Abstract
This work aims at a novel approach to estimate the root-pass penetration towards its feedback control, in which the real penetration is measured by the backside bead width. The major challenge is that it happens under the workpiece and likely cannot be directly observable. The dynamic evolution of the weld pool surface has been analysed to design an active vision method monitoring the pool surface, yet fundamentally correlated to the unobservable penetration. The designed convolutional neural network model is trained, validated, and tested for recognising the weld penetration with satisfactory accuracy.
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