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The authors present an algorithmic solution to the problem of programming a redundant multiple-robot system for concurrent motion. Arc welding processes are used as application examples. Specifically, the weld path programming algorithm is illustrated, using the GTAW (gas tungsten arc welding) process as an example and assuming a 6-DOF(More)
Summary form only given, as follows. A scheme for an adaptive network of nonlinear elements and delay lines is proposed, which can learn to model the time responses of a nonlinear, multivariable system. The structure has been applied to build a model of a highly coupled multivariable process: gas tungsten arc welding. The authors present the architecture,(More)
¢ ,-to3f'c/se_. 4-2'-t-q2. SUMMARY The primary objective of this research was to design a control architecture for control of the Gas Tungsten Arc Welding (GTAW) process, and implement it in a prototype welding controller, to be delivered to NASA at the end of the research period. Specifically, some common problems, or potential problems, of the GTAW(More)
Limitations of the traditional automatic voltage controller (AVC) for gas tungsten arc welding are explained and the characteristics of the welding arc that cause these limitations are presented. The design of an adaptive AVC using a microprocessor-based controller is described. The enhanced AVC uses gain scheduling to maintain optimum gain in the(More)
The authors explain some basic concepts relating to neural networks and discuss how they can be used to model weld bead geometry in terms of the parameters of the equipment selected to produce the weld. Approaches to utilization of neural networks in process control are discussed as well. The need for modeling transient as well as static characteristics of(More)
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