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Originalarbeiten
BHM (2016) Vol. 161 (7): 330–333
DOI 10.1007/s00501-016-0504-4
© The Author(s) 2016. This article is available
at SpringerLink with Open Access
Influence of Al3(Sc,Zr) Precipitates on Deformability and
Friction Stir Welding Behavior of Al-Mg-Sc-Zr Alloys
Johannes Taendl and Cecilia Poletti
Institute of Materials Science and Welding, Graz University of Technology, Graz, Austria
Received April 15, 2016; accepted April 26, 2016; published online June 20, 2016
Abstract: We investigate the influence of Al3(Sc,Zr) precip-
itates on the cold deformability and friction stir welding
behavior of a novel AlMg4Sc0.4Zr0.12 alloy. To analyze the
influence of theprecipitate state on theflow stress, samples
were pre-aged at various temperatures for up to 120 min
prior toplane strain compression. Itwas found that the flow
stress increased considerably with increasing pre-ageing
temperature and duration. The formation of Al3(Sc,Zr) pre-
cipitates during friction stir welding was investigated on
welds with high and low heat input by measuring the re-
spective hardening response with and without post-weld
heat treatment.
Keywords: Al-Sc alloys, Cold deformation, Friction stir
welding
Einfluss von Al3(Sc,Zr) Ausscheidungen auf
Umformbarkeit und Reibrührschweißverhalten von
Al-Mg-Sc-Zr Legierungen
Zusammenfassung: Wir untersuchen den Einfluss von
Al3(Sc,Zr) Ausscheidungen auf das Kaltumform- und Reib-
rührschweißverhalten einer neuartigen AlMg4Sc0.4Zr0.12
Legierung. Um den Einfluss des Ausscheidungszustandes
auf die Fließspannung zu analysieren, wurden Proben vor
dem Kaltstauchen bei verschiedenen Temperaturen bis zu
120 min vorausgelagert. Die Fließspannung nahm deutlich
mit zunehmender Auslagerungstemperatur und -zeit zu.
Die Entstehung von Al3(Sc,Zr) Ausscheidungen während
des Reibrührschweißens wurde an Schweißungen mit
hohem und niedrigem Wärmeeintrag untersucht, indem
die jeweilige Härte mit und ohne Nachwärmebehandlung
gemessen wurde.
J. Taendl ()
Institute of Materials Science and Welding,
Graz University of Technology,
8010 Graz, Austria
E-Mail: johannes.taendl@tugraz.at
Schlüsselwörter: Al-Sc Legierungen, Kaltumformung,
Reibrührschweißen
1. Introduction
Thecivil aircraftmarket showedaconsiderablegrowthover
the last centuries and is expected to substantially grow in
the near future (Fig. 1). The evolution of the civil aircraft
industry is put into numbers in Fig. 1 (a) by means of the
worldwideannual revenue-passenger kilometers (RPK), i.e.
the total number of air kilometers travelled by paying cus-
tomers. According to this forecast, the RPK will double in
the next 20 years leading to an increasing need for civil air-
crafts, in particular single-aisle types. It is expected [1] that
there is a total need for around 23,000 single-aisle aircrafts
until 2034, which, in consequence, leads to a significant
need for structural materials (Fig. 1b).
When considering the weight fraction of materials used
in Airbus aircrafts over the last 50 years, Al-alloys were the
dominant material until the latest twin-aisle aircraft A350
launched in 2014 (Fig. 2). Despite the increased use of com-
posite materials at the expense of Al-alloys for new long-
range aircrafts, an identical development is not expected
for single-aisle aircrafts, as stated for example in [2]. For
fuselage components in short-range aircrafts, for example
the Airbus A320, it is assumed that the weight reduction
achieved by using expensive composite materials instead
of Al-alloys is not profitable. An Al-based fuselage design
is therefore expected. However, the currently used Al-Cu
alloys are intended to be replaced by alloys with improved
weldability and corrosion performance, such as Al-Mg-Sc
alloys.
2. Alloying Concept Al-Sc
Conventional AlMg alloys possess good work-hardenabil-
ity, welding characteristics, and corrosion resistance, but
only limited strength compared to age hardening high-
330 Taendl & Poletti © The Author(s) BHM, 161. Jg. (2016), Heft 7
Originalarbeiten
Fig. 1: Developmentand
forecastof theannualworld-
wide revenue-passenger
kilometers (RPK)until 2034 (a)
and forecastof total sales for
single-aisle, twin-aisle, and
very largeaircraftsuntil 2034
(b) [1]
Fig. 2: MaterialmixusedinAirbusplanesoveraround50yearsfromA300
(1972) toA350 (2014). DatakindlyprovidedbyAirbusGroup Innovations
strength Al-alloys such as AlCu [3]. In order to increase
the specific strength of AlMg alloys while maintaining the
beneficial materials properties, the balanced addition of
small amounts of scandium and zirconium is considered
as one of the most promising approaches [4].
The dominant metallurgical system for AlMgScZr alloys
with technically relevant chemical compositions [5], i.e.
less than 6 wt.% Mg, 1 wt.% Sc and 0.5 wt.% Zr, is the Al-
rich side of the binary system Al-Sc, illustrated schemati-
cally in Fig. 3 (a). For an alloy that follows the Al-Sc system,
the materials properties strongly depend on the presence
and nature of the equilibrium phase Al3Sc. If Al3Sc forms
Fig. 3: Schematic illustration
oftheAl-richregionoftheAl-Sc
phasediagram(a) andsolubil-
ityofSc in solidAl asa function
of temperature (b) [6, 7]
as precipitates from a supersaturated solid solution, con-
siderable strengthening can be achieved. In addition, the
precipitates efficiently stabilize a deformed, strain hard-
enedmicrostructure. The Al3Sc precipitation potential with
all its benefits is, however, limited by the low solubility of
Sc in Al. The solid solubility limit in Fig. 3 (b) demonstrates
a maximum solute Sc-concentration of as little as 0.1 wt.%
at 550 °C, which increases only to 0.4 wt.%. at 660 °C. The
addition of Mg and Zr to AlSc alloys further decreases
the maximum Sc solubility [6]. However, these elements
are needed for solid solution strengthening in case of Mg
and to form more thermally stable precipitates of the type
Al3(Sc,Zr) in case of Zr. Owing to the difficulties of a solu-
tion treatment close to melting temperature, a high degree
of Sc supersaturation in AlMgScZr alloys is practically only
achievable using direct chill casting processes with high
solidification and cooling rates.
In this work, we show the influence of Al3(Sc,Zr) precip-
itates induced by different heat treatments on the cold de-
formability of a rapidly solidified Al-Mg-Sc-Zr alloy as well
as the friction stir welding behavior of the material. In this
way, we analyze the behavior of the alloy under different
possible processing routes.
3. Material
The investigated material was an AlMg4Sc0.4Zr0.12 alloy
casted to an 8 mm thick, 280 mm wide, and 30 m long
strand using a continuous belt-casting technology. We
have shown that, due to the solidification conditions, 0.13
± 0.02 wt.% Sc of nominal 0.4 wt.% was in solution in as-
BHM, 161. Jg. (2016), Heft 7 © The Author(s) Taendl & Poletti 331
Originalarbeiten
Fig. 4: Influenceof thedura-
tionofpre-ageingat275 °Con
thestress-strain curvesduring
compression (a) andsummary
of theflowstressesat0.6 strain
for variouspre-ageing condi-
tions (b)
cast (AC) condition. Using an electron-beam re-solidifica-
tion (EBRS) process, where the material is remelted and
rapidly solidified, the solute Sc-content was increased to
0.37 ± 0.03 wt.% [8, 9]. For the studied material, we have
demonstrated significant hardening due to precipitation of
Al3(Sc,Zr) particles. It was shown that hardening wasmore
pronounced in case of EBRS compared to AC condition as
a result of a higher number density of coherent precipi-
tates with radii between 3 and 5 nm [9]. Furthermore, the
formation of the Al3(Sc,Zr) precipitates during ageing of a
cold deformed microstructure led to considerable Zener
pinning and a stop in recrystallization [10]. This effect was
so pronounced that full recrystallization was not observed
within 60 min even at temperatures as high as 500 °C [11].
In addition, we showed that precipitates influenced the
materials behavior during hot deformation [12].
Based on the outcomeof the fundamental investigations
mentioned above, the present study shows more practical
aspects of the complex interactions occurring during pro-
cessing of the given AlMg4Sc0.4Zr0.12 alloy. In particular,
we investigate the influence ofAl3(Sc,Zr) precipitates on the
cold deformability and friction stir welding behavior.
4. Experimental Methods
The cold deformation behavior was studied in plane strain
condition using a Gleeble 3800 Hydrawedge system (DSI).
Samples with a size of 10 x 20 x 4mm (L x W x T) were
compressed to0.8equivalent strainwithastrain rateof 1s-1.
To analyze the influence of the Al3(Sc,Zr) precipitate state
on the flow stress, the AC samples were pre-aged at 275 °C,
300 °C, and 325 °C for up to 120 min prior to deformation.
Friction stir welding (FSW) of AC material was carried
out using an ISTIR FSW machine (MTS). Blind welds were
accomplished on 8 mm thick belt-casted material using
a threaded-pin tool (Stirtec) with a shoulder diameter of
15 mm and a pin length of 5.5 mm. The basic process pa-
rameters were a tilt angle of 0° and a tool rotation speed
of 1200 min-1. We studied the hardening response of the
material due to high heat input (100mm/min feed rate) and
low heat input (1000 mm/min feed rate) as well as the in-
fluence of a post-weld heat treatment (PWHT) at 325 °C for
60 min.
5. Results and Discussion
5.1 Deformation Behavior
Fig. 4 (a) shows flow curves of samples pre-aged at 275 °C
between 0 and 60 min. The flow stress increased with in-
creasing pre-ageing time. This effect was even more pro-
nounced for higher ageing temperatures and longer times,
as shown in Fig. 4 (b). Basedonour studieson theAl3(Sc,Zr)
precipitation kinetics [9], we attribute the increasing flow
stress to particle-dislocation interactions occurring during
deformation. If annealing follows cold deformation of non
pre-aged material, we have shown that Al3(Sc,Zr) precip-
itation occurs simultaneously with static recrystallization.
Despite the Zener pinning effect exerted by the growing
particles, a fraction of recrystallized grains is present after
some time leading to softening [11]. The present process-
ing route consisting of pre-ageing followed by cold defor-
mation thus leads to higher final strength than the one in
reversed order.
5.2 Friction Stir Welding
Fig. 5 shows macrosections and hardness patterns across
the welds for high heat input (a) and low heat input (b).
The dashed lines represent the as-welded condition while
the full lines show the hardness after PWHT at 325 °C for
60 min. In case of high heat input (a), the hardness in
the weld zone increased slightly in as-welded condition,
whereas themaximumhardness of the basematerial could
not be reached after PWHT. In case of low heat input (b), the
hardness in the weld zone did not increase considerably in
as-welded condition. After PWHT, however, the maximum
hardness of the base material was reached. We concluded
that, for low heat input, Al3(Sc,Zr) precipitates formed al-
ready during welding at temperatures higher 325 °C, which
was not the case for lower heat input because of shorter ex-
posure tohigh temperatures. DuringPWHTat 325 °C, there-
fore, additional precipitation hardening was only achieved
in the weld zone of the low heat input weld.
6. Summary
In this study we have shown the influence of Al3(Sc,Zr)
precipitates on the cold deformation and friction stir weld-
332 Taendl & Poletti © The Author(s) BHM, 161. Jg. (2016), Heft 7
Originalarbeiten
Fig. 5: Macrosectionsand
hardnesscurves forhighheat
input (a) and lowheat input (b)
weldsshowing the influenceof
theweldingparameterson the
Al3(Sc,Zr)precipitation
ing behavior of a novel belt-casted AlMg4Sc0.4Zr0.12 al-
loy. The flow stress during cold deformation increased
with increasing pre-ageing temperature and time. For fric-
tion stir welds, the maximum hardness in the weld zone
was achieved by low heat input welding combined with a
PWHT.
Acknowledgements
We acknowledge financial support by the FFG TAKE OFF
project 839002.
OpenAccessThisarticle isdistributedunder the termsof theCreativeCommonsAt-
tribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/),
whichpermitsunrestricteduse, distribution, andreproduction inanymedium,pro-
vided yougive appropriate credit to the original author(s) and the source, provide
a link to the Creative Commons license, and indicate if changesweremade.
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Influence of \(Al_3(Sc,Zr)\) Precipitates on Deformability and Friction Stir Welding Behavior of Al-Mg-Sc-Zr Alloys

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Ferrein, Alexander

EDITORIAL
20 Years of RoboCup
Gerald Steinbauer1 • Alexander Ferrein2
Published online: 29 July 2016
 The Author(s) 2016. This article is published with open access at Springerlink.com
RoboCup started with the aim to foster research in
Artificial Intelligence and robotics with the brilliant vision
to build autonomous robots that are able to defeat the
human world champion in soccer in 2050. The vision is
brilliant for several reasons. First of all, the idea of
designing autonomous agents that work cooperatively on a
highly dynamic task in an non-deterministic environment
raises research-wise a number of interesting and hard
question. From an educational standpoint, a competition
like RoboCup is easily able to carry away students at dif-
ferent age levels, from school learners to the PhD students.
Finally, such an event is attractive for the general public
and gives researchers the opportunity to explain their work
and get into direct contact with people from outside aca-
demia. The soccer vision was, over the years, extended
with competitions for school learners as well as a number
of application-driven competitions. In 2016, the 20th
RoboCup took place in Leipzig, Germany. We took this
anniversary as an opportunity to reflect the achievements of
RoboCup of two decades, to discuss them also critically
and try to give an outlook on the remaining 34 years until
the deadline of the RoboCup vision in 2050.
We start this special issue with an editorial article where
the different RoboCup competitions are introduced.
Moreover, the development within the leagues, mainly,
over the last 10 years since the last German RoboCup held
in 2006 in Bremen is discussed. The authors also give a
more personal view on what RoboCup means and repre-
sents, beside pure scientific issues. Finally, future devel-
opments of RoboCup are discussed.
The technical contributions in this special issue origin
from different RoboCup leagues. Seekircher et al. report
on research done to optimise walking parameter for the
humanoid robot Nao. A fast walk is still a key to success in
RoboCup; adapting walking parameters online to the
& Gerald Steinbauer
steinbauer@ist.tugraz.at
Alexander Ferrein
ferrein@fh-aachen.de
1 Institute for Software Technology, Graz University of
Technology, Inffeldgasse 16b/2, 8010 Graz, Austria
2 Mobile Autonomous Systems & Cognitive Robotics Institute,
FH Aachen University of Applied Sciences, Eupener Straße
70, 52066 Aachen, Germany
123
Ku¨nstl Intell (2016) 30:221–224
DOI 10.1007/s13218-016-0442-z
actual behaviour of the robot is crucial, in particular,
because RoboCup will ever more increase the realism of
the games, for instance, by playing on grass and uneven
ground. The paper by Baltes et al. is also about humanoid
robots. The authors address the problem of motion plan-
ning for humanoids. They propose a sample-based tree
planner and combine it with an incremental simulator.
This allows to ensure that the robot is dynamically
stable when executing a motion command. Schiffer gives a
report on a cognitive robot architecture that origins from
the RoboCup@Home league. In this league, robots per-
form domestic tasks in an home environment such as fetch
objects or guide people. Therefore, adaptive human-like
reasoning and human-robot interaction are among others
the key questions. In their article, Sheh et al. reflect on the
development of the RoboCup rescue league during the last
16 years. Rescue was introduced as the first application-
oriented competition after the big Kobe earthquake when
observing a lack of technology to deal with such disasters.
The article reports on the development of real robots,
mainly on individual capabilities such as navigation and
mapping of these robots as well as on developments in
simulations which mainly concern cooperation and coor-
dination. Romay et al. give insights into their work on
semi-automated manipulation of object with a humanoid
robot. Although a large part of the work is related to the
DARPA Robotics Challenge where the goal is to develop
humanoid robots that can support first responders, the
work show that RoboCup is well able to cooperate with
other competitions and to exchange ideas between differ-
ent events. Finally, Niemueller et al. report on activities in
the RoboCup Industrial league. This application-oriented
league is rather young and pushes the research into the
direction of use-cases in logistics and smart factories. The
article introduces the central game infrastructure that is
important to conduct the competition in a fair way, but
also allows to collect useful data and to set up well-defined
benchmarks and experiments. This is important for a
sound evaluation of the developed methods. In the next
article, Kohlbrecher et al. give an overview on a research
project that spins off of the activities the research group set
in RoboCup Rescue and the DARPA Robotics Challenge.
In the article, the authors introduce their robot system
designed for the ARGOS Challenge where the use-case is
the automated inspection and maintenance of oil and gas
rigs. Finally, Allgeuer et al. report on the development of
the igus Humanoid Open Platform. This platform is a
light-weight 92 cm heigh humanoid robot with all its body
parts being 3D printed.
This platform is an open design and was developed in a
collaboration between researchers at the University of
Bonn and igus GmbH, a leading manufacturer of polymer
bearings and energy chains.
The special issue is rounded up with three interviews.
The interviews were done with people who are with the
RoboCup for quite a while and look at various different
aspects. We start with Minoru Asada who is one of the
founder of RoboCup initiative and knows the entire history
of RoboCup. He will give fascinating insights in the
motivation to found RoboCup and its influence on research
in AI and robotics. The interview with Rodolphe Gelin
from Aldebaran Robotics reports on the fruitful coopera-
tion of RoboCup and the vendor of Nao. This interview
also focuses on the training aspects and the perception of
RoboCup by the industry. Finally, in the interview with
Hans-Arthur Marsiske, a writer and journalist who
accompanied RoboCup for more than a decade, a motiva-
tion for basic research and a rather critical view on the
responsibility of RoboCup for its developed technology is
given.
1 Content
1.1 Editorial
Ferrein, Steinbauer: 20 Years of RoboCup—A Subjective
Retrospection
1.2 Technical Contributions
Seekircher, Visser: An Adaptive LIPM-based Dynamic
Walk using Model Parameter Optimization on Humanoid
Robots
Baltes, Bagot, Sadeghnejad, Anderson, Hsu: Full-Body
Motion Planning for Humanoid Robots Using Rapidly
Exploring Random
Schiffer: Integrating Qualitative Reasoning and Human-
Robot Interaction in Domestic Service Robotics
Sheh, Schwertfeger, Visser: 16 years of RoboCup
Rescue
Romay, Kohlbrecher, von Stryk: An Object Template
Approach to Manipulation for Humanoid Avatar Robots
for Rescue Tasks
Niemueller, Zug, Schneider, Karras: Knowledge-Based
Instrumentation and Control for Competitive Industry-In-
spired Robotic Domains
1.3 Research Projects
Kohlbrecher, von Stryk: From RoboCup Rescue to
Supervised Autonomous Mobile Robots for Remote
Inspection of Industrial Plants
Allgeuer, Farazi, Ficht, Schreiber, Behnke: The igus
Humanoid Open Platform—A Child-sized 3D Printed
Open-Source Robot for Research
222 Ku¨nstl Intell (2016) 30:221–224
123
1.4 Interviews
Ferrein, Steinbauer: Interview with Prof. Minoru Asada
Ferrein, Steinbauer: Interview with Dr. Rodolphe Gelin
Ferrein, Steinbauer: Interview with Dr. Hans-Arthur
Marsiske
1.5 Conference Report
Wachsmuth, Wrede: RoboCup 2016 Leipzig
2 Service
2.1 Journals
– Robotics & Autonomous Systems (http://www.elsevier.
com)
– Autonomous Agents & Multi-Agent Systems (http://
www.springer.com)
– International Journal of Robotics and Automation
(http://www.actapress.com/)
– Autonomous Robots (http://www.springer.com)
– Artificial Intelligence (http://www.elsevier.com)
– Applied Artificial Intelligence (http://www.tandfonline.
com/)
– Journal of Field Robotics (http://onlinelibrary.wiley.
com/)
– International Journal of Humanoid Robotics (http://
www.worldscinet.com/ijhr)
– IEEE Transactions on Robotics (T-RO), IEEE Robotics
and Automation Society (http://www.ieee-ras.org/tro)
– Ku¨nstliche Intelligenz (http://www.kuenstliche-intelli
genz.de/)
– Machine Learning (http://www.springer.com)
2.2 Conferences
– International RoboCup Symposium (http://www.robo
cup.org)
– International Conference on Intelligent Robots and
Systems (IROS) (http://www.ieee-ras.org/)
– International Conference on Robotics and Automation
(ICRA) (http://www.ieee-ras.org/)
– International Conference on Advanced Robotics
(ICAR) (http://www.ieee-ras.org/)
– International Conference on Intelligent Autonomous
Systems (http://www.ias-14.org/)
– International Conference on Machine Learning (ICML)
(http://icml.cc/)
– International Joint Conference on Artificial Intelligence
(IJCAI) (http://www.ijcai.org/)
– European Conference on Artificial Intelligence (ECAI)
(http://www.ecai2016.org/)
– International Conference on Autonomous Agents and
Multiagent Systems (AAMAS) (https://sis.smu.edu.sg/
aamas2016)
– IEEE International Symposium on Robot and Human
Interactive Communication (RO-MAN) (http://www.
ieee-ras.org/)
– International Symposium on Safety, Security and
Rescue Robotics (SSRR) (http://www.ieee-ras.org/)
– International Conference on Human-Robot-Interaction
(HRI) (http://www.ieee-ras.org/)
– International Conference on Automated Planning and
Scheduling (ICAPS) (http://www.icaps-conference.org/
)
2.3 Books
– Siciliano and Khatib. Springer Handbook of Robotics.
Springer. Second Edition. 2017.
– Russel and Norvig. Artificial Intelligence: A Modern
Approach. Third Edition. Pearson Education. 2010.
– Wooldridge. An Introduction to Multi-Agent System.
Second Edition. John Wiley & Sons. 2009.
2.4 Online Resources
– The RoboCup Federation (http://www.robocup.org)
– RoboCup Humanoid League (https://www.robocuphu
manoid.org/)
– The RoboCup Soccer Simulator (https://sourceforge.
net/projects/sserver/)
– RoboCup Small Size vision (https://github.com/Robo
Cup-SSL/ssl-vision)
– RoboCup Standard Platform League (http://www.tzi.
de/spl/)
– RoboCup Rescue Agent Simulation (http://roborescue.
sourceforge.net/)
– RoboCup@Home League (http://www.robocupathome.
org/)
– RoboCup Logistics League (http://www.robocup-logis
tics.org/)
– RoboCup@Work League (http://www.robocupatwork.
org/)
– RoboCupJunior Leagues (http://rcj.robocup.org/)
2.5 Mailing Lists
– RoboCup Worldwide—General Information (https://
lists.cc.gatech.edu/mailman/listinfo/ robocup-
worldwide)
Ku¨nstl Intell (2016) 30:221–224 223
123
– Simulation League (https://lists.cc.gatech.edu/mail
man/listinfo/robocup-sim)
– Small Size Robot League (https://lists.cc.gatech.edu/
mailman/listinfo/robocup-small)
– Middle Size Robot League (https://lists.cc.gatech.edu/
mailman/listinfo/robocup-mid)
– Standard Platform League (https://mailman.cc.gatech.
edu/mailman/listinfo/robocup-nao)
– Humanoid League (https://lists.cc.gatech.edu/ mail
man/listinfo/robocup-humanoid)
– RoboCup@Home League (http://lists.robocup.org/lis
tinfo.cgi/robocup-athome-robocup.org)
– RoboCup Rescue Robot League (https://lists.cc.gatech.
edu/mailman/listinfo/ robocup-rescue-r)
– RoboCup Rescue Agent Simulation League (https://
lists.cc.gatech.edu/mailman/listinfo/ robocup-rescue-s)
– RoboCup Rescue Virtual Robots (https://lists.cc.gatech.
edu/mailman/listinfo/robocup-rescue-v)
– RoboCup@Home (http://lists.robocup.org/listinfo.cgi/
robocup-athome-robocup.org)
– RoboCup Logistics League (https://lists.kbsg.rwth-
aachen.de/listinfo/robocup-logistics)
– RoboCup@Work (http://lists.robocup.org/listinfo.cgi/
rc-work-robocup.org)
– RoboCupJunior (https://lists.cc.gatech.edu/mailman/lis
tinfo/robocup-junior)
Acknowledgments Open access funding provided by Graz Univer-
sity of Technology.
Open Access This article is distributed under the terms of the
Creative Commons Attribution 4.0 International License (http://crea
tivecommons.org/licenses/by/4.0/), which permits unrestricted use,
distribution, and reproduction in any medium, provided you give
appropriate credit to the original author(s) and the source, provide a
link to the Creative Commons license, and indicate if changes were
made.
224 Ku¨nstl Intell (2016) 30:221–224
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20 Years of RoboCup

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