• Journal of Welding and Joining
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• 제34권1호
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• pp.54-58
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• 2016

In this research paper, suggest method of generate same bead as an actual measurement data in virtual welding conditions, exploit morphology information of the bead that acquired through robot welding. It has many multiple risk factors to Beginners welding training, by we make possible to train welding in virtual reality, we can reduce welding training risk and welding material to exploit bead visualization algorithm that we suggest so it will be expected to achieve educational, environmental and economical effect. The proposed method is acquire data to each case performing robot welding by set the voltage, current, working angle, process angle, speed and arc length of welding condition value. As Welding condition value is most important thing in decide bead form, we would selected one of baseline each item and then acquired metal followed another factors change. Welding type is FCAW, SMAW and TIG. When welding trainee perform the training, it's difficult to save all of changed information into database likewise working angle, process angle, speed and arc length. So not saving data into database are applying the method to infer the form of bead using a neural network algorithm. The way of bead's visualization is applying the spline algorithm. To accurately represent Morphological information of the bead, requires much of morphological information, so it can occur problem to save into database that is why we using the spline algorithm. By applying the spline algorithm, it can make simplified data and generate accurate bead shape. Through the research paper, the shape of bead generated by the virtual reality was able to improve the accuracy when compared using the form of bead generated by the robot welding to using the morphological information of the bead generated through the robot welding. By express the accurate shape of bead and so can reduce the difference of the actual welding training and virtual welding, it was confirmed that it can be performed safety and high effective virtual welding education.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.626-630
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, $1{\sim}7$ [mm] and inclination, $0{\sim}30$ [deg]. Since available conventional carriage type is limited to use below root gap of 3 [mm], only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage, current and travel speed, with respect to root gap and inclination to achieve good welding quality. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verify the trajectory tracking accuracy of end-effector.

• 대한조선학회 특별논문집
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• 대한조선학회 2005년도 특별논문집
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• pp.171-176
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, 1-7 (mm) and inclination, 0-30 (deg). Since available conventional carriage type is limited to use below root gap of 3 (mm), only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage. current, weaving speed, dwell time and travel speed, with respect to root gap and inclination to achieve good welding qualify. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verifying the trajectory tracking accuracy of end-effector.

• International Journal of Korean Welding Society
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• 제1권2호
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• pp.12-17
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• 2001

With the advance of the robotic welding process, procedure optimization that selects the welding procedure and predicts bead width that will be deposited is increased. A major concern involving procedure optimization should define a welding procedure that can be shown to be the best with respect to some standard and chosen combination of process parameters, which give an acceptable balance between production rate and the scope of defects for a given situation. This paper presents a new algorithm to establish a mathematical model f3r predicting bead width through a neural network and multiple regression methods, to understand relationships between process parameters and bead width, and to predict process parameters on bead width for GMA welding process. Using a series of robotic arc welding, additional multi-pass butt welds were carried out in order to verify the performance of the neural network estimator and multiple regression methods as well as to select the most suitable model. The results show that not only the proposed models can predict the bead width with reasonable accuracy and guarantee the uniform weld quality, but also a neural network model could be better than the empirical models.

• Journal of Welding and Joining
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• 제8권2호
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• pp.58-69
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• 1990

In conventional arc welding, position error of the weld torch with respect to the weld seam and variation of groove dimension are induced by inaccurate fitup and fixturing. In this study, a vision system has been developed to recognize and compensate the position error and dimensional inaccuracy. The system uses a structured laser light illuminated on the weld groove and perceived by a C.C.D camera. A new algorithm to detect the edge of the reflected laser light is introduced for real time processing. The developed system was applied to arbitarary weld paths with various types of joint in arc welding process. The experimental results show that the proposed system can detect the weld groove parameters within good accuracy and yield good tracking performance.

• Journal of Welding and Joining
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• 제31권5호
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• pp.1-6
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• 2013

In carrying out the elastic-plastic analysis, four conditions (equilibrium equation, constitutive equation, condition of compatibility and yield condition) should be satisfied. In welding, the temperature largely changed from a melting temperature to a room temperature. So, yield stress of materials largely changed, too. In particular, yield stress becomes about zero over $700^{\circ}C$. The analysis should be carried out under the condition that equivalent stress generated in temperature increment ${\Delta}T$ did not exceed yield stress of materials at high temperature over $700^{\circ}C$. It should be sufficiently recognized that the obtained results were not reliable if this condition was not satisfied.

• Journal of Welding and Joining
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• 제13권2호
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• pp.68-81
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• 1995

This paper presents an analytical solution to predict the transient temperature distribution in fillet arc welding. The analytical solution is obtained by solving a transient three -dimensional heat conduction equation with convection boundary conditions on the surfaces of an infinite plate with finite thicknesses, and mapping an infinite plate onto the fillet weld geometry with energy equation. The electric arc heat input on fillet weld and on infinite plate is assumed to have a traveling bivariate Gaussian distribution. To check the validity of the solution, GTA and FCA welding experiments were performed under various welding conditions. The actual isotherms of the weldment cross - sections at various distances from the arc start point are compared with those of simulation result. As the result shows a satisfactory accuracy, this analytical solution can be used to predict the transient temperature distribution in the fiIIet weld of finite thickness under a moving bivariate Gaussian distributed heat source. The simplicity and short calculation time of the analytical solution provides rationales to use the analytical solution for modeling the welding control systems or for an optimization tool of welding process parameters.

• Journal of Welding and Joining
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• 제24권5호
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• pp.37-42
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• 2006

The robotic arc welding is widely employed in the fabrication industry fer increasing productivity and enhancing product quality by its high processing speed, accuracy and repeatability. Basically, the bead geometry plays an important role in determining the mechanical properties of the weld. So that it is very important to select the process variables for obtaining optimal bead geometry. In this paper, the possibilities of the Infrared camera in sensing and control of the bead geometry in the automated welding process are presented. Both bead width and thermal images from infrared thermography are effected by process parameters. Bead width and isotherm radii can be expressed in terms of process parameters(welding current and welding speed) using mathematical equations obtained by empirical analysis using infrared camera. A linear relationship exists between the isothermal radii producted during the welding process and bead width.

• International Journal of Clinical Preventive Dentistry
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• 제14권4호
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• pp.247-255
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• 2018

Objective: Osseointegration is essential process for successful implants and effects to implant in long term, therefore, passive fitness of good prosthesis is necessary. To make a good prosthesis, at first it should be done a sectioned casting and then joined method of sectioned casting body is recommended. Methods: In this study, to provide the fundamental data on stable connection method for successful implants, the author tested fitness of casting body, and compared difference between gas soldering technique and laser welding technique. Results: In fitness test of 2 abutment (test A, C), gas soldering group's fitness in the opposite part of connection was worse than laser welding group. In fitness test of 3 abutment (test B, D), gap distance was increased both in gas soldering technique and laser welding technique. Gap distance at the connecting part and the opposite part of the abutment in gas soldering technique was worse than laser welding technique and the more additional abutment, the worse gap distance in gas soldering technique. In fitness test of 3 abutment (test B, D), there's little variation in No. 2 abutment when connecting soldering process was done and there's little influence on already soldered connection part when the additional soldering connection was done. Conclusion: On weak loading condition and the part which is needed an accuracy, laser welding technique is more effective and on long-span prosthesis and frequent chewing loading part, laser welding technique is recommended first and applying additional gas soldering technique would be better for making much more successful prosthesis.

• International Journal of Naval Architecture and Ocean Engineering
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• 제9권3호
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• pp.315-325
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• 2017

The design dimension may not be satisfactory at the final stage due to the welding during the assembly stage, leading to cutting or adding the components in large structure constructions. The productivity is depend on accuracy of the welding quality especially at assembly stage. Therefore, it is of utmost importance to decide the component dimension during each assembly stage considering the above situations during the designing stage by exactly predicting welding deformation before the welding is done. Further, if the system that predicts whether welding deformation is equipped, it is possible to take measures to reduce deformation through FE analysis, helping in saving time for correcting work by arresting the parts which are prone to having welding deformation. For the FE analysis to predict the deformation of a large steel structure, calculation time, modeling, constraints in each assembly stage and critical welding length have to be considered. In case of fillet welding deformation, around 300 mm is sufficient as a critical welding length of the specimen as proposed by the existing researches. However, the critical length in case of butt welding is around 1000 mm, which is far longer than that suggested in the existing researches. For the external constraint, which occurs as the geometry of structure is changed according to the assembly stage, constraint factor is drawn from the elastic FE analysis and test results, and the magnitude of equivalent force according to constraint is decided. The comparison study for the elastic FE analysis result and measurement for the large steel structure based on the above results reveals that the analysis results are in the range of 80-118% against measurement values, both matching each other well. Further, the deformation of fillet welding in the main plate among the total block occupies 66-89%, making welding deformation in the main plate far larger than the welding deformation in the longitudinal and transverse girders.