• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1105-1109
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• 1995

A CCD-camera, which is structured with vision system, was used to realize automatic seam-tracking system and 3-D information which is needed to generate torch path, was obtained by using laser-slip beam. To extract laser strip and obtain welding-specific point, Adaptive Hough-transformation was used. Although the basic Hough transformation takes too much time to process image on line, it has a tendency to be robust to the noises as like spatter. For that reson, it was complemented with Adaptive Hough transformation to have an on-line processing ability for scanning a welding-specific point. the dead zone,where the sensing of weld line is impossible, is eliminated by rotating the camera with its rotating axis centered at welding torch. The camera angle is controlled so as to get the minimum image data for the sensing of weld line, hence the image processing time is reduced. The fuzzy controller is adapted to control the camera angle.

• Proceedings of the KWS Conference
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• 2001.10a
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• pp.81-84
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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, forming limit diagram, 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 and FLD dome test.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2701-2706
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• 2003

This paper describes weld seam tracking and error compensation methods of automatic plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Realizing automatic welding system, we are faced with two problems. One is a precise seam tracking and the other is an arc length control. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, laser vision sensor for seam tracking is equipped for sensing the seam position and controlling the height of a torch automatically. To attain more precise measurement of an arc length, we measure the 3D shape of the panel and analyze error factors according to the various panel states and caused errors are predicted through the welding process. Using that result, compensation algorithm is added to that of arc length control and real time error compensation is achieved. The result shows that these two methods work effectively.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1506-1511
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• 2003

This paper describes an automatic weld seam tracking method of plasma arc welding system designed for the corrugation panel that consists of a linear section and a curved section with various curvatures. Due to the complexity of the panel shape, it is difficult to find a seam and operate a torch manually in the welding process. So, the laser vision sensor for seam tracking is designed for sensing the seam position and controlling a torch automatically. To achieve precise seam tracking, the design of sensor head, image simulation, and calibration are carried out. Through a series of experiment result, compensation algorithm is added and real time error compensation is achieved. The experiment result shows that this vision sensor works effectively. It will provide more precise welding performance and convenience to the operator.

• Journal of Welding and Joining
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• v.17 no.6
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• pp.90-99
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• 1999

Significant portion of the total manufacturing time for a pipe fabrication process is spent on the welding following primary machining and fit-up processes. To achieve a reliable weld bead appearance, automatic seam tracking and adaptive control to fill the groove are urgently needed. For the seam tracking in welding processes, the vision sensors have been successfully applied. However, the adaptive filling control of the multi-torches system for the appropriate welded area has not been implemented in the area of SAW(submerged arc welding) by now. The term adaptive control is often used to describe recent advances in welding process control by strictly this only applies to a system which is able to cope with dynamic changes in system performance. In welding applications, the term adaptive control may not imply the conventional control theory definition but may be used in the more descriptive sense to explain the need for the process to adapt to the changing welding conditions. This paper proposed various types of methodologies for obtaining a good bead appearance based on multi-torches welding system with the vision system in SAW. The methodologies for adaptive filling control used welding current/voltage, arc voltage/welding current/wire feed speed combination and welding speed by using vision sensor. It was shown that the algorithm for welding current/voltage combination and welding speed revealed sound weld bead appearance compared with that of voltage/current combination.

• Journal of Welding and Joining
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• v.15 no.5
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• pp.74-83
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• 1997

Effect of welding parameters such as current, speed and electrode pressure on the weld quality of tin coated steels for small containers was discussed in this paper. Welding was performed with low frequency wire seam welding system which was loaded with 1.5mm in diameter copper wire electrode. The welding parameters were monitored at the position close to the welding spot so as to minimize the instrumentation error, and the signals were stored into a digital data acquisition system before analysis. Results showed that critical current for sufficient nugget size increased as the base material thickness increased, while the width of the optimum welding range was reduced. The acceptable welding condition derived from this study was found to be effective within the thickness range of $\pm$10% of the nominal (0.25mm) thickness. Tin coating layer was proved not to affect seriously on the weld quality, i.e. strength and formability, since consumable wire electrode was used in this process. Test results also demonstrated that the welding current was thought to be the most effective parameter to form an acceptable weld, while welding speed or electrode pressure exerted less effect on the nugget formation. However, these two parameters played an important role because the former was related to the nugget overlap interval, and the latter, to the formation of expulsion during welding.

• Proceedings of the KWS Conference
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• 2004.05a
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• pp.136-137
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• 2004

석유나 가스 등의 자원을 안정적으로 수송하기 위하여 사용하는 라인 파이프는 그 사용 환경에 따라서 다양한 소재 특성을 필요로 하며, 한랭지역에서 사용되는 경우에는 낮은 온도에서도 충분한 인성을 유지할 수 있는 높은 인성을 요구하고 있다. (중략)

• 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 Korean Society for Technology of Plasticity Conference
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• 1997.03a
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• pp.222-225
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• 1997

This paper describes experimental investigation on the forming limit for mash-seam welded sheets. The uniaxial tensile test was conducted to evaluate the mechanical properties of weld bead. Experimental forming limit diagrams were investigated for the different thicknesses and properties of welded sheets.

• 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.