• 한국주조공학회지
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• 제29권5호
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• pp.187-191
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• 2009

Microstructures and shape memory characteristics of $Ti_{50}Ni_{20}Cu_{30}$ alloy strips fabricated by arc melt overflow have been investigated by means of XRD, optical microscopy and DSC. The microstructure of as-cast strips exhibited columnar grains normal to the strip surface. X-ray diffraction analysis showed that one-step martensitic transformation of B2-B19 occurred in the alloy strips. According to the DSC analysis, it was known that the martensitic transformation temperature ($M_s$) of B2 $\rightarrow$ B19 in $Ti_{50}Ni_{20}Cu_{30}$ strip is $57^{\circ}C$. During thermal cyclic deformation with the applied stress of 60 MPa, transformation hysteresis and elongation associated with the B2-B19 transformation were observed to be $3.7^{\circ}C$ and 1.6%, respectively. The as-cast strip of $Ti_{50}Ni_{20}Cu_{30}$ alloy also showed a superelasticity and its stress hysteresis was as small as 14 MPa. These mechanical properties and shape memory characteristics of the alloy strips were ascribed to B2-B19 transformation and the controlled microstructures produced by rapid solidification of the arc melt overflow process.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1812-1818
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• 2005

Even though SMA actuators have high power to volume ratio, there exist disadvantages such as hysteresis and saturation. So the model identification for SMA actuators is very difficult. For the qualitative model identification, we described the behavior of SMA actuators using a so-called diagonal model, which can readily expect the turning point of an incomplete phase transformation. For the quantitative model identification, we developed the general dynamics of SMA actuators using the modified Liang's model. Using this dynamics we can describe the hysteresis and the saturation very well. It is also very important to notice that the modified Liang's model maintains a continuous martensite fraction at the change of the phase transformation but the original model cannot.

• 한국주조공학회지
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• 제28권1호
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• pp.31-36
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• 2008

Ti-Ni-Cu alloys are very attractive shape memory alloys for applications as actuators because of a large transformation elongation and a small transformation hysteresis. Rapidly solidified Ti-Ni alloy ribbons have been known to have the shape memory effect and superelasticity superior to the alloy ingots fabricated by conventional casting. In this study, solidification structures and shape memory characteristics of $Ti-Ni_{30}-Cu_{20}$ alloy ribbons prepared by melt spinning were investigated by means of DSC and XRD. Operating parameters to fabricate the amorphous ribbons were the wheel velocity of 55 m/s and the melt spinning temperature of $1500^{\circ}C$. The crystallization temperature was measured to be $440^{\circ}C$. The crystallized ribbons exhibited very fine microstructure after annealing at $440^{\circ}C$ for 10 minutes and $460^{\circ}C$ for 5 minutes and was deformed up to about 6.8% and 6.23% in ductile manner, respectively. Stress-strain curve of the ribbon exhibited a flat stress-plateau at 64 MPa and this is associated with the stress-induced a B2-B19 martensitic transformation. During cycle deformation with the applied stress of 220 MPa, transformation hysteresis and elongation associated with the B2-B19 transformation were observed to be $4.3^{\circ}C$ and 3.6%.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• 한국정밀공학회지
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• 제18권5호
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• 열처리공학회지
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• 제23권5호
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• pp.233-238
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• 2010

The phase transformations and the shape memory effect in In-rich Pb alloys and In rich-Sn alloys have been studied by means of X-ray diffractometry supplemented by metallographic observations. The alloys containing 12~15 at.%Pb transform from the ${\alpha}_2$ (fct) phase to the ${\alpha}_1$ (fct) phase by way of an intermediate phase (m phase) on cooling. The results of X-ray diffraction show that the metastable intermediate phase is observed both on cooling and heating, and has a face-centered orthorhombic (fco) structure. It is concluded that the ${\alpha}_1{\rightleftarrows}{\alpha}_2$ transformation is expressed by the ${\alpha}_1{\rightleftarrows}m{\rightleftarrows}{\alpha}_2$ transformation both on usual cooling and heating with the rate more than $8{\times}10^{-3}$ K/s. The $m{\rightleftarrows}{\alpha}_2$ transformation takes place with a mechanism involving macroscopic shear and are of diffusionless (martensitic) type. The temperature hysteresis in the two transformations is 10~13 K between the heating and cooling transformations. The alloys containing 0~11 at.%Sn are -phase solid solutions with a face centered tetragonal structure (c/a > 1) at room temperature, the axial ratio increasing continuously with tin content. The In-(11~15) at.%Sn alloys are mixtures of ${\alpha}$ and ${\beta}$ phases, the ${\beta}$ phase having a f. c. tetragonal structure (c/a < 1). The alloys containing more than 15 at.%Sn are ${\beta}$-phase solid solutions. The In-(12.9~15.0) at.%Sn alloys show a shape memory effect only when quenched to the temperature of liquid nitrogen, although their effect becomes weak and finally disappears after keeping at room temperature for a long time. The ${\beta}{\rightarrow}{\alpha}^{\prime}$ phase transformation is of the diffusionless (martensitic) type, and takes place between 330 K at 12.9 at.%Sn and 150 K at 14.5 at.%Sn. The hysteresis of transformation temperatures on heating and cooling is considerably large (29~40 K), depending on the composition. Both In-Pb and In-Sn alloys showed distinct the shape memory effects.

• 열처리공학회지
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• 제9권4호
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• pp.243-251
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• 1996

Dilatometric experiment and thermodynamic calculation have been performed to determine $M_s$, $A_s$ and driving forces for ${\gamma}{\rightarrow}{\varepsilon}$ martensitic transformation of Fe-Mn alloys. The transformation temperatures($M_s$, $A_s$, $T_o) were decreased with increasing manganese content and were newly formulated as a function of manganese content. Driving force for ${\gamma}{\rightarrow}{\varepsilon}$ martensitic transformation was increased from -75J/mole to -105J/mole with increasing manganese content from 15wt.% to 25wt.%. Transformation temperature hysteresis($A_s-M_s$) was also increased from 50K to 80K with increasing mangenese content from 15wt.% to 25wt.%. The small driving force(-75J/mole~-105J/mole) and small ${\Delta}T$(50K~80K) for ${\gamma}{\rightarrow}{\varepsilon}$ martensitic transformation indicated that Fe-Mn alloys behave like thermoelastic martensitic alloys : We would like to call them semi-thermoelastic martensitic alloys.

• 대한가정학회지
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• 제26권1호
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• pp.11-19
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• 1988

Bending properties of 168 commercial silk fabrics and polyester fabrics for korean women's clothes were tested by KES-F system. Samples were classified into for summer, fall & winter fabrics. In this study, bending regidity(B) and bending hysteresis(2HB) were measured, then 2HB/W, {{{{ SQRT { 2HB/W} }}}}, 2HB/B which are concerning to formation of weared clothes and transformation behavior were investigated. fabrics for korean women's silk clothes for fall & winter were compared with fabrics for japanese kimono clothes on the bending properties. The results were as follows : 1. The bending regidity of silk fabrics were higher than polyester fabrics and bending hysteresis of fall & winter fabrics were higher than summer fabrics. 2. The 2HB/W and {{{{ SQRT { 2HB/W} }}}} of polyester fabrics were lower than silk fabrics. 3. the silk fabrics for summer clothes were the least in 2HB/B. 4. Silk fabrics for korean women's clothes were almost the same in bending rigidity, bending hysteresis and thickness of fabrics for japanese kimono clothes, but weight of the silk fabrics were lower to fabrics for jpanese kimono clothes.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 추계학술대회 논문집 Vol.16
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• pp.59-62
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• 2003

This study investigated the phase transformation of the $REBa_2Cu_3O_{7-x}$ (RE=Nd, Gd, By) superconductor, and CCT (Continuous-Cooling-Transformation) along with the TTT (Time-Temperature-Transformation) diagrams are suggested according to the isothermal and continuous cooling heat-treatments. According to result of fabricated single crystal of RE-123 superconductor through TSMG method based on phase transformation neted among heat treatment process, when the ionic radius elements was decreased, RE-211 phase was well-distributed. According to result that examine about seed of pretreatment effect of TSMG method, magnetic hysteresis improved when preprocess among oxygen atmosphere in same seed. and used after. Effect of miscut expressed good superconducting special quality in case miscut uses big seed.

• 한국안전학회지
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• 제24권1호
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• pp.26-30
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• 2009

Shape memory recoverable stress and strain of Ti-42.5at%Ni-10at%Cu alloys were measured by means of constant temperature tensile tests. The alloys' transformation behavior is B2 - B19 by DSC result. The strain by tensile stress were perfectly recovered by heating at any testing conditions but shape memory recoverable stress increased to 66MPa and then slightly decreased. Transformation temperatures from thermal cycling under constant uniaxial applied tensile loads linearly increased by increasing tensile load and their thermal hysteresis are about 110K and their maximum recoverable strain is 6.5% at 100MPa condition.