This paper proposes a new designed trajectory tracking method for a hydraulic manipulator, which is the terminal sliding mode control with sliding perturbation observer (TSMCSPO). The dynamics of the hydraulic system are complex and uncertain, it also generates a large reaction force when working as an excavator or a dismantling robot. In this paper, the new control law is designed to force the trajectory of the hydraulic system to follow the reference despite complex dynamics, modeling error, the huge reaction force, and dynamic uncertainties. The sliding perturbation observer (SPO) in TSMCSPO estimates all disturbances from the outside environment, dynamic uncertainties, and modeling errors in real time. We included a simulation and an experiment to verify the approach, and to demonstrate the performance compared with other controllers (SMCSPO, SMC, and TSMC). Stabilities of SPO and TSMCSPO were analyzed based on the Lyapunov stability theory.

In wavelength-tuning interferometry, the surface profile of the optical component is a key evaluation index. However, the systematic errors caused by the coupling error between the higher harmonics and phase shift error are considerable. In this research, a new 10N − 9 phase-shifting algorithm comprising a new polynomial window function and a DFT is developed. A new polynomial window function is developed based on characteristic polynomial theory. The characteristic of the new 10N − 9 algorithm is represented in the frequency domain by Fourier description. The phase error of the new algorithm is also discussed and compared with other phase-shifting algorithms. The surface profile of a silicon wafer was measured by using the 10N − 9 algorithm and a wavelength-tuning interferometer. The repeatability measurement error across 20 experiments was 2.045 nm, which indicates that the new 10N − 9 algorithm outperforms the conventional phase-shifting algorithm.

Metal injection molding (MIM) with the space holder technique is becoming one of the important fabrication methods for a net-shape production of micro-sized, porous, complex-shaped metal parts. For a successful injection molding step, rheological behavior of MIM feedstock is essential, which includes peculiar characteristics, such as a wall slip phenomenon. SUS 316L stainless steel powder, binder systems (paraffin wax, polypropylene, polyethylene, stearic acid) and three different sizes of spherically-shaped polymethyl methacrylate (PMMA) as a space-holder were used for this study. The porosity was controlled by varying the volume fraction of the space holder and a total of six different feedstocks were prepared. Rheological characteristics of the feedstock was investigated, especially on viscosities, including wall slip quantification by using a capillary rheometer. By thermogravimetric analysis, the debinding process for completely removing the space holder was proposed. Finally, the shrinkage and porosity of the tensile specimen produced through the sintering process were analyzed and the ultimate tensile strength was obtained.