A tutorial on learning human welder's behavior: Sensing, modeling, and control

Abstract

Human welder's experiences and skills are critical for producing quality welds in manual GTAW process. Learning human welder's behavior can help develop next generation intelligent welding machines and train welders faster. In this tutorial paper, various aspects of mechanizing the welder's intelligence are surveyed, including sensing of the weld pool, modeling of the welder's adjustments and this model-based control approach. Specifically, different sensing methods of the weld pool are reviewed and a novel 3D vision-based sensing system developed at University of Kentucky is introduced. Characterization of the weld pool is performed and human intelligent model is constructed, including an extensive survey on modeling human dynamics and neuro-fuzzy techniques. Closed-loop control experiment results are presented to illustrate the robustness of the model-based intelligent controller despite welding speed disturbance. A foundation is thus established to explore the mechanism and transformation of human welder's intelligence into robotic welding system. Finally future research directions in this field are presented.

Development of a novel GTAW process for joining ultra-thin metal sheets

“…It means that it is "just enough" gas flow rate to maintain a stable arc plasma and will not cause defects. Meanwhile, the shielding gas flow rate is about 15 to 20 L/min in the GTAW process [28] and 10 to 15 L/min in the PAW process [29]. Hence, the production costs can be reduced by saving the shielding gas with the novel GTAW process.…”

Key Technology of Intelligentized Welding Manufacturing and Systems Based on the Internet of Things and Multi-Agent

“…In the current welding manufacturing engineering applications, most welding robots belong to the teaching and play back category [38]. The introduction of laser vision tracking technology can realize teaching-free robot welding.…”

A Multisensor Interface to Improve the Learning Experience in Arc Welding Training Tasks

“…Due to its strong and enduring joining properties, welding is used across numerous economically important fields, such as automotive and aerospace industries, shipbuilding, steel construction, oil and gas pipelines, to name a few instances [3]. Despite its widespread use, teaching and learning a proper welding technique has historically presented many challenges to both instructors and trainees [4]. Traditional approaches to acquire welding skills are typically conducted as follows: The instructor first explains the working principle of the process and demonstrates it with sample welds [5]; Trainees proceed to conduct hands-on welding tasks under the guidance from the instructor, see Fig.…”