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The effects of brazing temperature and time, and the thickness of filler metal on the joint microstructure of metallic catalytic convertor were investigated. Especially, the formation of brittle eutectic structure was examined. In general, it was found that processing conditions which promote the diffusion of Si in the filler metal reduce the formation of the eutectic structure. The condition includes the higher bonding temperature, longer brazing time, thinner filler metal. The higher bonding temperature and longer brazing time, however, led to extensive dissolution and degradation of the catalytic material. Thus, it was found that the brazing conditions using thinner filler metal at moderate brazing temperature and time are most effective in preventing the formation of the brittle eutectic structure in the brazed joint of the catalytic convertor.
This paper deals with a development of a quad-rotor for a hovering attitude control. First, a rotational dynamics are derived to design an attitude controller. The attitude controller is based on PI (Proportional-Integral) controller. For a stable attitude control, an anti-windup method applies to the PI attitude controller. Additionally, a complementary filter is used to obtain more reliable attitude. Gain values of the attitude controllers based on the anti-windup method are obtained through tests. Finally, the quad-rotor with the anti-windup based PI attitude controller is developed and a hovering attitude control flight tests are performed. As a result, the developed quad-rotor is capable of stable hovering.