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3D reconstruction of environment and weld workpiece can provide geometrical model for telerobotic welding and improve its intelligence.A novel framework of spacetime stereo is employed to overcome the lack of texture of the weld workpiece and obtain subpixel disparity map of the scene.Anisotropic diffusion is adopted to smooth the original subpixel disparity map in order to reduce the noise while preserving the depth discontinuity.A simple algorithm of generation triangle mesh surface from the disparity map of the spacetime stereo is presented.The experimental results of real weld scenes are shown. 相似文献
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Weld shape control is a fundamental issue in automatic welding. In this paper, a double side visual system is established for pulsed gas metal arc welding ( P-GMAW) , and both topside and backside weld pool images can be captured and stored continuously in real time. By analyzing the weld shape regulation with the molten metal volume, some topside weld pool characterized parameters (WPCPs) are proposed for determining penetration in butt welding of thin mild steel. Moreover, some BP network models are established to predict backside Weld pool width with welding parameters and WPCPs as inputs. 相似文献
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MIG焊接过程中,电弧声信号极易受到环境噪声的干扰,从而破坏电弧声信号的能量特征,为此去除噪声成为有效利用电弧声信号的前提.文中以环境语音噪声为例,将相互独立的无干扰电弧声信号和语音信号线性组合成两组随机观测信号,再应用独立分量分析(independent component analysis,ICA)的快速固定点算法(fast fixed-pointalgorithm)进行分离,最后对源信号和分离后信号的时域、频域进行对比分析.结果表明,ICA在分离被环境噪声污染的电弧声信号上是可行的,为后续电弧声信号特征分析提取以及利用电弧声来监控焊接质量提供技术基础. 相似文献