• Laser Solutions
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• v.12 no.3
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• pp.14-17
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• 2009

The laser welding was performed for the flange joint of two overlapped coaxial circular pipes which serve as the inlet and connector pipes of STS 316L. The laser welding test finally resulted in a good penetration depth of 1.8 to 2.0 mm. On the way to get the good welding quality, two important parameters were found to be optimized. One is the focal positioning which is the offset of the laser beam focus to the exact welding seam line, which is more critical in the inner flange laser welding. When the beam spot size was deviated more than $200\;{\mu}m$ from the seam line, welding of two pipes is failed. The other is a gap size since a certain amount of gap is inevitable due to fabrication tolerance, or artificial allowances for smooth insertion of a pipe. However, it is required to restrict the gap allowance within 0.2mm to avoid undesirable undercut on a welding bead.

• International Journal of Korean Welding Society
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• v.1 no.1
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• pp.1-6
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• 2001

This paper describes several advances in sensor and process control techniques for applications in Submerged Arc Welding (SAW), which combine to give a fully automatic system capable of controlling and adapting the overall welding process. This technology has been applied in longitudinal and spiral pipe mills and in pressure vessel production.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Nuclear Engineering and Technology
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• v.52 no.8
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• pp.1724-1731
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• 2020

Low cycle fatigue tests on the hydrogenated welding seam of Zr-Sn-Nb alloy at room temperature and 360 ℃ had been carried out by using the funnel-shaped flat specimens. The relationships between nominal stress & strain directly measured across the funnel and local stress & strain at the root of the funnel are given by considering cyclic plasticity correction. The results show that the fatigue resistance of welding seam at room temperature is only slightly better than that at 360 ℃. Probabilistic fatigue life curves are obtained by using a two-parameter power function.

• Proceedings of the KWS Conference
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• 2001.05a
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• pp.189-191
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• 2001

This study introduces the new way for the evaluation criteria of the Mash-Seam Tailored Blank weldability, The materials used are low carbon automotive galvanized and high strength steels and the evaluation of weldability are examined with various thickness. Welding tests were conducted for both similar thickness and dissimilar thickness cases. The criteria developed for optimum welding conditions were based on the relationship among results of die press forming test, weld transverse tensile test, Erichsen test and microhardness measurements. The application of the developed criteria(fracture ratio, strength ratio, etc) in obtaining optimum welding condition revealed that a weld which satisfied ant of the criteria did not fracture during actual die press test.

• Proceedings of the KWS Conference
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• 2005.06a
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• pp.326-328
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• 2005

High speed rotational arc sensing is an important method to detect the torch deviation during automatic seam tracking of arc welding. In this paper, a mathematic model of high speed rotational arc sensing is analyzed. The simulation results are consistent with the experimental results. The current waveforms at the beginning of the welding are different from those at middle of the welding because of the formation of the weld bead profile. The signal patterns for seam tracking and end-point detection are proposed. A phase shift between the rotation and the current variation is also discovered in the experiments.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• Journal of the Korean Society of Marine Environment & Safety
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• v.12 no.2 s.25
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• pp.151-155
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• 2006

In these days, welding is the most commonly used metallic connection technology and also is the fundamental production technology of the modem industrial, which is used in various areas of the industrial fields, such as shipbuilding, automobiles, airplanes and plant facilities. However welding process produces strong light, electric currents, and fume gases etc., and the welding automation is not so easy compared to the other works of manufacturing industries which produce the standardized products in large quantities. So it is difficult to weld and detect the all kinds of seams automatically by a specific sensor. In this paper the sensor applying strain gauges is used to detect the seams of triangular wave form. With the auto carriage having the sensor we proposed the experiment to weld and track the seam automatically.

• Journal of Welding and Joining
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• v.16 no.6
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• pp.68-76
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• 1998

A CCD camera with a laser stripe was applied to realized the automatic weld seam tracking. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path. The adaptive Hough transformation was used to extract laser stripes an to obtain specific weld points. It takes relatively long time to process image on-line control using the basic control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter. For this reason, it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The dead zone, where the sensing of weld line is impossible, was eliminated by rotating the camera with its rotating axis centered at the weld torch. When weld lines were detected, the camera angle was controlled in order to get the minimum image data for sensing of weld lines. Consequently, the image processing time was reduced.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1138-1141
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• 1995

An arc sensor for seam tracking is developed to automate sub-assembly welding in shipbuilding. We utilize a moving average method, which produces an effect of low-pass filter, to generate the position compensation. Therefore the sensor is able to modify the path of the weld seam in real time. By simplifying the compension process, the tunning time is reduced so that operators react quickly. It turns out that this sensor is highly reliable and it is installed and being used in SHI Keoje shipbuilding yard.