This article presents a control method for suppressing the swing vibration of a hybrid excavator. For control design, dynamic models of typical swing motions of the hybrid excavator are derived using a system identification technique. Because the system states of the obtained models are not directly measurable, a sliding mode observer is designed to estimate the system states. A sliding mode control is designed to provide robust tracking performance against the parameter variations and uncertain non-linearities caused by changes in the working conditions. A complicated mathematical model of the hybrid excavator which captures detailed mechanical, electrical, and hydraulic characteristics is developed for system analysis and simulation. The feasibility and effectiveness of the proposed control method are verified by simulations and actual tests in comparison with a conventional proportional and integral controller.

Electrochemical AFM lithography was used to directly fabricate copper nanowires. The copper ions were strongly reduced by a negative sample bias at the point where the AFM tip was localized, and copper metal wires were successfully fabricated following the direction of the electrical field of the bias. A TDA⋅HCl self-assembled monolayer (SAM) was found to play an important role as an intermediate layer for enhancing the capability of high resolution and complete development after the AFM lithographic process. The physical and electrical properties of the wires were analyzed by AFM, EFM, SEM, TEM and I-V measurement. The fabricated copper has promising potential for applications such as masks and interconnectors for nanoelectronic devices.

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PCB method for active area of thin electrodes was used in the strip pattern. To reduce the loss of data during irradiation, 2 charge integrators are used alternately. The response of the readout data was set 1 0us. The beam tests will be performed with the MC-50 Cyclotron.