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Go to Editorial ManagerFriction stir welding (FSW), a solid-state welding process, it’s involve a welding by friction between two metals or alloys, and also using for the joining of dissimilar materials due to the lower processing temperature over conventional fusion welding, it's include only one pass of welding. Friction Stir Processing (FSP) is a recent outgrowth of the Friction Stir Welding (FSW) process and relies on solid-state deformation to modify the structure of the workpiece, it's involve two pass or more of welding and applied either on the base metal(BM) or to join the two alloys/metals. In this paper the new method used, namely reverse rotation friction stir processing (RFSP), this research aims to study the effect of (RFSP) technique on the mechanical properties of welded alloys. (FSW) includes a single pass of the welding line but the second method (RFSP) involves two pass of welding (forth and back) but the 1st pass with a rotation speed in clockwise and the 2nd pass in counter-clockwise. The alloys used of dissimilar AA 2024 and AA6061 aluminum alloys of (3mm) thickness, the parameters used in this research include different rotational speed (1600, 1800, 2000 and 2200) RPM and one feed speed (25) mm/min. In the tensile test the results of reverse rotation friction stir processing (RFSP) was higher than friction stir welding (FSW) for all rotation speeds of welding except (1800 RPM). In the microhardness measurement the values of hardness for all samples at the nugget zone is higher than the basemetal of 6061-T6 and lower than the basemetal of 2024-T3. The efficiency of ultimate tensile strength reaches to about (72 %) for (RFSP) as compare with value of (FSW) and it’s about (44%) at rotation speed (1600 RPM).The only exception of welding was when the rotational speed of (1800 RPM), where the (FSW) is better than (RFSP), efficiency was approximately (77%) for the (FSW) compared with the results of (71%) (RFSP).
The indemnification of uncertainty and disturbance which is added to non-linear systems by an Integral Sliding Mode Controller (ISMC) design. the key target of this paper is designing a sturdy controller to observe the performance of a 2-link robot. The nonlinearity in mechanical systems is a shared issue that the researchers are facing in formulating control systems for it. The best solution to this problem is a design Sliding Mode Controller (SMC) for controlling a nonlinear system. In the current paper, 2-link robot is studied which suffering from disturbances and parameter uncertainty and coulomb friction as additional to friction inertia of the system for each link. firstly, Classical Sliding Mode Controller (CSMC) is designed and then Integral Sliding Mode Controller (ISMC). As known, CSMC includes two phases: reaching phase and sliding phase. SMC is suffering from the known phenomenon as "chattering" which is supposed as a critical case and unsuitable characteristic. chattering is described as a curvy movement span the switching surface. In the current study, the chattering is attenuated by employing a saturation function alternative of a sign function. Although SMC can be considered as a good way of controlling nonlinear systems. Where it continues to suffer from the long settling time as undesired features. ISMC is a good method can be employed for reducing the settling time and controlling a nonlinear system. ISMC is easy, robust execution and supposes as an active and strong technique. The most significant advantage in ISMC designing, the reaching phase is canceled that considered a major part of designing classical SMC. The 2 link Robot system was used for proving the performance of CSMC and ISMC algorithms. The outcomes received from the simulations utilizing the ISMC and CSMC which fulfilled asymptotic stability for the system. In comparative between CSMC and ISMC. ISMC is better than CSMC in the good performance of tracking the desired position with less time. Finally, MATLAB2019a software package has relied upon this work.