If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to maximize the speed of industrial robots by obtaining the minimum-time trajectories that satisfy various constraints commonly given in the application of industrial robots. Design/methodology/approach -The method utilizes the dynamic model of the robot manipulators to find the maximum kinematic constraints that are used with conventional trajectory patterns, such as trapezoidal velocity profiles and cubic polynomial functions. Findings -The experimental results demonstrate that the proposed method can decrease the motion times substantially compared with the conventional kinematic method. Practical implications -Although the method used a dynamic model, the computational burden is minimized by calculating dynamics only at certain points, enabling implementation of the method online. The proposed method is tested on more than 40 different types of robots made by Hyundai Heavy Industries Co. Ltd (HHI). The method is successfully implemented in Hi5, a new generation of HHI robot controller. Originality/value -The paper shows that the method is computationally very simple compared with other minimum-time trajectory-planning methods, thus making it suitable for online implementation.

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PM 2.5 samples were collected from December 2005 through November 2007 in two cities including Chuncheon and Seoul in order to investigate the characteristics of carbonaceous aerosol. The average PM 2.5 concentration in Seoul (43.2 μg/m 3) was approximately 1.2 times higher than that measured in Chuncheon (36.1 μg/m 3), however there was no statistical difference on PM 2.5 concentration between those two cities. Backward trajectories were passing through Seoul area before arriving Chuncheon for about half of the samples, and PM 2.5 largely increased in Chuncheon when back-trajectories originated from Seoul area. Total carbon (TC) was calculated as sum of OC and EC, contributing 20.5% and 29.2% to total PM 2.5 mass in Chuncheon and Seoul, respectively. The average ratio of secondary organic carbon (SOC) to total OC was 40% at both sites, and the highest SOC concentration was observed in summer probably due to enhanced volatilization of organic species and active photochemical reaction. J value was calculated to determine if acidic condition affected the increase of secondary organic carbon. In both Chuncheon and Seoul SOC/OC ratios were fairly enhanced when J⁄100% of acidic condition.

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