Earticle

This paper describes several advances in sensor and process control techniques for applications in Submerged Arc Welding (SAW), which combine to give a fully automatic system capable of controlling and adapting the overall welding process. This technology has been applied in longitudinal and spiral pipe mills and in pressure vessel production.

Multipass welds of 316L stainless steel have been widely employed to the pipes of Liquid Metal Reactors. Owing to localized heating and a subsequent rapid cooling by the welding process, residual stress arises in the weld of the pipe. In this study, the residual stresses in the 316L stainless steel pipe welds were calculated by the finite element method using the ANSYS code. Also, the residual stresses both on the surface and in the interior of the thickness were measured by the HRPD(High Resolution Powder Diffractometer) instrumented in the HANARO Reactor. The experimental data and the calculated results were compared and the characteristics of the distribution of the residual stress were discussed.

Multipass self-shielded flux cored arc welding with different heat inputs (1.3–2.0 kJ/mm) was conducted to determine the effects of the heat input on the proportion of the reheated region, impact toughness, and diffusible hydrogen content in the weld metal. The reheated region showed twice the impact toughness of the as-deposited region because of its fine grained ferritic-pearlitic microstructure. With decreasing heat input, the proportion of the reheated region in the weld metal became higher, even if the depth of the region became shallower. Accordingly, the greatest impact toughness, 69 J at −40℃, was obtained for the lowest heat input welding, 1.3 kJ/mm. Irrespective of the heat input, little difference was observed in the hardness and diffusible hydrogen content in the weld metal. This result implies that low heat input welding with 1.3 kJ/mm can be performed to obtain a higher proportion of reheated region and thus greater impact toughness for the weld metal without the concern of hydrogen cracking.

Recent developments in sensor hardware and in advanced software have made it feasible to consider automating some of the most difficult welding operations. This paper describes some techniques used to automate successfully multipass submerged arc welding operations typically used in pressure vessel manufacture, shipbuilding, production of offshore structures and in pipe mills.

Welding fabrication invariantly involves three district sequential steps: preparation, actual process execution and post-weld inspection. One of the major problems in automating these steps and developing autonomous welding system is the lack of proper sensing strategies. Conventionally, machine vision is used in robotic arc welding only for the correction of pre-taught welding paths in single pass. However, in this paper, multipass tracking more than single pass tracking is performed by conventional seam tracking algorithm and developed one. And tracking performances of two algorithm are compared in multipass tracking. As the result, tracking performance in multi-pass welding shows superior conventional seam tracking algorithm to developed one.

In this study, constant loading test (CLT) was performed to evaluate the hydrogen embrittlement resistance for multipass FCA weld metals of 600MPa tensile strength grade. The microstructures of weld metal-2 having the smallest carbon equivalent (Ceq=0.37) consisted of grain boundary ferrite and widmanstatten ferrite in the acicular ferrite matrix. The weld metal-1 having the largest Ceq=0.47, showed the microstructures of grain boundary ferrite, widmanstatten ferrite and the large amount of bainite (vol.%=19%) in the acicular ferrite matrix. The weld metal-3 having the Ceq=0.41, which was composed of grain boundary ferrite, widmanstatten ferrite, and the small amount of bainite (vol.%=9%) in the acicular ferrite matrix. Hydrogen desorption spectrometry (TDS) used to analyze the amount of diffusible hydrogen and trapping site for the hydrogen pre-charged specimens electrochemically for 24 hours. With increasing the current density of hydrogen pre-charging, the released amount of diffusible hydrogen was increased. Furthermore, as increasing carbon equivalent of weld metals, the released diffusible hydrogen was increased. The main trapping sites of diffusible hydrogen for the weld metal having a low carbon equivalent (Ceq=0.37) were grain boundaries and those of weld metals having a relatively high carbon equivalent (Ceq: 0.41~0.47) were grain boundaries and dislocation. The fracture time for the hydrogen pre-charged specimens in the constant loading test was decreased as the carbon equivalent increased from 0.37 to 0.47. This result is mainly due to the increment of bainite that is vulnerable to hydrogen embrittlement.

이 논문은 multicarrier CDMA 이동 통신 시스템에서 직-병렬 혼합 pseudo-noise (PN) 코드 동기 획득 기술을 제안 했으며 다중경로 페이딩 채널에서 multiple access interference (MAI) 의 영향을 분석하였다. 직-병렬 혼합 동기 획득 방식은 입력되는 코드 위상의 불확정 영역 전체를 직렬 획득 방식과 병렬 획득 방식을 조합하여 탐색하는 방식이다. 이러한 방식은 완전 병렬획득보다 MAI의 환경에서 mean acquisition time (MAT)이 조금 늦어지지만 하드웨어의 구조를 훨씬 단순화 할 수 있다. 검파 및 오경보 확률을 closed-form 표현으로 mean acquisition time (MAT)를 유도하였다.

In this study, constant loading test (CLT) was performed to evaluate the hydrogen embrittlement resistance for multipass FCA weld metals of 600MPa tensile strength grade. The microstructures of weld metal-2 having the smallest carbon equivalent (Ceq=0.37) consisted of grain boundary ferrite and widmanstatten ferrite in the acicular ferrite matrix. The weld metal-1 having the largest Ceq=0.47, showed the microstructures of grain boundary ferrite, widmanstatten ferrite and the large amount of bainite (vol.%=19%) in the acicular ferrite matrix. The weld metal-3 having the Ceq=0.41, which was composed of grain boundary ferrite, widmanstatten ferrite, and the small amount of bainite (vol.%=9%) in the acicular ferrite matrix. Hydrogen desorption spectrometry (TDS) used to analyze the amount of diffusible hydrogen and trapping site for the hydrogen pre-charged specimens electrochemically for 24 hours. With increasing the current density of hydrogen pre-charging, the released amount of diffusible hydrogen was increased. Furthermore, as increasing carbon equivalent of weld metals, the released diffusible hydrogen was increased. The main trapping sites of diffusible hydrogen for the weld metal having a low carbon equivalent (Ceq=0.37) were grain boundaries and those of weld metals having a relatively high carbon equivalent (Ceq: 0.41~0.47) were grain boundaries and dislocation. The fracture time for the hydrogen pre-charged specimens in the constant loading test was decreased as the carbon equivalent increased from 0.37 to 0.47. This result is mainly due to the increment of bainite that is vulnerable to hydrogen embrittlement.

570MPa grade weldable steels were $CO_{2}$ welded with various heat input and interpass temperature using flux cored wires. Effects of heat input and interpass temperature on the strength and toughness of weld metal were investigated and interpreted in terms of microstructural change, recovery of alloying elements, and the amount of reheated weld metal.

In this study, Microstructure and hardness of 1st layer with crystallographic orientation were investigated about solidification structure in multipass weld using high Mn-Ni flux cored wire. Microstructure of solidification consisted of austenite matrix and a little ε-phase in grain boundaries. Orientation of grains was usually (001), (101), (111). According to crystallographic orientation, morphology of primary dendrite was different. The depletion of Fe and the segregation of Mn, C, Ni, Si, Cu, Cr, O were found along the grain boundaries. The area of segregation was wide with an order of (001), (101), (111) grains. And hardness of grains with crystallographic orientation increased with an order of (001), (101), (111) grains because of the segregation along dendrite boundary.

This study was carried out to investigate the effect of postweld heat treatment(PWHT, 930, 1080, 1230℃)on the microstructure, phase formation, pitting corrosion and mechanical properties such as hardness, tensilestrength and impact values of super duplex stainless steel(UNS S32750) multipass welds. Based on themicrostructural examination and X-ray diffraction analysis, it was found that the σ phase was formed inthe welds heat treated at 930℃ in which the ferrite content greatly decreased into 5~10% in the welds. The secondary austenite was formed in the reheated zone of welds and redissolved into ferrite withincreasing heat treatment temperatures. The tensile strength and impact values of welds heat treated at 930℃were the lowest and revealed the brittle fracture surface. The weight loss by pitting corrosion increasedwith test temperatures. It was confirmed that pitting corrosion occurred mainly in secondary austenite ofreheated zones. The postweld heat treatment temperature is recommended to be in the range of 1050~1150℃.

The effects of the heat input and preheat/interpass temperatures on the tensile strength and impact toughness of multipass welded weld metal were investigated and interpreted in terms of the recovery of the alloying elements and microstructure. Increases in both the heat input and preheat/interpass temperatures decreased the tensile strength of the weld metal. A lower recovery of alloying elements, especially Mn and Si, and smaller area fraction of acicular ferrite in the weld metal were observed in higher heat input welding, resulting in a lower tensile strength. In contrast, only a microstructure difference was observed at a higher preheat/interpass temperature. The impact toughness of the weld metal gradually increased with an increase in the heat input because of the lower tensile strength. However, it decreased again when the heat input was larger than 45 kJ/cm because of the much smaller area fraction of acicular ferrite. No effect of the preheat/interpass temperature on the impact toughness was observed. The formation of a weld metal heat-affect zone showed little effect on the impact toughness of the weld metal in this experiment.

570MPa grade weldable steels were gas metal arc welded with various heat inputs and interpass temperatures using flux cored wires. Effects of heat input and interpass temperature on the strength and impact toughness of weld metal were investigated in terms of microstructural change, recovery of alloying elements, and the amount of reheated weld metal. Increase of heat input and interpass temperature resulted in decrease of weld metal strength. This is because of the small amount of acicular ferrite, large columnar size and low recovery of alloying elements such as manganese and silicon. In addition to the microstructural change, weld metal toughness was also influenced by the deposition sequence. It increased with an increase of the amount of reheated weld metal.

In this study, Microstructure and hardness of 1st layer with crystallographic orientation were investigated about solidification structure in multipass weld using high Mn-Ni flux cored wire. Microstructure of solidification consisted of austenite matrix and a little ${\varepsilon}-phase$ in grain boundaries. Orientation of grains was usually (001), (101), (111). According to crystallographic orientation, morphology of primary dendrite was different. The depletion of Fe and the segregation of Mn, C, Ni, Si, Cu, Cr, O were found along the grain boundaries. The area of segregation was wide with an order of (001), (101), (111) grains. And hardness of grains with crystallographic orientation increased with an order of (001), (101), (111) grains because of the segregation along dendrite boundary.