• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the 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 mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition 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 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Journal of Welding and Joining
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• v.26 no.3
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• pp.23-29
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• 2008

The purpose of this study is to propose the proper fillet welding process for preventing the buckling distortion in thin panel welded structure. In order to do it, a heat input model for laser hybrid welding process was developed using FEA and experiment. The principal factors controlling the angular distortion and longitudinal shrinkage force caused by FCA and laser hybrid welding were identified as the welding heat input and weld rigidity using FEA. The predictive equations of angular distortion and longitudinal shrinkage force for each welding process were formulated as a function of the principal factors proposed. With the predictive equations, the buckling distortion at the thin panel welded structure with welding process was evaluated and compared using nonlinear buckling analysis and STEM(simplified thermo elastic method). Based on the results, the best way to prevent the buckling distortion at the given welded panel structures was identified as an intermittent FCA welding.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.499-503
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• 2004

This application-oriented paper describes an automated welding carriage system to weld a thin corrugated workpiece with welding seam tracking function. Hyundai Heavy Industries Corporation has developed an automatic welding carriage system, which utilizes pulsed plasma arc welding process for corrugated sheets. It can obtain high speed welding more than 2 times faster than traditional TIG based welding system. The aim of this development is to increase the productivity by using automatic plasma welding carriage systems, to track weld seam line using vision sensor automatically, and finally to provide a convenience to operator in order to carry out welding. In this paper a robust image processing and a distance based tracking algorithms are introduced for corrugated workpiece welding. The automatic welding carriage system is controlled by the programmable logic controller(PLC), and the automatic welding seam tracking system is controlled by the industrial personal computer(IPC) equipped with embedded OS. The system was tested at actual workpiece to show the feasibility and performance of proposed algorithm and to confirm the reliability of developed controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.17-18
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• 2006

Laser welding of metals has been widely used to improve a wear resistance and a corrosion resistance of the industrial parts. The objective of this research works is to investigate the influence of the process parameters, such as the welding for metals with CW Nd:YAG lasers. The bead-on-plate welding tests are carried out for several combinations of the experimental conditions. In order to quantitatively examine the characteristics of the butt welding, the welding quality of the cut section, stain-stress behavior and the hardness of the welded part are investigated. From the results of the investigation, it has been shown that the optimal welding condition without defects in the vicinity of the welded area and with a good welding quality is 1400W of the laser power, 0.8m/min, 0.9m/min of welding speed and $4{\ell}$ in of pressure for shielding gas.

• Laser Solutions
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• v.13 no.3
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• pp.7-12
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• 2010

In this study, laser welding of aluminum AA5182 with AA5356 filler wire was carried out and the formability of the weld joint was evaluated through Erichsen test according to laser power, welding speed and wire feed rate. Fracture was occurred in both directions, perpendicular and parallel to the weld line at 0.75 of Erichsen ratio. Second order Regression model to estimate Erichsen ratio with experimental variables was proposed and the performance of model was evaluated with F-test and average error rate.

• Proceedings of the KWS Conference
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• 2006.10a
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• pp.158-160
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• 2006

Super alloys are typically used for the liquid thruster in the aerospace industry. In this work, The bead-on-plate welding of Inconel 600, Inconel 625 and Haynes 230 using Nd:YAG laser are studied, in order to examine the effects of experimental parameters on their weldability. The micro-hardness and tensile strength of the specimens are also analyzed, to obtain the optimal welding conditions.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.558-562
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• 1999

In this paper, the inverter spot welding system with high efficiency via an instantaneous power control is presented. In spot welding, instantaneous power control is utilized in order to attain less spatter and high welding performance. Also we proposed a PI controller for spot welder system using Evolution Strategy(ES) with varying search space. ES with varying search space which depends on fitness values at each generation is used to tune PI control parameters

• Proceedings of the KWS Conference
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• 2004.05a
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• pp.234-236
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• 2004

The purpose of this study is to establish the predictive equation of welding distortion at the thick AA5083 alloy weldment. In order to do it, the extensive FE analysis was peformed to identify the principal factor controlling welding distortion. Based on the results, the predictive equations of transverse shrinkage and angular distortion at the thick AA5083 alloy weldment were formulated as the function of heat intensity (Q), in-plane(Di) and bending(Db) rigidity.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.663-667
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• 1998

This paper describes for reducing harmonic distortion on CO2 welding machine with nonlinear load characteristic using single-switch three-phase AC/DC converter. The low-order harmonic component amplitude of the phase current of single-switch three-phase discontinuous mode is calculated. Experimental results show that CO2 welding machine with single-switch three-phase AC/DC converter is effectively controlled with power factor correction for phase current during welding time.

• Proceedings of the KWS Conference
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• 1994.05a
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• pp.1-20
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• 1994

In order for manufacturing companies to remain competitive it Is necessary for them to review continually their fabrication methods. The use of power beams for welding and cutting offer significant opportunities for industry to improve its product quality and increase profitability. This paper discusses a number of current industrial applications for electron beam and laser welding.