Gas Metal Arc Welding (GMAW) is a critical industrial technique known for its high productivity, flexibility, and adaptability to automation. Despite the significant advancements in robotic welding, challenges remain in fully automating the arc welding process, particularly due to the complex dynamics of the weld pool associated with GMAW. A human-robot collaborative (HRC) system where humans operate robots may conveniently provide the needed adaptive control to the complex GMAW. While in conventional HRC systems humans receive process feedback to make adaptive adjustments, we propose provide humans with predictive future feedback to further ease the human decision and reduce the needed skills/trainings. To this end, this study explores the integration of deep learning models, specifically Generative Adversarial Networks (GANs) combined with Gated Recurrent Units (GRUs), to model and predict the dynamic behavior of the weld pool during GMAW. By leveraging time-series data of torch movement and corresponding weld pool images, the proposed GRU-GAN model generates high-fidelity weld pool images, capturing the intricate relationship between speed variations and weld pool morphology. Through extensive experimentation, including the design of an acceptable Encoder-Decoder structure for the GAN, we demonstrate that incorporating both temporal and speed sequence information significantly enhances the model's predictive capabilities. The findings validate the hypothesis that dynamic torch speed adjustments, akin to those performed by skilled human welders, can be effectively modeled to improve the quality of automated welding processes. Future work will be devoted to human-based model predictive control (MPC) in an HRC environment.
more »
« less
Analysis of weld pool region constituents in GMAW for dynamic reconstruction through characteristic enhancement and LSTM U-Net networks
This study aims to extract critical scenes/continents in the weld pool region during gas metal arc welding (GMAW). The scenes considered include the wire, arc, and weld pool, while other secondary ones such as oxides are temporarily excluded. They are critical to understanding, analyzing, monitoring and controlling the welding process, in particular the critical correlation how the welding parameter, arc and weld pool are dynamically correlated. Unfortunately, such fundamental correlation has not been studied and lack of effective ways to simultaneously monitor/extract these scenes is responsible. With the development of optoelectronic devices, weld pool regions can be better imaged. However, because of the nature of the scenes in particular the arc which is formed by ionized gas without a clear boundary and highly dynamic, detecting them using computer vision is challenging. Deep learning is an effective method, but model training usually needs a large number of labels. As manually labeling is expensive, we propose an approach to address this challenge that can train a model from a small, inaccurately labeled dataset. This approach is designed, per the characteristics of the scenes and their dynamics All-in-One Network (AOD-Net) was deployed first for defogging, and then the YOLOX network was utilized to identify regions of interest to reduce the impact of molten metal splashes on image sharpness. Subsequently, we developed a timed segmentation network incorporating the Long Short-Term Memory (LSTM) mechanism into U-Net, which can be used to extract more accurate information about the weld pool by combining the temporal and spatial information in the continuous process of welding at a low cost because our scene of interest is in a continuous and dynamic evolutionary process. After defogging and removing the effects of molten metal spatter, we can obtain information on the dynamics of the weld pool and the weld arc at the same time. Experimental results verified that the trained network could extract the critical boundaries accurately under various welding conditions despite the highly dynamic changes and fuzziness of the views.
more »
« less
- Award ID(s):
- 2024614
- PAR ID:
- 10628286
- Publisher / Repository:
- Elsevier
- Date Published:
- Journal Name:
- Journal of Manufacturing Processes
- Volume:
- 127
- Issue:
- C
- ISSN:
- 1526-6125
- Page Range / eLocation ID:
- 573 to 588
- Subject(s) / Keyword(s):
- Machine Learning Welding Computer Vision Weld Pool GMAW.
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
One of the most difficult aspects of printing large, complex metal parts is building large overhangs without the use of support structures. When using typical gas metal arc welding techniques, the torch is kept aligned with the gravitational direction. It has been shown that the maximum overhang angle that can be achieved is roughly 25°. This maximum can be increased by using part positioner, but this adds extra system complexity, especially for creating the robot paths. It is desirable then to develop a method of printing with the torch in a Non-Gravity Aligned (NGA) direction, such that the weld pool is supported and will produce the desired weld bead. This work focuses on the development of a control scheme based on sensor feedback of the state of the weld pool to maintain a stable, desired weld pool shape and thus print more complex parts using the gas metal arc welding process.more » « less
-
A dissimilar weld between a low alloy steel (LAS) butter weld joined to a F65 steel pipe using a narrow groove hot wire gas tungsten arc welding (HW-GTAW) procedure with Alloy 625 filler metal was investigated. The weld interpass microstructure is comprised of large swirls formed by a macrosegregation mechanism involving partial, non-uniform mixing of liquid base metal with the lower melting temperature weld pool, followed by fast solidification. This mechanism produces steep gradients in composition and solidification behavior. The resulting swirls are composed of alternating iron-rich peninsulas and partially mixed zones (PMXZ) that are surrounded by planar and cellular zones exhibiting multiple solidification directions. Large austenitic grains, encompassing planar, cellular, and dendritic morphologies, nucleate off peninsulas in direct contact with the weld pool. The highest hardness was found in nickel and chromium rich PMXZs that exhibited a lath martensite microstructure. In the event of exposure to hydrogen containing environments, the PMXZs could serve as nucleation sites for hydrogen assisted cracking.more » « less
-
GTAW welding with pulsed current has been misinterpreted in some of the classic literature and scientific articles. General conclusions are presented, stating that its use provides greater penetration compared to the use of constant current and that the simple pulsation of the current promotes beneficial metallurgical effects. Therefore, this manuscript presents a critical analysis of this topic and adopts the terminology of thermal pulsation for the situation where the weld undergoes sensitive effects, regarding grain orientation during solidification. For comparison purposes, an index called the form factor (ratio between the root width and the face width of the weld bead) is adopted. It is shown that the penetration of a welding with pulsed current can be worse than constant current depending on the formulation of the adopted procedure. Moreover, metallurgical effects on solidification, such as grain orientation breakage, only occur when there is adequate concatenation between the pulsation frequency and the welding speed. Finally, a thermal simulation of the process showed that the pulsation frequency limits the welding speed so that there is an overlap of the molten pool in each current pulse, and continuity of the bead is obtained at the root. For frequencies of 1 Hz and 2.5 Hz, the limit welding speed was 3.3 mm/s and 4.1 mm/s, respectively.more » « less
-
Abstract Ultrasonic additive manufacturing (UAM) is a solid state manufacturing process capable of producing near-net-shape metal parts. Recent studies have shown the promise of UAM welding of steels. However, the effect of weld parameters on the weld quality of UAM steel is unclear. A design of experiments study based on a Taguchi L16 design array was conducted to investigate the influence of parameters including baseplate temperature, amplitude, welding speed, and normal force on the interfacial temperature and shear strength of UAM welding of carbon steel 4130. Analysis of variance (ANOVA) and main effects analyses were performed to determine the effect of each parameter. A Pearson correlation test was conducted to find the relationship between interfacial temperature and shear strength. These analyses indicate that a maximum shear strength of 392.8 MPa can be achieved by using a baseplate temperature of 400°F (204.4°C), amplitude of 31.5 μm, welding speed of 40 in/min (16.93 mm/s), and normal force of 6000 N. The Pearson correlation coefficient is calculated as 0.227, which indicates no significant correlation between interfacial temperature and shear strength over the range tested.more » « less
An official website of the United States government

