• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• Coupled systems mechanics
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• v.7 no.5
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• pp.627-634
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• 2018

Laser beam welding is more advantageous compared to conventional methods. Titanium/Aluminium dissimilar alloy thin sheet metals are difficult to weld due to large difference in melting point. The performance of the weldment depends upon interlayer formation and distribution of intermetallics. During welding, aluminium gets lost at the temperature below the melting point of titanium. Therefore, it is needed to improve a new metal joining techniques between these two alloys. The present work is carried for welding TI6AL4V and AA2024 alloy by using Nd:YAG Pulsed laser welding unit. The performance of the butt welded interlayer structures are discussed in detail using hardness test and SEM. Test results reveal that interlayer fracture is caused near aluminium side due to low strength at the weld joint.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.117-120
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• 2003

Joining or welding of dissimilar metallic materials is very difficult problem because material properties like heat conductivity, melting points, coefficient of thermal expansion, etc. are different each other and cracks are occurred easily due to formation of intermetallic compounds. Nevertheless, deep attention from great industrial demands and trials to joining dissimilar materials has been increased steadily. In this study, TIG welding of Cu to Al is tried and tensile test, SEM and EDX analysis are carried out.

• International Journal of Korean Welding Society
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• v.5 no.1
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• pp.10-14
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• 2005

An element of Pure Weld Metal(PWM) is important factor to understand the Flux's conduct in Submerged Arc Welding(SAW). To get the element of PWM, pile-up welding over than 10 layers have been used in the past. But, it took a long time to analyze the elements of PWM in this method. Therefore, in this study, instead of pile-up welding over than 10 layers, one pass bead welding is used to predict an element of PWM using mathematical formula which got to be derived. As a results that applied the formula, there was no differences between theoretical and experimental value except the element Mn and Si.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.652-656
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• 2002

The HDM(Hole Drilling Method) is a relatively simple and accurate method in measuring residual stress of welded metal. Various methods of evaluating residual stress are studied in welding field. The method of cutting holes on the plate much affects the accuracy of result. Especially for the hard material like stainless steel difficult to cut preciously is difficult to measure residual stress on welded metal. Because heat conduction of stainless steel is lower than other general steel, the magnitude of residual stress might be different as to changing of welding conditions. Therefore, The distribution of residual stress on the STS304 steel after welding using HDM is evaluated in this paper.

• Laser Solutions
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• v.11 no.3
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• pp.16-20
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• 2008

The lap Joint welding of 6K21 aluminum sheets by Nd:YAG laser were performed with an aluminum 5183 filler wire or without a filler wire. The porosity of laser welding beads were observed through an optical microscope and X-ray photography with various levels of welding speed and gap size. The porosity was observed in the gap between upper and lower sheet near a heat affected zone when autogenous welding. Decrease of welding speed and use of AA5183 filler wire reduced porosity significantly.

• Journal of Welding and Joining
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• v.28 no.4
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• pp.81-86
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• 2010

In resistance spot welding, regardless of the optimal condition, bad weld quality was still produced due to complicated manufacturing processes such as electrode wear, misalignment between the electrode and workpiece, poor part fit-up, and etc.. Therefore, the goal of this study was to measure the process signal which contains weld quality information, and to develop the process fault monitoring system. Welding force signal obtained through variety experimental conditions was analyzed and divided into three categories: good, shunt, and poor fit-up group. And then a monitoring algorithm made up of an artificial neural network that could estimate the process fault of each different category based on pattern was developed.

• Journal of Ocean Engineering and Technology
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• v.16 no.1
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• pp.64-70
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• 2002

This paper shows the results of the development of a small size of digital type continuous and intermittent welding auto-carriage based on microprocessor (Intel 80196KC) for welding process with long welding line. The developed welding auto-carriage loads welding torch and tracks welding line. It is an automaton largely used for welding process with a lot of long welding lines such as shipbuilding and structure. Most traditional auto-carriages have been developed based on analog circuit for open loop control. So this analog circuit welding auto-carriage cannon control welding speed. Specially welding auto-carriage for intermittent welding condition is so complicated and has the low precision of control performance in welding distance and non-welding distance. The auto-carriage developed in this paper has the following characteristics: It has not only functions of traditional carriage but also functions such as pseudo-welding process of big iron structures, intermittent welding in order to limit heat for welding thin plates, crater treatment of the final step of welding, acceleration at the initial step of welding and deceleration in the final step of welding. The main control board of auto-carriage, power supply system and DC motor drive wee developed and manufactured. The welding speed and the welding distance of the developed auto-carriage are controlled accurately by feedback control using photo-sensor. Hardware and software robust against the heat and noise produced on the welding process are developed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.2
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• pp.105-111
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• 2016

Ultrasonic metal welding, unlike the conventional welding techniques, does not require an external heat source, welding rod, or filler metal. Therefore, ultrasonic metal welding is not only economical but also environment-friendly, and hence, it has been receiving much attention. In ultrasonic welding, heat is generated because of the plastic deformation and the friction between both surfaces of the welded materials. It is important to identify the heat-affected zone by measuring the temperature generated at the weld. In this study, the effects of the welding pressure, welding time, and vibration amplitude on the temperature distribution in the weld were evaluated by performing a transient thermal analysis of the heat generated during ultrasonic metal welding. The experimental results indicated that the temperature of the weld tends to increase with the welding time and vibration amplitude. However, an increase in the pressure does not affect the temperature of the weld largely.

• Korean Journal of Materials Research
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• v.14 no.6
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• pp.425-431
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• 2004

A laser welding was applied between sintered tip of Fe-Co-W and low carbon steel shank for the diamond saw blade. The welding characteristics and formation of defects were investigated carefully for the weld fusion zone in different welding condition. Dendrite arm spacing in weld bead decreased with decrease of heat input. Co and W increased and Fe decreased in the weld fusion zone with increase of the heat input. The corresponding change of composition was observed with the change of beam position. The maximum and total length of crack decreased with increase of the heat input. The crack in weld bead was propagated along the dendrite boundary and was caused mainly by the segregation of constituent during the solidification.