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简介：EffectsofalloyelementsonthemicrostructureandcrackresistanceofFe-C-Crweldsurfacinglayerwereinvestigated.Theresultsshowthatmicrostructuresofthelayermainlyconsistofcarbidesandaustenitematrix.IncreasingCandCrcontentsimpairthecrackresistanceofthelayerduetoincreasedamountofbrittlecarbides.TheadditionofNi,NborMoimprovesthecrackresistanceofFe-C-CrweldsurfacinglayerbyincreasingtheamountofausteniteandformingfineNbCorM7C3carbidesinthelayer.But,theexcessiveNb(>2.50wt%)orMo(>1.88wt%)impairsthecrackresistanceofthelayer,whichhasrelationwithincreasedcarbidesorcarbidecoarseningandaustenitematrixsolidsolutionstrengthening.ThepropercombinationofC,Cr,Ni,NbandMocanfurtherimprovenotonlythecrackresistanceofFe-C-CrweldsurfacinglayerbutalsotheerosionresistanceasaresultoffineNbCandM7C3carbidesdistributinguniformlyinaustenitematrix.Theoptimallayercompositionsare3.05wt%C,20.58wt%Cr,1.75wt%Ni,2.00wt%Nband1.88wt%Mo.

简介：Anobject-orientedmulti-roboticgraphicsimulationenvironmentisdescribedinthispaper.Object-orientedprogrammingisusedtomodelthephysicalobjectsoftheroboticworkcellintheformofsoftwareobjectsorclasses.Thevirtualobjectsaredefinedtoprovidetheuserwithauser-friendlyinterfaceincludingrealisticgraphicsimulationandclarifythesoftwarearchitecture.Theprogrammingmethodofassociatingthetaskobjectwithactiveobjecteffectivelyincreasesthesoftwarereusability,maintainabilityandmodifiability.Tasklevelprogrammingisalsodemonstratedthroughamulti-robotweldingtaskthatallowstheusertoconcentrateonthemostimportantaspectsofthetasks.Themulti-threadprogrammingtechniqueisusedtosimulatetheinteractionofmultipletasks.Finally,avirtualtestiscarriedoutinthegraphicsimulationenvironmenttoobservedesignandprogramerrorsandfixthembeforedownloadingthesoftwaretotherealworkcell.

简介：TIGweldingwasusedtodepositCo-8.8Al-9.8W-0.2Bsuperalloyon304austenitestainlesssteel.Theformfactorofweld,dilutionratio,microhardness,microstructureanddistributionofalloyingelementswereinvestigated.Themicrostructureofcladdinglayerwasmainlyhypoeutectic.Theprimaryphaseswerecobalt-richsolidsolution.Theeutecticphasewascomposedofcobalt-richsolidsolution,Co6W6CandCoCx.Whentheboroncontentincreasedfrom0.2%to0.5%,thedilutionratiodecreased,theprimaryphasebecamecoarseandthemicrohardnessdecreased.Whentheboroncontentwasfrom0.5%to2%,thedilutionratioandmicrohardnessincreasedobviously,buttheprimaryphasewasrefined.ThehardphaseofCo-8.8Al-9.8Wbecamerefinedandtheamountwasraised,andtheperformanceofcladdinglayerwasimprovedwithappropriateboronincrease.

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