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Yayın Investigation of residual stresses induced by milling of compacted graphite iron by x-ray diffraction technique(Springer, 2024-04) Kara, Mehmet Emre; Kuzu, Ali Taner; Bakkal, MustafaThis study investigates the relationship between residual stresses, cutting parameters, and machining performance in the milling process of compacted graphite iron (CGI). X-ray diffraction (XRD) analysis is employed to measure residual stresses on the cast and milled surfaces, while cutting force modeling is utilized to calculate the tangential force, power, and active work. The results demonstrate that tensile residual stresses are predominant on the milled surfaces, attributed to the both mechanical and thermal loads generated during milling. By analyzing various cutting conditions, it is observed that lower feeds contribute to reduced plastic deformation, resulting in lower residual stress levels. Additionally, higher cutting speeds lead to higher temperatures, but due to the shorter machining time, heat accumulation is limited, resulting in higher residual stresses, especially at low feeds. At high feeds, residual stresses decreased as the cutting speed increased. The interplay between cutting parameters and residual stresses highlights the need for optimizing cutting conditions to enhance fatigue strength in CGI components. These findings provide valuable insights for process optimization and quality control in the milling of CGI materials.Yayın A new local path planning approach by synthesis of PRM and RRT* algorithms for an autonomous mobile robot(Springer, 2025-02) Göktaş, Anıl Gökhan; Sezer, SemihMany research efforts have been and continue to be carried out to make human life easier through the use of new technologies. The ability to shift labor to non-humans and reduce the workforce demonstrates the scope of innovation. In this investigation, a new approach is proposed to address several shortcomings of the PRM and RRT algorithms used for path planning in mobile robots. The proposed approach differs by building markers around it, avoiding dynamic obstacles and providing a shorter path. Simulation studies of the PRM and RRT* algorithms, along with the Circular Nodes (CN) approach, were conducted in real and virtual environments. Meanwhile, experimental studies for the CN approach were carried out in a real environment, with obstacles. When compared to other methods, the proposed approach has demonstrated an increase in node efficiency by up to five times. Moreover, implementing node points that are approximately 10% of those used in the PRM and RRT* algorithms has resulted in a shorter path. The reduction in the number of nodes and path length leads to a reduction in energy consumption and processing power.
