• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1677-1680
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• 1991

Machining is a bottleneck in robot application technologies because of uncertainty of position/form, poor reliability of robot function and low reaction speed of robot to changes of surroundings, But in grinding automation with relatively low machining speed it is feasible to integrate of sensor signal in machining. In this paper strategy for robotic grinding with F/T sensor will be presented and with that the experimental results will be discussed. F/T sensor signal in grinding of strategy weld seam are transferred to PC, which plays a role as cell computer and transform F/T data to robot position and/or orientation, speed correction data according to programmed algorithm. The possibility and boundary of robotic grinding with F/T sensor intergration is discussed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.7 s.250
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• pp.865-872
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• 2006

High frequency induction welding is widely employed for longitudinal seam welding of small scale tubes and pipes because of its relatively high processing speed and efficiency. This research is aimed at understanding the variables that affect the quality of the high frequency induction welding. The welding variables include the welding frequency, weld speed, V-angle and tube thickness. Temperature distribution of the tube is calculated through three dimensional coupled electromagnetic and thermal FE analysis. The skin and proximity effects are considered in the electromagnetic analysis. The influence of the impeder is also analyzed. The effects of the operating welding variables on the temperature distribution are investigated quantitatively by exhibiting the heat affected zone (HAZ). The results explain the mechanism of significant enhancement of welding efficiency when the impeder is used. The proper welding conditions without the overheated edge are obtained through FE analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.565-568
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• 2002

Welding variables and conditions in gas metal arc welding (GMAW) effect on the weld quality and productivity, extensive research efforts have been made to analyze the welding variables and conditions. In this study dynamic behavior of GMAW system is investigated using the characteristic equations of the power supply, wire and welding arc. Characteristic equation of wire is modified to include the effect of droplets attached at the electrode tip. The dynamic characteristics of arc length, current, voltage with respect to the step, ramp inputs of CTWD was simulated, seam tracking procedure using arc sensor was simulated with variable V-Groove geometries and weaving frequencies. From results of simulation, some predictions about dynamic characteristics of GMAW and welding process are available. The proposed simulator and results appear to be utilized to determine the proper welding conditions, to be improved by considering power supply dynamic characteristics.

• Proceedings of the KWS Conference
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• 1999.10a
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• pp.43-46
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• 1999

It has been suggested that the motivation for automation of welding processes ncludes the replacement and extension of the functions of human operators. Among these types of the welding automation, SAW(Submerged Arc Welding) was prevalently used, because it is highly suited to a wide range of application, especially for the high speed welding. A Significant portion of the total manufacturing time for a pipe fabrication process is spent on the welding following primary machining and fit-up processes. To achieve the reliable weld bead appearance, the automatic seam tracking and adaptive control to fill the groove are urgently needed. This paper proposed the mechanical functions of multi-torches welding system, flux supply and recovery system in conjunction with the complex air pulsing method and various types of methodologies. It was shown that the multi-torches welding system revealed the high welding qualities for the circular and rectangular pipes. In conclusion, the multi-torches welding system developed will contribute the advanced welding technology, welding automation and increment of the market in these areas.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.124-132
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• 2001

Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.94.1-94
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• 2001

Arc sensor gives important groove information during welding. Automatic seam tracking control system with arc sensor has significant characteristics such that bead formation is given as decentralization of penetration and formation of concave bead profile and that a turning point of transverse weaving with constant arc length control is decided whether or not torch height reaches to a specified setting level. Furthermore, the rotating action of the arc prevents hanging of weld bead and forms flat bead surface under high speed welding condition. The variation of groove and deposition area can be detected from the trace of weaving. The area and width of weaving trace has close correlation with the area of groove and deposition. In this paper, main object of this system is to realize an adaptive microprocessor based controller ...

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1999.08a
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• pp.383-389
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• 1999

The purpose of this study was to investigate the effects of alloying and rolling condition on the mechanical properties and to develop high strength line pipe steels with good toughness. Tests were carried out by the laboratory experiments followed by mill trials and mass production. It was found that a small addition of microalloying elements, such as Nb, V with Mo or Ti remarkably increased the strength and toughness of hot strips. The optimum condition of thermomechanical rolling on low carbon microalloyed steel improved the toughness through the formation of a fine and uniform microstructure. Based on this mill trials following the fundamental research, the production technology of line pipe steels, grade X70∼X100 with high toughness, has been established. These grade steels exhibit excellent low temperature toughness (vTs= under -80$^{\circ}C$) and sufficient strength in both the base metal and the ERW seam weld position, respectively.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.301-302
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• 2006

In this paper, the possibilities of the Infra-red sensor in sensing and control of the bead geometry in the automated welding process are presented. Infra-red sensor is a well-known method to deal with the problems with a high degree of fuzziness so that the sensor is employed to build the relationship between process variables and the quality characteristic the proposed above respectively. Based on several neural networks, the mathematical models are derived from extensive experiments with different welding parameters and complex geometrical features. The developed system enables to select the optimal welding parameters and control the desired weld dimensions during arc welding process.

• Proceedings of the KWS Conference
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• 2005.06a
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• pp.324-325
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• 2005

The primary aim of this paper is to develop an automated welding system capable of adapting to variation in the weld seam center in order to allow higher welding speeds and improved welding quality by using a laser vision sensor. The system is designed to compensate for production problems such as pipe ovality, variation in bevel geometry and track misalignment.

• Journal of Welding and Joining
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• v.20 no.1
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• pp.41-46
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• 2002

A new laser welding system far the appendage of bearing pads of PHWR nuclear fuel elements has been developed. This system consists of laser oscillator, a optical fiber transmission, a monitoring device and a welding controller. The basic welding experiments of the appendage of Zircaloy-4 bearing pads were carried out. The laser welded samples were investigated and made by using the optical fiber of GI $400\mu\textrm{m}$. As a result, the seam welding with the bead width of 1.0mm and the weld penetration of 0.3mm could be accomplished.