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Jiaojiao Yi,Lin Yang,Lu Wang,Mingqin Xu,Lisha Liu 대한금속·재료학회 2022 METALS AND MATERIALS International Vol.28 No.1
A novel 3d transition metal high entropy alloy (TM HEA), CrCuFeTiV, was fabricated by arc-melting under a vacuum condition. Its phase component, microstructure, and compressive properties in the as-cast and annealed conditions were carefullyinvestigated. The experimental results showed that the alloys in both conditions consist of one BCC phase (CrV/FeTi-richregions), one FCC phase (Cu-rich), and one hexagonal Laves phase (Cr2Ti). It is suggested that the CrV-rich BCC phasepreferentially separates as dendritic centers. Subsequently, the Cr2Ti Laves phase and the FeTi-rich BCC phase solidify as adendritic outer layer. Finally, the FCC Cu-rich phase is squashed into the remaining interdendritic regions. Besides, the yieldstrength, ultimate strength, and hardness of the as-cast CrCuFeTiV alloy are 1686 MPa, 2205 MPa, and 624 HV, while thosefor the annealed alloy are 1510 MPa, 2035 MPa, and 618 HV, respectively. The obtained values are the highest among thetabulated fve-principle equiatomic Cu-containing 3d TM HEAs. The promising strength-hardness synergy of CrCuFeTiValloy is likely originated from the majority constitution of the BCC phase and Cr2Ti Laves phase.
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Level Set Based Path Planning Using a Novel Path Optimization Algorithm for Robots
Xiaoguang Zhang,Wei Zhang,Hui Li,Mingqin Liu,류성기 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.9
In order to decrease the path length and control the minimum distance between the path and the obstacles when the level set based path planning algorithm is adopted , a new path optimization algorithm named elastic particle is proposed in this paper. Firstly, the iteration expression of optimization algorithm is deduced by active contour theory. Secondly, to ensure the convergence of algorithm, the relation among each item in the algorithm expression is analyzed and its convergence condition is determined. At last, level set algorithm is improved so that the smoothness of the initial path and the convergence speed of the algorithm are improved. In addition, a method named the nearest boundary distance is put forward to accelerate the operation speed of the algorithm. What’s more, memory pool and binary sort tree are adopted in the code to further reduce the running time of this algorithm. The optimal values of the algorithm parameters are analyzed via the simulation experiment,and its result demonstrates that the new algorithm has greatly optimized the path of algorithm-level set and guaranteed fast running speed and high reliability.
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