• Journal of Welding and Joining
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• 제15권1호
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• pp.81-91
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• 1997

In this study, a magnetic sensor to make use of eddy current was developed to detect the weld seam of butt joint in the sheet metal arc welding. This system consist of the sensor device for detecting the weld line, the servo control device for driving the weld torch movement and the control unit. A signal processing was applied to smooth the output signal of the sensor. The weld joint was determined by using a 1st order differential method. To improve tracking accuracy of the system, moving average method which has an effect of proportional and weighted integral control was applied to a series of the weld joint positions obtained above. The weld line for tracking was generated by using data regeneration algorithm. Based on these results, each servo motor was controlled by pulse generator. From experimental results, it was revealed that this system has excellent detecting ability for weld line and seam tracking ability.

• Journal of Welding and Joining
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• 제14권4호
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• pp.79-88
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• 1996

For improvement in productivity and weld quality, weld seam tracking and welding parameter control are very essential in the welding of a structure which can not be cxactly fit-up due to mismatch, discontinous gap, deflection, etc.. In this study, an automatic weld seam tracking system is developed for I-butt joint structure, and the system consists of XYZ working table, vision sensor and user interface program. In the developed vision sensor system, an image projection algorithm for weld-line detection and an adaptive current control algorithm for gap variation were implemented. The user interface program developed in this study by basing on the objct oriented concept could provide very convenient way to utilize the tracking system with the pull-down menu driven structure. The developed system showed a good seam tracking and weld quality control capability corresponding to deflected weld lines and gap variations.

• 융합신호처리학회논문지
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• 제11권4호
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• pp.338-344
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• 2010

선박 블록의 용접 공정에서는 용접선의 양쪽 끝이 벽에 의해 막혀있는 경우가 많다. 본 연구에서는 이러한 벽이 있는 환경에서 맞대기 용접의 자동화를 위한 용접선 검출 시스템을 개발하였다. 용접선 검출 시스템은 벽에서 캐리지의 위치를 측정하고, 초층의 용접선을 검출하게 된다. 시스템은 레이저 변위센서와 초음파센서로 구성되어 있다. 레이저 변위센서는 모터에 의해 회전 왕복 운동하며 용접 모재까지의 거리를 측정하게 되고, 초음파센서는 양쪽 벽면까지의 거리를 측정한다. 초음파센서로 측정된 거리정보를 활용하여 용접선의 X(주행)좌표와 용접 시작 및 끝 위치를 판별한다. 그리고 레이저 변위센서에 의해 측정된 거리정보와 센서의 자세정보를 활용하여 용접선의 Y(위빙), Z(높이)좌표를 검출하게 된다. 용접선 검출 시스템은 용접 캐리지와 독립적인 구동을 위해 DSP를 이용하여 별도의 제어기를 구성하였다. 용접 도중 용접선 검출 시스템과 용접 토치(Torch)와 간섭을 피하고, 측정 불가능한 구간이 발생하지 않도록 용접선 검출 시스템을 캐리지의 양쪽에 부착할 수 있게 설계하였다. 최종적으로 용접 캐리지에 부착하고 실험을 수행하여 개발된 용접선 검출 시스템의 효용성을 확인하였다.

• 한국정밀공학회지
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• 제18권9호
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• pp.179-185
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• 2001

In this study, a visual sensor system for weld seam tracking the I-butt weld joints in GMA welding was constructed. The sensor system consists of a CCD camera, a diode laser with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and arc light. In order to obtain the enhanced image, quantitative relationship between laser intensity and iris number was investigated. Throughout the repeated experiments, the shutter speed was set at 1-milisecond for minimizing the effect of spatters on the image, and therefore most of the spatter trace in the image have been found to be reduced. Region of interest was defined from the entire image and gray level of searched laser line was compared to that of weld line. The differences between these gray levels lead to spot the position of weld joint using central difference method. The results showed that, as long as weld line was within $^\pm$15$^\circ$from the longitudinal straight fine, the system constructed in this study could track the weld line successful1y. Since the processing time reduced to 0.05 sec, it is expected that the developed method could be adopted to high speed welding such as laser welding.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.836-839
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• 1997

In recent years, much progress has been made in the automation of welding coped with a variety of highly flexible sensors. Among these sensors, only the eddy current sensor can detect the center location of the butt joint whose gap distance is zero. Thus, in this study the eddy current sensor is used to develop a robust and useful joint tracking system. The developed system is tested to qualify the performance of the system and seam tracking algorithm is proposed and two simulation are executed to show the performance of the proposed tracking algorithm.

• 대한토목학회논문집
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• 제6권3호
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• pp.53-62
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• 1986

소재시험편(素材試驗片)과 맞대기 용접시험편(鎔接試驗片)을 대상(對象)으로 피로시험(疲勞試驗)을 행(行)하여 작용최대응력(作用最大應力)-피로수명(疲勞壽命)(S-N)선도(線圖), 소성변형율(塑性變形率)-하중반복회수(荷重反復回數)(${\varepsilon}_p$-N)선도(線圖), 초기균열발생시(初期龜裂發生時)의 소성변형율(塑性變形率)-피로수명(疲勞壽命)(${\varepsilon}_p-N_c$)선도(線圖) 및 균열성장율(龜裂成長率)-응력확대계수변동범위(應力擴大係數變動範圍)(da/dN-${\Delta}K$)선도(線圖)를 그려서 강구조물(鋼構造物) 용접부(鎔接部)에서의 여러가지 피로거동(疲勞擧動)을 검토(檢討)하였다. 본(本) 연구(硏究)에서 얻어진 결과(結果)를 요약(要約)하면 다음과 같다. 하중반복회수(荷重反復回數) $2{\times}10^6$ cycle에서의 피로강도(疲勞强度)는 용접부(鎔接部)가 소재부(素材部)의 약(約) 60%였으며 강복응력(降伏應力)에 대한 피로강도(疲勞强度)의 비(比)는 소재부(素材部)와 용접부(鎔接部)가 각각(各各) 0.72, 0.65로 나타났다. 용접시험편(鎔接試驗片)의 S-N 선도(線圖)는 피로강도(疲勞强度)의 감소(減少)가 완만(緩慢)한 구간(區間)과 피로강도(疲勞强度)의 감소(減少)가 큰 구간(區間)으로 분류(分類)되어 작용최대응력(作用最大應力)이 작을 수록 피로강도(疲勞强度)의 감소(減少)가 커지는 현상(現象)을 보였다. 두 구간(區間)으로 구분(區分)되지 않은 S-N 선도(線圖)에 의한 피로강도(疲勞强度)에 비(比)해 $2{\times}10^6$ cycle에서의 피로강도(疲勞强度)가 약(約) 83%에 해당(該當)하였다. 이는 낮은 응력(應力)에서 용접부(鎔接部) 내부결함(內部缺陷)의 영향(影響)이 크게 작용(作用)하는 때문이 아닌가 생각된다. 용접시험편(鎔接試驗片)의 경우(境遇) 소재시험편(素材試驗片)에 비(比)해, 또 작용최대응력(作用最大應力)이 클수록 초기균열발생(初期龜裂發生)이 빠르고 균열발생직전(龜裂發生直前)의 소성변형율(塑性變形率)의 증가(增加)가 급격(急激)한 것을 알 수 있었다. 소재시험편(素材試驗片)에서 ${\varepsilon}_p-N_c$ 관계식(關係式)의 상수(常數) ${\alpha}$값이 0.42 로 Manson, Coffin의 연구결과(硏究結果)와 거의 일치(一致)하였고 용접시험편(鎔接試驗片)에서는 이 값이 0.28 로 이들의 연구결과(硏究結果)와 큰 차이(差異)를 나타내었는데, 이는 피로(疲勞)에 의한 용접부(鎔接部) 소성변형(塑性變形)의 급격(急激)한 변화(變化)와 내부결함(內部缺陷)의 영향(影響)이 작용(作用)했기 때문이 아닌가 생각된다. 이와 같은 결과(結果)로 볼 때 기존(旣存)의 강구조물(鋼構造物) 및 향후(向後) 신설(新設)될 강구조물(鋼構造物) 용접부(鎔接部)의 품질(品質) 및 피로(疲勞)에 대한 안전성(安全性)에 적절(適切)한 대책(對策)이 요망(要望)되며, 이 분야(分野)에 관한 더 많은 연구(硏究)가 행(行)해져야 되리라고 사료(思料)된다.

• 대한기계학회논문집A
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• 제34권9호
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• pp.1311-1316
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• 2010

본 연구에서는 316L 스테인리스강 테스트 시편으로 직선 슬롯(slot) 용접을 수행하고 X-선 회절법을 이용하여 용접 잔류응력을 측정하였다. 또한 3차원 유한요소해석을 통하여 슬롯용접을 모사하고 시편의 용접잔류응력 분포를 구하였다. 슬롯용접은 용접잔류응력 특성을 고찰하는데 있어 맞대기 용접에 비하여 고려할 변수가 적으며, 용접 시작부터 종료까지 용접잔류응력 분포 특성을 쉽게 파악할 수 있는 장점이 있다. 테스트 시편의 표면에서 용접잔류응력을 용접 시작부와 중간부분, 종료부의 세 위치에서 측정값과 해석값을 비교하였고 용접잔류응력 분포특성을 고찰하였다. 유한요소해석 결과로부터 시편 내부의 용접잔류응력 분포특성을 살펴보았다.

• 한국해양공학회지
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• 제24권2호
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• pp.62-66
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• 2010

The goal of this work is to establish the reliability of FCA welded joints for high strength EH36-TMCP ultra thick plate. For this, heat conduction and thermo elasto-plastic analyses have been conducted on a multi-pass, X-groove, butt-joint model to clarify the thermal and mechanical behavior (residual stresses, magnitude of the stresses, and their production and distribution mechanisms) of the weld joint. In addition, the results of the welding residual stress obtained from thermo elasto-plastic analysis was verified and compared with results obtained by XRD analysis.

• Journal of Welding and Joining
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• 제29권1호
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• pp.85-89
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• 2011

Waste water is disposed to sewage disposal plant by underground PE double wall pipes. Various processes have been introduced to join PE pipes, but most of these methods have many disadvantages such as costs, lack of reliability and difficulties in joining, etc. Recently butt welding has been paid much attention to joint PE pipes as this process has many advantages such as cost, safety and reliability. In this study, newly developed heat plate, a patent-pending heat plate with a groove, was used to butt-weld PE double wall pipes with different misalignment gaps to simulate real underground conditions, and the butt welding temperature of PE pipe was determined by thermal analysis (Thermal Gravimetric Analysis, Differential Scanning Calorimetry and Dynamic Mechanical Analysis). The resulting joining characteristics of double wall pipes were compared with those from a conventional heat plate, in terms of stiffness, flattening and leakage tests. The results from the stiffness and flattening test showed that there were no big differences between the butt-welded joints made from these two plates. From the leakage test, although PE pipes welded with a conventional heat plate did leak below the required test conditions (10 min. at 0.75kgf/cm2), the pipes welded with a patent-pending grooved heat plate did not show any leakage even at a pressure 1.5 times higher than the required conditions. It was noted that by utilizing a grooved heat plate more complete fusion at the pipe joints could be obtained, which in turn induced a high quality joints.