robots.     

Development of an authoring framework for the simplified customization of PDM systems

Given that the amount of product data in firms is explosively increasing, a PDM system for effective data management is considered indispensable for product development. However, considerable time and specialized human resources are needed to customize a generic PDM system for satisfying the specific requirements of individual firms. To overcome this problem, we propose the use of UML object models in a PDM authoring framework. A PDM authoring framework, which provides authoring functions for the effective customization of PDM systems, will reduce the need for the intervention of PDM specialists in the design of the object models of the PDM system. We describe how a PDM authoring framework may be designed by using UML object models, and show how model-oriented application development (MOAD), in conjunction with the PDM authoring framework, can be used to build object models into a PDM system. Furthermore, we confirm the value of the framework by evaluating its performance under several conditions. This paper was recommended for publication in revised form by Associate Editor Dae-Eun Kim Inho Song is a postdoctoral associate in the Department of Mechanical Engineering, Carnegie Mellon University, USA. He received the Ph.D. degree in Mechanical Engineering from Hanyang University, Seoul, Korea in 2007. From 2002 to 2007, he served as a CAx team leader of the INOPS Company (CIES R&D Center), Seoul, Korea. He has developed the sketch-based CAD system for an automotive company. His research interests include collaborative design, sketch-based CAD, geometry translation, geometry compression, product data exchange, PDM/PLM, digital manufacturing, and virtual reality. Jeongsam Yang is an assistant professor in the Department of Industrial & Information Systems Engineering and is leading the CAD laboratory() at Ajou University. He worked at Clausthal University of Technology (Germany) as a visiting researcher and the University of Wisconsin-Madison (USA) as a postdoctoral associate. He obtained his Ph.D. in mechanical engineering in 2004 at KAIST. His current research interests are product data quality (PDQ), VR application in product design, product data management (PDM), knowledge-based design system, and STEP. Peom Park is a professor in the Department of Industrial & Information Systems Engineering and is leading the Human Technology Research Center and Human Factors/HCI laboratory () at Ajou University. He worked on HCI and Telecommunication system at ETRI as a senior researcher. He obtained his Ph.D. in Industrial and Manufacturing Systems Engineering at Iowa State University on 1992. His current research interests are uT applications, u-Healthcare/Telemedicine, Telematics and Ergonomic/Safety Design.     

An improved model-based predictive control of vehicle trajectory by using nonlinear function

A new model-based predictive control algorithm for vehicle trajectory control is proposed by using vehicle velocity and sideslip angle. Based on the error function combined with vehicle velocity and side slip of a bicycle model, a predictive control method has been proven to be useful on low velocity. Thus, it could be applied for an autonomous vehicle without a driver. Although an autonomous robot is not necessary to be driven with a high velocity, a commercial vehicle has to be driven at high velocity. Thus the previous predictive control formulation is not enough for a commercial driving system. This study is proposed to enhance the capacity of the predictive controller for rather high speed vehicles. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Mr. Jeong-Han Lee is pursuing a Ph.D. degree in Mechanical Engineering at Pusan National University under the supervision of professor Wan-Suk Yoo. His research interests are focused on the area of adaptive control using multibody dynamics. Dr. Wan-Suk Yoo received his Ph.D. degree in 1985 from the University of Iowa. In 1994, he became a full professor at the Pusan National University, and he was selected an ASME fellow. He is serving as a vicepresident of the KSME.     

Nondestructive testing and crack evaluation of ferromagnetic material by using the linearly integrated hall sensor array

Magnetic flux leakage testing (MFLT), which measures the distribution of a magnetic field on a magnetized specimen by using a magnetic sensor such as a Hall sensor, is an effective nondestructive testing (NDT) method for detecting surface cracks on magnetized ferromagnetic materials. A scan-type magnetic camera, based on the principle of MFLT, uses an inclined Hall sensor array on a printed circuit board (PCB) to detect small cracks at high speed. However, the wave forms appear in a direction perpendicular to the scan because the sensors are bonded at different gradients and heights on the PCB despite careful soldering. In this paper, we propose linearly integrated Hall sensors (LIHaS) on a wafer to minimize these waves and to improve the probability of crack detection. A billet specimen is used to determine the effectiveness of the LIHaS in multiple crack detection. This paper was recommended for publication in revised form by Associate Editor Joo Ho Choi Prof. Jinyi Lee was born in Korea in 1968. He received the bachelor degree in mechanical design from Chonbuk University, Jeonju, Korea, in 1992. Also he received the master and Ph.D degree in mechanical and aeronautics & space engineering from Tohoku university, Sendai, Japan, in 1995 and 1998, respectively. He was a Researcher from 1998 to 2000 with the Tohoku university, Iwate university, Iwate Techno-Foundation and Saitama university, Japan. From 2000 to 2003, he worked for Lacomm Co., Ltd. and Gloria Techniques, Korea, as a researcher. In 2003, he was a lecturer with the Chosun university, Gwangju, Korea. Since 2005, he has been an Assistance Professor, Chosun university. His research interests are in application of magneto-optical film, laser and CCD line scan sensor, and development of magnetic camera. He is the author or coauthor of fifteen patents and over 50 scientific papers. Jiseong Hwang was born in Republic of Korea in 1979. He received the B.S and M.S degree in control and instrumentation engineering in 2005 and 2006, respectively, from the Chosun University, Gwangju, korea, where he is currently working toward the Ph.D. degree. His research interests are NDT and Evaluation, Magnetic camera. Jongwoo Jun was born in Korea in 1974. He received the bachelor degree in electronics engineering from Inje University, Kimhae, Korea, in 1999. He received the master degree in electronics engineering from Changwon University, Changwon, Korea, in 2005. Also he is currently working toward the Ph.D. degree in information & communication engineering from Chosun University, Gwangju, Korea. He worked for Lacomm Co., Ltd. and Gloria Techniques from 1999 to 2005, Korea, as a researcher. His research interests are development of magnetic camera, NDT and evaluation. Dr. Seho Choi was born in Korea in 1964. He received bachelor degree in the department of electrical and electronic engineering from Kyungpook National University, Daegu, Korea, in 1987. And he received master degree in the department of elec trical and electronic engineering from Korea Advanced Institute of Science and Technology in 1989. He received Ph.D. degree in the department of electrical and electronic engineering from the University of Sheffield in the U.K. in 2001. He had been worked for Agency for Defense Development as a Researcher from 1989 to 1992, Korea. Since 1993, he has been worked for POSCO Research Lab. as a principal researcher. His main research activities are developing Surface Defect Inspection System for hot and cold rolled steel strip, hot wire rod, and hot slab. He is also interested in developing Internal Defect Detection System for steel products by using Ultra-sonic and magnetic camera techniques. His major is image processing to detect tiny defect in high background noise image. He published many scientific papers as the author or coauthor.     

Receding horizon tracking control for wheeled mobile robots with time-delay

In this paper, a receding horizon (RH) controller is developed for tracking control of wheeled mobile robots (WMRs) subject to nonholonomic constraint in the environments without obstacles. The problem is simplified by neglecting the vehicle dynamics and considering only the steering system. First, the tracking-error kinematic model is linearized at the equilibrium point. And then, it is transferred to an exact discrete form considering the time-delay. The control policy is derived from the optimization of a quadratic cost function, which penalizes the tracking error and control variables in each sampling time. The minimizing problem is solved by using the QP (quadratic programming) method taking the current error state as the initial value and including the velocity constraints. The performance of the control algorithm is verified via the computer simulations with several different predefined trajectories showing that the strategy is feasible. This paper was recommended for publication in revised form by Associate Editor Doo Yong Lee Kil To Chong (M’96) received the Ph.D. degree in mechanical engineering from Texas A&M University, College Station, in 1995. Currently, he is a Professor at the School of Electronics and Information Engineering, Chonbuk National University, Jeonju, Korea, and Head of the Mechatronics Research Center granted from the Korea Science Foundation. His research interests are in the areas of motor fault detection, network system control, time-delay systems, and neural networks. Chang Goo Lee was born in Chonju, South Korea on Dec., 1958. He received the B.S. and M.S., and Dr.Eng. degrees in Electrical Engineering from Chonbuk National University, South Korea, 1981, 1983 and 1990 respectively. He had been with ETRI as a senior researcher from 1983 to 1991. Since 1992, He has been with the School of Electronic and Information Engineering, Chonbuk National University where he is presently a Professor. His research interests include intelligent control, nonlinear control, and home network control. Yu Gao received the master’s degree in Electronics and Information from Chonbuk National University, Korea, in 2008. He got his bachelor’s degree in Physics from Soochow University, China, in 2005. Currently, he is a Ph.D. candidate in the School of Electronics and Information, Chonbuk National University, Korea. His research interests are in the area of the receding horizon control.     

Predictive navigation of an autonomous vehicle with nonholonomic and minimum turning radius constraints

A key feature of an autonomous vehicle is the ability to re-plan its motion from a starting configuration (position and orientation) to a goal configuration while avoiding obstacles. Moreover, it should react robustly to uncertainties throughout its maneuvers. We present a predictive approach for autonomous navigation that incorporates the shortest path, obstacle avoidance, and uncertainties in sensors and actuators. A car-like robot is considered as the autonomous vehicle with nonholonomic and minimum turning radius constraints. The results (arcs and line segments) from a shortest-path planner are used as a reference to find action sequence candidates. The vehicle’s states and their corresponding probability distributions are predicted to determine a future reward value for each action sequence candidate. Finally, an optimal action policy is calculated by maximizing an objective function. Through simulations, the proposed method demonstrates the capability of avoiding obstacles as well as of approaching a goal. The regenerated path will incorporate uncertainty information. This paper was recommended for publication in revised form by Associate Editor Shuzhi Sam Ge Augie Widyotriatmo received his B.S. and M.S. degrees in Engineering Physics from the Institute of Technology Bandung, Indonesia, in 2002 and 2006, respectively. He is currently a Ph.D. program student in the School of Mechanical Engineering, Pusan National University, Korea. His research interests include robotics, control of nonholonomic systems, and navigation of autonomous vehicles. Bonghee Hong received the B.S., M.S., and Ph.D. degrees in Computer Science and Engineering from Seoul National University in 1982, 1984, and 1988, respectively. Dr. Hong joined the Department of Computer Science and Engineering at Pusan National University (PNU) in 1989 and now he is Professor. Dr. Hong is the director of the Research Institute of Logistics Information Technology (LIT) at PNU. Dr. Hong received the Korean Minister Award in 2006 and the University Excellence Innovation Award in 2007. His current research interests include theory of database systems, RTLS systems, RFID middleware, RFID database, and stream data processing. Keum-Shik Hong received the B.S. degree in Mechanical Design and Production Engineering from Seoul National University in 1979, the M.S. degree in ME from Columbia University in 1987, and both the M.S. degree in applied mathematics and the Ph.D. degree in ME from the University of Illinois at Urbana-Champaign in 1991. He served as an Associate Editor for Automatica (2000–2006) and as an Editor for the International Journal of Control, Automation, and Systems (2003–2005). Dr. Hong received the Fumio Harashima Mechatronics Award in 2003 and the Korean Government Presidential Award in 2007. His research interests include nonlinear systems theory, adaptive control, distributed parameter system control, robotics, and vehicle controls.     

Analysis and design study of LCD transfer robot using dynamic simulation and experiment

Recently, the size of raw glass has been greatly increased in the new generation Liquid Crystal Display (LCD) technology. To handle bigger and heavier glasses, it is necessary to develop a large scale LTR (LCD Transfer Robot) to support various complicated LCD fabrication processes. This adjustment will result in difficult design problems such as vibration, handling accuracy deterioration, and high stress due to heavier dynamic loads. In turn, these will result in inaccurate transfer motion and fatigue cracks. In this paper, the dynamic simulation technique is introduced to validate a baseline design and to propose new and improved designs for the best performance of heavy-scaled LCD transfer robots. The dynamic models and analysis results were verified by real experiments including strain measure test and motor power test. Using the verified simulation model, some dynamic situations such as the robot’s emergency stop and free fall situation, which were not impossible to test using the real proto robot, were analyzed and predicted using the simulation model. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Jong-Hwi Seo received a B.S. M.S. and Ph.D. degrees from Ajou University in 1998, 2000 and 2005, respectively. He is currently a senior engineer in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co. His research interests are in the area of multibody dynamics, robotics and mechanism design. Jae Chul Hwang received a B.S., M.S., and Ph.D. degrees in mechanical engineering from Seoul National University, Korea, in 1996, 1998, and 2002, respectively. He is currently a senior engineer in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co., Ltd. His research interests are in the area of kinematics and dynamics of serial and parallel kinematic robot. Yong-Won Choi received a M.S degree in Mechanical Engineering from Korea University in 1993. He has worked for Samsung Electronics, Ltd from 1993 and is currently a principle engineer at Robot Mechanism Part in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co. He is interest in the area of robotics, control and mechanism design. Hong Jae Yim received B.S. and M.S degrees in mechanical engineering from Seoul National University, Korea, in 1979, and 1983, respectively. He received Ph.D degree from Univ. of Iowa, USA. He is currently a professor in School of Mechanical & Automotive Engineering, Kookmin University. His research interests are in the area of computer aided kinematics and dynamics of mechanical systems.     

Application of nonlinear integer programming for vibration reduction optimum design of ship structure

This paper presents a hybrid optimization algorithm which combines an external call type optimization method and a general stochastic iterative algorithm for the nonlinear integer programming with genetic algorithm (GA). GA can rapidly search the approximate global optimum under a complicated design environment such as a ship structure. Meanwhile it can handle optimization problems involving discrete design variables. In addition, there are many parameters that have to be set for GA which greatly affect the accuracy and calculation time of the optimum solution. However, the setting process is difficult for users, and there are no rules to decide these parameters. Therefore, to overcome these difficulties, the optimization of these parameters has been also conducted by using GA itself. It is proven using the trial function that the parameters are optimal. Finally, the verification of validity and usefulness of nonlinear integer programming is performed by applying this method to the compass deck of a ship where the vibration problem is frequently occurs. This paper was recommended for publication in revised form by Associate Editor Eung-Soo Shin YoungMo Kong received his B.S. degree, M.S. and Ph.D. degrees in Mechanical Engineering from Pukyong National University, Korea, in 1990, 1992 and 2006, respectively. Dr. Kong is currently a Principal Research Engineer at the Vibration & Noise R&D Team at Daewoo Shipbuilding & Marine Engineering Co.LTD, Korea. His research interests include vibration and noise analysis, optimum design of rotating machinery and structure. SuHyun Choi received his B.S. degree and M.S. degrees in Naval Architecture from Seoul National University, Korea, in 1982 and 1984, respectively and Ph.D. in Mechanical Engineering from The University of Michigan, Ann Arbor in the USA in 1992. Dr. Choi is currently a Vice President at the Commercial Ship Business Management at Daewoo Shipbuilding & Marine Engineering Co.LTD, Korea. His research interests include vibration and noise analysis, optimum design of rotating machinery and structure. Jin Dae Song received his B.S. degree and M.S. degree in Mechanical Engineering from Pukyong National University, Korea, in 2000 and 2002, respectively. Mr. Song is currently a candidate for the Ph.D degree in Mechanical Engineering from Pukyong National University. His research interests include vibration analysis and optimum design of rotating machinery. Bo-Suk Yang is a professor at the Pukyong National University in Korea. He received his Ph.D. degree in Mechanical Engineering from Kobe University, Japan in 1985. His main research fields cover machine dynamics and vibration engineering, intelligent optimum design, and condition monitoring and diagnostics in rotating machinery. He has published well over 190 research papers on vibration analysis, intelligent optimum design and diagnosis of rotating machinery. He is listed in Who’s Who in the World, Who’s Who in Science and Engineering, among others. ByeongKeun Choi is an Associate Professor at the Department of Precision Mechanical Engineering at Gyeongsang National University in Korea. He received his Ph.D. degrees in Mechanical Engineering from Pukyong National University, Korea, in 1999. Dr. Choi worked at Arizona State University as an Academic Professional from 1999 to 2002. His research interests include vibration analysis and optimum design of rotating machinery, machine diagnosis and prognosis and acoustic emission. He is listed in Who’s Who in the World, among others.     

Analysis of dynamic characteristics for vibration of flexural beam in ultrasonic transport system

An object transport system is an essential device in the factory automation system (FAS). Generally, an object transport system is driven by a conveyor belt system or a magnetic levitation system. However, contact force in the conventional transport system can damage precision optical components, while the magnetic field can destroy the inner structure of the semiconductor. The ultrasonic transport system transports objects on an elastic body using an ultrasonic wave. When an ultrasonic wave is applied to a flexural beam, the flexural beam vibrates to excite the air layer, which lifts up the object on the beam to transport. In this paper, the dynamic characteristics of the ultrasonic transport system are theoretically analyzed. Through normal mode expansion, the modeling equation for steady state response of ultrasonic vibration is expressed and the natural frequency of the flexural beam in each mode is also estimated by using the finite element method (FEM). This paper was recommended for publication in revised form by Associate Editor Eung-Soo Shin Sang-Hwa Jeong received his M.S. degree in Mechanical Engineering from KAIST, Korea, in 1985 and his Ph.D. degree from North Carolina State University, USA, in 1992. Dr. Jeong is currently a professor at the department of Mechanical Engineering of Chosun University in Gwangju, Korea. His research fields are microactuator design, ultrasonic transport system, and SMA actuator of robot finger.     

Dual stage and an image processing-based method for sight stabilization

This paper presents a combined dual stage-based mechanical and image-based stabilization scheme for a three-axis image-tracking sight system. To improve the stabilization and tracking accuracy, a secondary stage actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. For the remaining roll axis stabilization, an electronic digital- image stabilization technique is introduced to estimate and correct roll motions. Experimental results are given to demonstrate the effectiveness of the proposed stabilization system and the image-stabilization scheme. This paper was recommended for publication in revised form by Associate Editor Dong Hwan Kim Joon Lyou received a B.S. degree in Electronics Engineering from Seoul National University in 1978. He then went on to receive M.S. and Ph.D. degrees from KAIST in 1980 and 1984, respectively. Dr. Lyou is currently a professor of the Department of Electronics Engineering at Chungnam National University in Daejeon, Korea. His research interests include industrial control and sensor signal processing, IT based robotics, and navigation systems. MinSig Kang received a B.S. degree from the Department of Mechanical Engineering of Seoul National University in 1980. He then went on to receive M.S. and Ph.D. degrees from KAIST in 1983 and 1987, respectively. He worked for the Agency for Defence Development during 1987–1998. Dr. Kang is currently a professor of the Department of Mechanical and Automotive Engineering at Kyungwon University in Sungnam, Korea. His research interests include dynamic systems measurement and control, industrial robotics, and manufacturing systems. HwyKuen Kwak received a B.S. degree in Electronics Engineering from Chungnam National University in 2005. He is currently working on his M.S. and Ph.D. course at Chungnam National University in Daejeon, Korea. His research areas are image signal processing, sensors and digital control systems. YoungJun Choi received a B.S. and M.S. degree in Mechanical Engineering from Kyungwon University in 2004 and 2006. He is currently a researcher for the Agency for Defence Development in Daejeon, Korea. His research fields are dynamic systems measurement and control, satellite systems, navigation systems and smart materials.     

Approximate velocity scale for primary and secondary dual-inlet side-dump flows

Effects of the bulk inlet velocity on the characteristics of dual-inlet side-dump flows are numerically investigated. Non-reacting subsonic turbulent flow is solved by a preconditioned Reynolds-averaged Navier-Stokes equation system with low-Reynolds number k − ɛ turbulence model. The numerical method is properly validated with measured velocity distributions in the head dome and the combustor. With substantial increase in the bulk inlet velocity, general profiles of essential primary and secondary flows normalized by the bulk inlet velocity are quantitatively invariant to the changes in the bulk inlet velocity. This paper was recommended for publication in revised form by Associate Editor Do Hyung Lee Seung-chai Jung received his B.S. degree in Mechanical Engineering from Yonsei University, Korea, in 2001. He then received his M.S. degree in Mechanical Engineering from Yonsei University, Korea, in 2005. Mr. Jung is currently a Ph. D. candidate at Yonsei University, where he is majoring in Mechanical Engineering. Mr. Jung’s research interests include propulsion system and particle-surface collision dynamics. Byung-Hoon Park received his B.S. degree in Mechanical Design and Production Engineering from Yonsei University in 2003. He is currently a Ph.D. candidate in Yonsei University in Seoul, Korea. His research interests include performance design of propulsion systems and nu-merical analysis of instability in multiphase turbulent reacting flow-fields. Hyun Ko received his B.S. degree in Aerospace Engineering from Chonbuk National University, Korea, in 1996. He then received his M.S. degree in Mechanical Design from Chonbuk National University, Korea, in 1998. In 2005, he obtained his Ph.D. degree from Yonsei University, where he majored in mechanical engineering. Dr. Ko is currently a Principal Research Engineer of the MicroFriend Co., Ltd. in Seoul, Korea. His research interests include propulsion related systems and computational fluid dynamics. Woong-sup Yoon received his B.S. degree in Mechanical Engineering from Yonsei University, Korea, in 1985. He then received his M.S. degree from University of Missouri-Rolla in 1989. In 1992, he obtained his Ph.D. degree from the University of Alabama in Huntsville, where he majored in mechanical and aerospace engineering. Dr. Yoon is currently a professor at the School of Mechanical Engineering at Yonsei University in Seoul, Korea. His research interests include propulsion system and particle-related environmental/ thermal engineering.     

Novel scan path generation method based on area division for SFFS

A solid freeform fabrication (SFF) system using selective laser sintering (SLS) is currently recognized as a leading process of fabrication using variable materials, and SLS extends the application to machinery and automobiles. Due to the time delay in the sintering process, shrinkage and warping often occur. Curling also occurs due to laser and scan delays. These problems affect not only the accuracy of the fabricated product but also the total system efficiency. These deficiencies can be overcome by reducing the total processing time of the SFF system. To accomplish this, the laser scanning time, from mark (laser on) to jump (laser off), must be reduced as it contributes the major part of the total processing time. This can be done by employing area division scan path generation, which promotes digital efficiency. A simulation and an experiment was carried out in this study to evaluate the developed scan path method. This paper was recommended for publication in revised form by Associate Editor Dae-Eun Kim Kyung-Hyun Choi received his B.S. and M.S. degrees in Mechanical Engineering from Pusan National University, Korea, in 1983 and 1990,. He then received his M.S. and Ph.D. degrees from University of Ottawa in 1995. Dr. Choi is currently a professor at the School of Mechanical Engineering at Cheju National University, Korea. His research interests include micro-machining, printed Electronics. Hyung-Chan Kim received his B. S. and M. S. degrees in Electronics Engineering from Cheju National University, Korea, in 2006 and 2008, respectively. Mr. Kim is currently a Ph.D. candidate at the School of Electronics Engineering at Cheju National University, Korea. His research interests include RP System, micro-machining, printed Electronics. Yang-Hoi Doh received his B.S. and M.S. degrees in Electronics Engineering from KyungBuk National University, Korea, in 1982 and 1984, respectively. He then received his Ph.D. degree from University of Kyung Buk National University, Korea, in 1988. Dr. Doh is currently a Professor at the School of Electronics Engineering at Cheju National University, Korea. His research interests include micro-machining, Digital signal processing. Dong-Soo Kim received his M.S. and Ph.D. degrees in Mechanical Engineering from Yung Nam University, Korea, in 1991 and 2001, respectively. Dr. Kim is currently the general manager at Nano Mechanical System Research Division at Korea Institute of Machinery & Materials. His research interests include printed Electronics, R2R printing, RP system.     

Numerical simulation on soot deposition process in laminar ethylene diffusion flames under a microgravity condition

A numerical study on soot deposition in ethylene diffusion flames has been conducted to elucidate the effect of thermophoresis on soot particles under a microgravity environment. Time-dependent reactive-flow Navier-Stokes equations coupled with the modeling of soot formation have been solved. The model was validated by comparing the simulation results with the previous experimental data for a laminar diffusion flame of ethylene (C₂H₄) with enriched oxygen (35% O₂ + 65% N₂) along a solid wall. In particular, the effect of surrounding air velocity as a major calculation parameter has been investigated. Especially, the soot deposition length defined as the transverse travel distance to the wall in the streamwise direction is introduced as a parameter to evaluate the soot deposition tendency on the wall. The calculation result exhibits that there existed an optimal air velocity for the early deposition of soot on the surface, which was in good agreement with the previous experimental results. The reason has been attributed to the balance between the effects of the thermophoretic force and convective motion. This paper was recommended for publication in revised form by Associate Editor Ohchae Kwon Jae Hyuk Choi received his B.S. and M.S. degrees in Marine System Engineering from Korea Maritime University in 1996 and 2000, respectively. He then went on to receive a Ph.D. degrees from Hokkaido university in 2005. Dr. Choi is currently a BK21 Assistant Professor at the School of Mechanical and Aerospace Engineering at Seoul National University in Seoul, Korea. Dr. Choi’s research interests are in the area of reduction of pollutant emission (Soot and NOx), high temperature combustion, laser diagnostics, alternative fuel and hydrogen production with high temperature electrolysis steam (HTES). Junhong Kim received his B.S., M.S., and Ph. D degrees in Mechanical Engineering from Seoul National University in 1998, 2000, and 2004, respectively. His research interests include lifted flames, edge flames, and numerical simulation. Sang Kyu Choi received his B.S. degree in Mechanical Engineering from Seoul National University in 2004. He is a Ph. D student in the School of Mechanical Engineering, Seoul National University. His research interests include edge flames, oxy-fuel combustion, and numerical simulation. Byoung ho Jeon received his B.S degrees in Mechanical Engineering from kangwon University in 1998, and M.S., Ph. D. degrees in Mechanical Engineering from Hokkaido University in 2002, 2008, respectively. Dr Jeon is working at Korea Aerospace Research Institute from 2007. June. as Gasturbine engine developer. Jeon’s research interests are in the area of reduction of pollutant emission (Soot and Nox), High temperature combustion, combustion system (Furnace, Combine Generation system, IGCC, CTL), and Fire safety in building. Osamu Fujita received his B.S., M.S., and Ph. D. degrees in Mechanical Engineering from Hokkaido University in 1982, 1984, and 1987, respectively. Prof. Fujita is currently a Professor at the division of Mechanical and space Engineering at Hokkaido University in sapporo, Japan. Prof. Fujita’s research interests are in the area of reduction of pollutant emission (Soot and Nox), solid combustion, catalytic combustion, high temperature combustion, alternative fuel and fire safety in space. Suk Ho Chung received his B.S. degree in Mechanical Engineering in 1976 from Seoul National University, and his M.S. and Ph. D. degree in Mechanical Engineering in 1980 and 1983, respectively from Northwestern University. He is a professor since 1984 in the School of Mechanical and Aerospace Engineering, Seoul National University. His research interests cover combustion fundamentals, pollutant formation, and laser diagnostics.