Abstract: Micro-alloyed steel components are used in
automotive industry for the necessity to make the manufacturing
process cycles shorter when compared to conventional steel by
eliminating heat treatment cycles, so an important saving of costs and
energy can be reached by reducing the number of operations. Microalloying
elements like vanadium, niobium or titanium have been
added to medium carbon steels to achieve grain refinement with or
without precipitation strengthening along with uniform
microstructure throughout the matrix. Present study reports the
applicability of medium carbon vanadium micro-alloyed steel in hot
forging. Forgeability has been determined with respect to different
cooling rates, after forging in a hydraulic press at 50% diameter
reduction in temperature range of 900-11000C. Final microstructures,
hardness, tensile strength, and impact strength have been evaluated.
The friction coefficients of different lubricating conditions, viz.,
graphite in hydraulic oil, graphite in furnace oil, DF 150 (Graphite,
Water-Based) die lubricant and dry or without any lubrication were
obtained from the ring compression test for the above micro-alloyed
steel. Results of ring compression tests indicate that graphite in
hydraulic oil lubricant is preferred for free forging and dry lubricant
is preferred for die forging operation. Exceptionally good forgeability
and high resistance to fracture, especially for faster cooling rate has
been observed for fine equiaxed ferrite-pearlite grains, some amount
of bainite and fine precipitates of vanadium carbides and
carbonitrides. The results indicated that the cooling rate has a
remarkable effect on the microstructure and mechanical properties at
room temperature.
Abstract: This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the SVM is built and selects a proper path from the bank of RRTs for a given environment. At the second level, a real path is planned by the RRT planners for the given environment. The suggested method is applied to the control of KUKA™,, a commercial 6 DOF robot manipulator, and its feasibility and efficiency are demonstrated via the cosimulatation of MatLab™, and RecurDyn™,.