• Journal of Welding and Joining
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• 제16권3호
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• pp.102-110
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• 1998

The horizontal fillet welding is prevalently used in heavy and ship building industries to fabricate the large scale structures. A deep understanding of the horizontal fillet welding process is restricted, because the phenomena occurring in welding are very complex and highly non-linear characteristics. To achieve the satisfactory weld bead geometry in robot welding system, the seam tracking algorithm should be reliable. The number of seam tracker was developed for arc welding automation by now. Among these seam tracker, the arc sensor is prevalently used in industrial robot welding system because of its low cost and flexibility. However, the accuracy of arc sensor would be decreased due to the electrical noise and metal transfer. In this study, the signal processing algorithm based on the neural network was implemented to enhance the reliability of measured welding current signals. Moreover, the seam tracking algorithm in conjunction with the signal processing algorithm was implemented to trace the center of weld line. It was revealed that the neural network could be effectively used to predict the welding current signal at the end of weaving.

• 한국지능시스템학회논문지
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• 제11권2호
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• pp.178-183
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• 2001

Welding is essential for the manufacture of a range of engineering components which may vary from very large structures such as ships and bridges to very complex structures such as aircraft engines, or miniature components for microelectronic applications. Especially, a domestic situation of the welding automation is still depend on the arc sensing system in comparison to the vision sensing system. Specially, the gap-detecting of workpiece using conventional arc sensor is proposed in this study. As a same principle, a welding current varies with the size of a welding gap. This study introduce to the fuzzy membership filter to cancel a high frequency noise of welding current, and ART2 which has the competitive learning network classifies the signal patterns the filtered welding signal. A welding current possesses a specific pattern according to the existence or the size of a welding gap. These specific patterns result in different classification in comparison with an occasion for no welding gap. The patterns in each case of 1mm, 2mm, 3mm and no welding gap are identified by the artificial neural network.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.35-42
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• 2003

This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.

• Journal of Welding and Joining
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• 제13권1호
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• pp.115-126
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• 1995

Vision sensors using the optical triangulation have been widely used for automatic welding systems in various ways, but their reliability is seriously affected by presence of the arc noise. The reliability of vision sensors was analyzed with variation of the arc noise by considering the reflectance of the base metal. first, the properties of the base metal's reflection were modelled by using the Bidirectional Reflectance-Distribution Function(BRDF), and then the variation of the reflected arc intensity was formulated for various configurations of the torch, base metal, and sensor. The experimental data of the gray level of the reflected arc light were obtained for two materials, mild steel and stainless steel. It was found that the results calculated from the proposed model were in good agreement with the experimental data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.180.6-180
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• 2001

Welding/soldering automation is one of the most important manufacturing issues in order to lower the cost, increase the quality, and avoid labor problems. An off-line programming, OLP, is one of the powerful methods to solve this kind of diver sity problem, Unless an OLP system is ready for the path optimization in welding/soldering, a waste of time and cost is unavoidable due to an inefficient path in welding/soldering processes. Therefore, this study attempts to obtain path optimization using a genetic algorithm based on artificial intelligences. The problem of the welding path optimization is defined as conventional TSP (traveling salesman problem), but still paths have to go through welding lines. An improved genetic algorithm was suggested and the problem was formulated as a TSP problem considering ...

• 한국정밀공학회지
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• 제7권1호
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• pp.63-73
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• 1990

Low cost automatic welding machine is developed for the purpose of welding process automation of automobile parts with two dimensional welding joints. Developed gantry type machine is equipped with X, Y and roll axis stepping motors, and dirive units units are designed by two phase on drive scheme using shift registers. Control system is constructed by single board microcomputer of Z80A CPU, and also it is equipped with parallel input output ports and counter-timer chips. Linear and circular interpolation of welding head movement is accomplished by employing software digital differential analyzers. It has been shown that contour error of develped system is withi ${\pm}1.0mm$, meaning that the machine is suitable for CO2 arc welding process of automoble parts and is expected it's application to industry.

• Journal of Welding and Joining
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• 제32권1호
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• pp.47-52
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• 2014

Due to of high intensity, lower noise and easy controllability of the heat, induction heating system became well known. Induction heating method has been suggested as substitute for the gas heat source and adopted in the automation of curved hull forming system. In this study, an investigation was accomplished to find the effects on the change of material properties when the induction heating was applied on the mild steel plate. Plates were heated using weaving method to get sufficiently heat affected zone and then cooled with water or in the air. The mechanical properties of the heated plate were evaluated. As results, the tensile test, impact test and microstructures satisfied the class rule.

• 한국해양공학회지
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• 제17권3호
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• pp.27-32
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• 2003

The welding distortion of a hull structure in the shipbuilding industry is inevitable at each assembly stage. The geometric inaccuracy caused by the distortion tends to preclude the introduction of automation and mechanization. Thus, additional man-hours are needed for the adjusting work in the assembly stage. To overcome this problem, a distortion control method should be applied. For this purpose, it is necessary to develop an accurate prediction method that can explicitly account for the influence of various factors on the welding distortion. In order to minimize the weld-induced residual deformation, this paper proposes the optimum welding sequence as a method for distortion control. The validity of this method has been substantiated by a number of numerical simulations and experiments.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
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• pp.425-429
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• 2002

It has been used many kinds of horizontal butt-welding methods at block-to-block erection stage in shipbuilding companies. For examples, some companies use conventional FCA W process with one side or both sides groove joint welding, others use carriage with torch holder type mechanized welding method. Although lots of efforts were done until now, some problems in quality and productivity still remain in ship's hull welding. In this study, we have attempted to raise productivity and quality on horizontal position of welding with following 3 items. 1) Prepare groove condition with no root gap for making easy fit-up work. 2) Develop improved MAG (100% $CO_2$ gas shielding) welding process with solid wire for making sound root bead from one side. 3) Develop and apply quite new automatic welding carriage. The stability of new welding process was confirmed by conducting mechanical tests of weldments to verify the soundness of weldments.

• 대한조선학회논문집
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• 제41권2호
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• pp.106-113
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• 2004

The block assembly of ship consists of a certain type of heat processes such as cutting, bending, welding, residual stress relaxation and fairing. The residual deformation due to welding is inevitable at each assembly stage. The geometric inaccuracy caused by the welding deformation tends to preclude the introduction of automation and mechanization and needs the additional man-hours for the adjusting work at the following assembly stage. To overcome this problem, a distortion control method should be applied. For this purpose, it is necessary to develop an accurate prediction method which can explicitly account for the influence of various factors on the welding deformation. Systematic and quantitative theoretical works to clarify the effects of various factors on the welding deformation have rarely been found. Therefore, in this paper, the effects of various factors, such as welding process and gravity on the butt welding deformation have been investigated through a number of numerical analyses. In addition, this paper proposes a simplified analysis method to predict the butt welding deformation in actual plate structure. For this purpose, a simple prediction model for butt welding deformations has been derived based on numerical and experimental results through the regression analysis. Based on these results, the simplified analysis method has been applied to some examples to show its validity.