Selected publications and research projects.
Equipment development combining mobile platforms, manipulators, seam sensing and welding execution.
Research project
Research on online defect monitoring and coordinated process optimization through multimodal welding-process sensing.
Equipment and system integration
A magnetic mobile platform, manipulator and vision sensors support research on seam perception, path planning and welding control inside pressure pipes.
Adaptive software development
Development of groove and weld modeling, a welding-process database and dynamic multilayer, multipass planning for pumped-storage pressure pipes, with staged validation using magnetic crawling equipment.
3D sensing and multipass welding
3D scanning, groove reconstruction and path planning support robotic multipass welding experiments on complex intersecting joints.
Field operation and process monitoring
A magnetic rail, laser seam tracking and weld-pool monitoring support multipass planning, closed-loop process control and on-site welding trials.
