Trends in developments in gas-shielded arc welding equipment in Japan
In the welding field in Japan, new technologies and processes have been developed one after another in response to the improvement in materials and the changes in the market needs, which have remarkably been contributing to rationalization and cost reduction in various industries. Taking into acco...
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Інститут електрозварювання ім. Є.О. Патона НАН України
2013
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irk-123456789-1032202016-06-15T03:02:38Z Trends in developments in gas-shielded arc welding equipment in Japan Tomoyuki Ueyama Пленарные доклады Международной конференции In the welding field in Japan, new technologies and processes have been developed one after another in response to the improvement in materials and the changes in the market needs, which have remarkably been contributing to rationalization and cost reduction in various industries. Taking into account the abovementioned technological trends, this paper provides an overview of the present situation of technological developments in terms of gas shielded arc welding equipment. 2013 Article Trends in developments in gas-shielded arc welding equipment in Japan / Tomoyuki Ueyama // Автоматическая сварка. — 2013. — № 10-11 (726). — С. 51-58. — Бібліогр.: 16 назв. — англ. http://dspace.nbuv.gov.ua/handle/123456789/103220 621.791.754 en Автоматическая сварка Інститут електрозварювання ім. Є.О. Патона НАН України |
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Пленарные доклады Международной конференции Пленарные доклады Международной конференции |
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Пленарные доклады Международной конференции Пленарные доклады Международной конференции Tomoyuki Ueyama Trends in developments in gas-shielded arc welding equipment in Japan Автоматическая сварка |
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In the welding field in Japan, new technologies and processes have been developed one after another in response to the
improvement in materials and the changes in the market needs, which have remarkably been contributing to rationalization
and cost reduction in various industries. Taking into account the abovementioned technological trends, this paper provides
an overview of the present situation of technological developments in terms of gas shielded arc welding equipment. |
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Article |
| author |
Tomoyuki Ueyama |
| author_facet |
Tomoyuki Ueyama |
| author_sort |
Tomoyuki Ueyama |
| title |
Trends in developments in gas-shielded arc welding equipment in Japan |
| title_short |
Trends in developments in gas-shielded arc welding equipment in Japan |
| title_full |
Trends in developments in gas-shielded arc welding equipment in Japan |
| title_fullStr |
Trends in developments in gas-shielded arc welding equipment in Japan |
| title_full_unstemmed |
Trends in developments in gas-shielded arc welding equipment in Japan |
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trends in developments in gas-shielded arc welding equipment in japan |
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Інститут електрозварювання ім. Є.О. Патона НАН України |
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2013 |
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Пленарные доклады Международной конференции |
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http://dspace.nbuv.gov.ua/handle/123456789/103220 |
| citation_txt |
Trends in developments in gas-shielded arc welding equipment in Japan / Tomoyuki Ueyama // Автоматическая сварка. — 2013. — № 10-11 (726). — С. 51-58. — Бібліогр.: 16 назв. — англ. |
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1836994997525676032 |
| fulltext |
5110-11/2013
UDC 621.791.754
TRENDS IN DEVELOPMENTS IN GAS-SHIELDED
ARC WELDING EQUIPMENT IN JAPAN
Tomoyuki Ueyama
DAIHEN (OTC) Corporation. Japan. E-mail: ueyama@daihen.co.jp`
In the welding field in Japan, new technologies and processes have been developed one after another in response to the
improvement in materials and the changes in the market needs, which have remarkably been contributing to rationalization
and cost reduction in various industries. Taking into account the abovementioned technological trends, this paper provides
an overview of the present situation of technological developments in terms of gas shielded arc welding equipment. 16 Ref.,
2 Tabls, 10 figures.
K e y w o r d s : trends, technology, welding equipment, MAG, MIG, TIG welding
1. Introduction
It has passed one century with the arc weld-
ing technology since 1904 when Oskar Kjellberg,
a shipbuilding engineer in Sweden, developed and
practiced the shielded metal arc welding process.
The shielded metal arc welding process was intro-
duced in shipyards in Japan about ten years later
than that time, and in the 1920s, the first domestic
DC arc-welding machine was born. Afterwards, the
submerged arc welding process and the gas shield-
ed arc welding processes such as TIG and MIG were
developed and practiced one after another in Eu-
rope and the United States from the 1930s to 1940s.
These welding processes were introduced in Japan,
too, nearly ten years later after the employment in the
Western countries.
In the early 1950s, the submerged arc welding
machine was developed with the domestic technolo-
gies. Since then, the performance and quality of the
domestic arc-welding equipment have earned a giant
leap in tandem with the advancement of the heavy in-
dustries such mainly as shipbuilders and bridge fab-
ricators. This became the trigger of shifting the main
usage of the Western-made arc welding machines to
the Japanese-made ones in fabrication sites. In the
1970s, the traditional major processes of submerged
arc welding and shielded metal arc welding were su-
perseded gradually by GMA welding, mainly CO2
arc welding and MIG welding. This has urged the de-
velopment of GMA welding equipment. The 1980s
was special in that the articulated arc-welding robot
became popular and the welding power source of the
transistor-inverter controlled type was developed, and
thereby the arc welding equipment was improved as-
sociated with the advancements in the power elec-
tronics; as a result, the technical development for
higher efficiency and automatization in welding has
been progressed until today.
This paper reports the performances and functions
of the welding equipment developed in the last ten
years aiming at the achievement of high-quality or
high-efficiency in GMA welding.
2. The history of development of the GMA welding
power source in Japan
2.1. The trend and growth of the output control
method for the GMA welding power source
figure 1 shows a summary of the trend and
growth of the output control method for the welding
power source for GMA welding in Japan for the last
30 years.
Though the step or slide-transform control type
has decreased in the production quantity ratio, it is
still used steadily at a ratio of about 5%, mainly in
the sheet-metal welding workshop. The thyristor con-
trol type, which was dominant for the output control
method till the 1970s, is still used mainly in the fabri-
cation sites for medium/thick plate welding construc-
tions in shipbuilders and building constructors, with
a volume ratio of around 20%. Since the welding
power source of the inverter control type with power
transistor was developed in the early 1980s, the pro-
duction volume ratio rapidly expanded by the early
1990s. In the latter half of the 1990s, developed was
the digital inverter control type, which features the in-
verter for controlling the output and the software for
controlling the welding current and voltage wave-
forms to govern the welding performance and func-
© Tomoyuki Ueyama, 2013 figure 1. Change in spread of power source control type in Japan
52 10-11/2013
tion. This control type has earned a rapid growth of
use since the 2000s, reaching a quantity ratio of near-
ly 70% today.
2.2. Trends in the technology development for
GMA-welding power source
figure 2 shows a summary of the recent trends in
the development of the major control technologies for
the arc welding power source [1]. The thyristor-con-
trolled power source was developed in 1969, which
led the development of the welding sequential control
and the unified control for improved performance.
The low-frequency pulse control and the medium-fre-
quency pulse control with a fixed pulse frequency
were also practiced.
The pulse power source with the synergic pulse
process on board was developed in 1980 and was
marketed as the welding power source equipped with
the world’s first, general-purpose, low-priced transis-
tor for the output control by the transistor chopper.
This type of power source became the prototype of
the present pulse MAG/MIG welding power source.
However, in 1983 after three years, the practice of
the inverter-controlled welding power source highly
expanded, resulting in the development of the pulse
MAG/MIG welding power source of the inverter con-
trol type that featured high-speed output control. This
development caused the pulse MAG/MIG welding
power source of the transistor-chopper control type to
become disused shortly.
Afterwards, all the advancements in the welding
power source were based on the inverter control type.
In 1990, the high-function/performance welding pow-
er source that was combined with the microcomput-
er control was developed [2, 3]. In 1992, the intelli-
gent welding power source with the fuzzy control on
board was developed [4, 5].
At the end of the 20th century, it was started to
apply highly the digital control to the welding power
source, with the background of advancement in the
digital control technology; i.e., the majority of the
control circuits were engineered to change the analog
control to the digital control to improve the reproduc-
ibility of welding conditions [6]. Recently, it has ac-
tively been promoted to increase the output control
speed by using the high-speed control element; as a
result, the high-performance welding power source,
that can control the welding and arc phenomena in
almost the ideal modes, has also been marketed [7].
Table 1 shows a summary of the performances of
the microprocessors applied to the welding power
sources of the digital inverter-control type. In 1996,
the digital control (with software) was employed for
all the controls of the welding current and voltage
waveforms to regulate the arc welding process [8].
At that time, 16-bit microprocessor was used to en-
able a single-chip microcomputer to execute multiple
controls, including the optimizing control of pulse pa-
rameters and the fuzzy control for automatic adjust-
ment of welding current and voltage, thereby elimi-
nating the need of individual logic circuits. In 2000,
32-bit microprocessor, which features the two times
or higher control frequency and 4-8 times capacity as
compared to the conventional type, began to be ap-
plied. With respect to the control speed, the Digital
Signal Processor (DSP) that enables the direct control
with software has provided the fast-acting output con-
trol by inverter [9]. Lately, the field Programmable
Gate Array (fPGA) with a highly-integrated circuit
figure 2. Trends in developments of main control technology for arc welding power source
5310-11/2013
that unifies 32-bit microcomputer and DSP has been
employed in the welding power source, and thereby
the control speed and program capacity have been
improved by 1- or 2-digit magnitude as compared to
those used in ten years ago.
These microprocessors used in the welding pow-
er source are commercial ones. In order to realize a
high-dimensional welding control, the authors have
developed the special welding-control microproces-
sor called “Welbee” (WELding Best Electronic En-
gine), the single-purpose LSI for the welding control,
which is the unique fourth-generation engine dedicat-
ed to the welding and inverter controls [10]. By us-
ing the Welbee, the operation processing rate can be
increased from a conventional micro-order level to a
nano-order level, and thereby the control performance
of the welding power source can be improved by 64
times higher than that of the first-generation welding
power source.
This high performance has enabled to sample the
welding current and voltage at a super-high speed
and thus to monitor/control the complex arc phenom-
ena that could not necessarily be controlled by con-
ventional power sources due to insufficient opera-
tion-processing rates.
3. Digital control methods for the welding current
waveform and their performances
3.1. Development of spatter reduction GMA weld-
ing process
The several methods for reducing spatter, typi-
cally the Controlled Bridge Transfer (CBT) method
[11], that feature less spattering in the short-circuit-
ing current range (up to around 150-180 A) in CO2
arc welding have been suggested and realized for
the low-spatter welding process. On the other hand,
from the viewpoint of higher welding efficiency, the
low-spatter performance is required also in the glob-
ular-transfer current range where the metal transfer
is prone to become irregular and unstable. However,
the spatter performance of the conventional welding
power sources was not enough in the globular-trans-
fer current range (over 200 A).
As shown in fig. 3, in the use of the welding
power source equipped with the dedicated weld-
ing microprocessor of Welbee, the superimposed
pulse current waveform, which consists of periodical
changes, is applied immediately after the re-arcing
from short-circuiting to regulate the metal transfer.
Additionally, the welding current is controlled to
be nearly tens of amperes at the moment of shifting
from short-circuiting to arcing by means of the high-
speed operation processing of the algorithm for de-
tecting the weld pool condition in the last stage of the
short-circuiting. The development of this technology
for controlling the welding current waveform has en-
abled to reduce spatter even in the current range over
200 A.
figure 4 shows a comparison of the amounts of
spatter in CO2 arc welding with a Welbee-installed
welding power source and a conventional weld-
ing power source. The right part of the figure shows
typical spattering views and the relative amounts of
spatter. In the condition where the amount of spatter
is 0.5 g/min or less, only minute particles of spatter
are observed. In the condition where the amount of
spatter is 1.0 g/min or larger, a mixture of coarse and
minute particles of spatter can be observed.
3.2. Control for stabilizing the metal transfer in
pulsed GMA welding
Table 2 shows examples of the welding-cur-
rent-waveform control in pulsed GMA welding that
Ta b l e 1 . Change in micro processor and welding power source
54 10-11/2013
have recently been developed by applying the digital
control technology [12].
In the pulsed GMA welding of mild steel, the
common shielding gas used is an Ar-CO2 mixture
with 20%CO2. On the other hand, the CO2 ratio in the
shielding gas mixture often changes depending on the
mixing mechanism and the performance of the mix-
er in cases where the shielding gas is supplied to the
welding process line via a concentrated piping system
in the workshop. It is known that the metal transfer
becomes unstable when the CO2 ratio exceeds 20%
in the shielding gas, and thereby the one-droplet per
pulse transfer becomes impossible to achieve.
With the newly developed pulse-current waveform
control, the initial value of a pulsed current is set to
be higher than the proper value for 80%Ar+20%-
CO2, in order to enhance the constriction of a droplet
for detaching from the wire tip even when the CO2
mixing ratio becomes higher up to 30%. This control
method also features the two-step pulse waveform,
which reduces the pulse current to prevent the drop-
let from becoming larger excessively while maintain-
ing the electromagnetic pinching force to detach the
molten droplet formed at the initial stage of the pro-
cess. In the process of lowering the pulse current to
the base current, it is reduced exponentially, not line-
arly, in order to maintain the electromagnetic pinch-
ing force immediately before detaching the molten
droplet. Consequently, this process assures a steady
metal transfer while preventing the generation of
minute particles of spatter that is caused by the resi-
due of molten droplet flown apart from the wire tip as
the result of an excessive energy accompanied by the
detachment of the droplet.
In the pulsed GMA welding, stainless steel re-
quires the shielding gas with a higher ratio of Ar as
compared with mild steel; in general, oxidized gas
(O2 or CO2) is added at several percent to improve
the arc stability. However, even if an Ar-rich shield-
ing gas is used, a stable metal-transfer arc may not be
obtained in the pulsed GMA welding of stainless steel
because the high viscosity or surface tension of the
molten droplet makes it difficult to detach the droplet
from the wire tip. With the newly-developed current
waveform control, the initial rising rate of a pulsed
current is designed to be high so that the electromag-
netic pinch force can firmly work on the molten drop-
let at the initial rise of pulsed current. Additionally, to
cope with a lack of electromagnetic pinch force while
a pulse current is applied, the pulse current is de-
signed to increase gradually after reaching the pulse
current, thereby ensuring the sufficient electromag-
netic pinch force in accord with the timing of detach-
ing the molten droplet. The process of reducing the
pulse current to the base current is the same as the
pulse waveform for the pulsed GMA welding of mild
steel; i.e., the pulse current is decreased exponential-
ly to prevent the generation of minute-particle spatter
caused by the residue of molten droplet flown apart
from the wire tip, thereby achieving a steady metal
transfer.
In the pulsed GMA welding of aluminum and its
alloys, the pulsed-current waveform control must be
executed in consideration of the properties that the
melting point, viscosity and surface tension of the
wire are lower than those of steel wire. Especial-
ly, if an excessive pulse peak current is energized to
the wire, minute particles of spatter may be generat-
ed when the molten droplet detaches from the wire.
To solve this problem, the lately-developed current
waveform control features the exponentially ascend-
ing or descending curves for the rising or falling cur-
rent waveform between the peak current and the base
current. This technology prevents the generation of
minute-particle spatter when the molten droplet de-
taches, thereby obtaining a stable one-pulse one-drop-
let transfer.
3.3. Pulsed GMA welding process with super-
im-posed low-frequency pulse
In 1990, the pulsed GMA welding process with
superimposed low-frequency pulse was developed
for aluminum and its alloys [13]. In this process, the
arc condition is changed cyclically by controlling the
output current and voltage with the welding current
waveform that features the low-frequency pulse su-
perimposed, for reflecting the vibration of the weld
pool, on the medium frequency pulse that controls the
metal transfer under a constant wire feed rate. With
figure 3. Controlled Bridge Transfer Expanded (CBT Expanded)
process
figure 4. Comparison of spatter level
5510-11/2013
this advanced technology, the authors have made
suggestions for realizing the GMA weld beads with
the regular ripple pattern like TIG weld beads, and
for using the weld pool vibration to refine crystal
grains and to reduce the susceptibility to solidification
cracking [14] as well as to prevent blowholes [15].
However, with mild steel and stainless steel whose
melting points are higher, the change in the arc phe-
nomena is not as cyclical as observed with aluminum
alloys; thus, the above-mentioned effects could not be
achieved.
To overcome this problem, the new pulsed MAG/
MIG welding process with superimposed low-fre-
quency pulse has been developed, with which the
wire feed speed can be synchronized with the cur-
rent waveform control, as shown in fig. 5. With this
advanced process, the output can dynamically be
changed at a low frequency of 5 Hz max for mild
steel and stainless steel, and thereby it has become
possible to change significantly the arc pressure and
wire melting rate.
With this advanced process, a molten pool can cy-
clically be vibrated.
This function enables to remove zinc vapor from
the molten pool in the welding of galvanized steel
plates, thereby reducing the occurrence of blowholes
and pits in the weld metal.
3.4. Development of AC-pulsed GMA welding
process
Depending on the type of welding structure, some
of the welding joints, may be difficult to weld be-
cause the root gap is required to be filled with de-
posited metal even though the base metal’s thermal
capacity is small. In the automatic welding of such
particular joints, the use of low welding current
can prevent burn-through that is caused by exces-
sive heat input; however, it will become difficult to
bridge the root gap with deposited metal. Converse-
ly, if the welding current is increased to fill the root
gap with deposited metal, excessive heat input may
cause burn-through. This problem can be attributed
to the nature of the common DC GMA welding pro-
cess in which the welding current is related directly
to the wire melting rate. Therefore, it is significant-
ly difficult to set the proper welding condition in the
welding by robots and automatic machines. Even if
the proper condition could be set up, it would become
difficult to maintain/control that condition due to less
robustness.
The AC-pulsed GMA welding process is one of
the processes that can solve such welding problems.
figure 6 shows a welding current waveform in AC-
pulsed GMA welding.
In AC-pulsed GMA welding, the ratio of EN po-
larity current to the average welding current in one
pulse cycle is called the EN ratio [16], which can be
defined by the equation shown in the figure: EN ratio
= Sen/(Sen + Sep).
Ta b l e 2 . Pulsed wave form type and their metal transfer
figure 5. Low-frequency modulated pulsed GMA
process
56 10-11/2013
figure 7 shows the relation between welding cur-
rent and wire feed speed as a function of the EN ra-
tio in the use of Al-Mg alloy wire and mild steel wire
with a wire diameter of 1.2 mm. As shown in these
figures, setting an EN ratio can determine the melting
characteristic curve for a particular wire in relation
to the melting rate vs. welding current in AC-pulsed
GMA welding. Specifically, when comparing the EN
ratios at the same welding current, the wire melting
rate becomes faster with a higher EN ratio, and slow-
er with a lower EN ratio.
When the wire melting rate is kept constant, a
change in the EN ratio affects the welding current;
i.e., the welding current decreases with a higher EN
ratio, and increases with a lower EN ratio.
Due to these characteristics, changing the EN ra-
tio affects the cross-sectional contour of a weld bead
in AC-pulsed GMA welding as shown in fig. 8; i.e.,
with an increase in the EN ratio, the bead width and
penetration decrease, and weld reinforcement increas-
es. This specific feature of the AC-pulsed GMA weld-
ing process is useful in the welding of a welding joint
having an excessive gap.
3.5. Cold tandem GMA welding
figure 9 shows the principles of the cold tandem
GMA welding process. Specifically, a couple of wires
are aligned in tandem along the welding line, and
while the leading wire generates a pulse arc, the trail-
ing wire that is not energized is fed into the molten
metal produced by the leading arc. In the cold-filler
tandem GMA welding process, the filler wire is fed
at 5 mm away backwards from the leading arc in the
molten pool, unlike the TIG filler welding process in
which the filler wire is fed into the molten pool im-
mediately beneath the arc. With this process, the so-
lidification rate of the molten pool becomes faster and
thus the prevention of undercut and humped bead can
figure 6. AC pulsed GMA waveform
figure 7. Wire melting characteristic
figure 8. Effect of EN ratio on bead formation
5710-11/2013
be expected. Because the filler wire is fed into the
rear part of the molten pool, the heat capacity of the
arc is never drawn by melting the filler wire. This is
why the penetration shape is almost not affected by
the filler wire fed. In addition, since the preceding arc
is kept in perfect spray without short-circuiting, sim-
ilarly to the conventional pulsed MAG welding pro-
cess, the generation of spatter is extremely low.
In recent years, thick-plate fabricators tend to use
narrow groove joints to get higher welding efficiency.
However, the use of a high-efficient welding process
in a narrow groove joint may cause the occurrence
of a hot crack in the penetrated weld center depend-
ing upon the penetration shape. The hot cracking can
occur if molten metal does not fill the shrinkage cav-
ity that is formed at the interface (the finally solidi-
fied zone) of the columnar structures near the center
of a weld during the solidification and shrinkage pro-
cess. With the cold-filler tandem GMA welding pro-
cess, the cold filler wire is fed into the molten pool
formed by a high-current arc, and hence it can be ex-
pected that the molten-metal filling action into the
molten pool can be enhanced, thereby preventing the
hot cracking.
figure 10 shows the welding results of the pipe-
flange joint of machinery structure steel. In this ex-
periment, welding was started with the pulsed GMA
welding process, which was followed in the mid-
course by cold-filler tandem GMA welding with the
trailing filler wire fed, in order to compare the effect
of the filler wire. Consequently, solidification crack-
ing occurred near the center of the bead from the
weld start when only pulsed GMA welding was used;
by contrast, right after switching to cold-filler tandem
GMA welding, the crack propagation was arrested,
and thereby the expected effect of the cold filler wire
has been confirmed.
4. Closings and outlooks
The authors have introduced the trends in the de-
velopment of the GMA welding equipment observed
in Japan for the last ten years. The GMA welding
equipment has remarkably been improved in tandem
with the developments in the power electronics con-
trols and elements together with the advancements in
various control methodologies. Today, the capacity of
microprocessors is also advanced considerably; thus,
particular output controls that were hard to realize are
becoming possible to practice.
On the other hand, for the fusion welding process
like the arc welding process, it is required to handle
the phenomena in which solid, liquid and vapor phas-
es can change for a short time. Therefore, in order
to accomplish the further advancement/development
of the welding equipment, better understanding the
physical phenomena centered on the arc phenomena
figure 9. Principle of cold tandem pulsed GMA process
figure 10. Inhibiting effect of solidification crack propagation by cold tandem pulsed GMAW
58 10-11/2013
in the welding process will become more vital for the
technological step-up in the future.
1. Mita, T. (2000) Progress of arc welding technologies. J. of
the JWS, 69(3), 190–196.
2. Yamamoto, H., Harada, S., Ueyama, T. et al. (1992) Devel-
opment of low frequency pulsed MIG welding for aluminium
alloys. Welding Int., 6(7), 580–583.
3. Mita, T. (1991) Spatter reduction power source considera-
tions. Ibid., 5(11), 847–850.
4. Harada, S., Nakamata, T., Ueyama, T. et al. (1992) Develop-
ment of fuzzy controlled pulsed MIG welding power source.
Welding Technique, 40(8), 63–68.
5. Innami, T., Wang, J., Hamamoto, K. (1992) Development
of CO2/MAG automatic welding equipment applied fuzzy.
Ibid., 40(8), 69–73.
6. Ohhashi, N., Hamamoto, K., Kitajima, A. (2000) full-digital
controlled welding machine. Ibid., 48(8), 56–62.
7. Hirata, Y.(2005) Innovation of welding related manufactur-
ing system by using fully digital-controlled arc welding ma-
chine. J. of the JWS, 74(7), 473–477.
8. Yamamoto, H. (1997) Arc welding phenomena and welding
power sources. Ibid., 66(8), 615–629.
9. Mita, T., Harada, S. (2004) Trend and perspective on welding
power source in Japan. IIW Doc. XII-1824–04.
10. Era, T. (2012) Leading edge of control technology of arc
welding equipment. Welding Int., 26(3), 170–174.
11. Era, T., Ueyama, T. (2008) Welding steel sheet with a modi-
fied short circuiting process. Welding J., 87(12), 28–33.
12. Ueyama, T., Era, T. (2010) Development of pulsed MAG/
MIG welding power source for automatic instrument and ro-
bot. In: Proc. of Sheet Metal Welding Conf. XIV (May 2010,
Livonia, USA).
13. Yamamoto, H., Harada, S., Ueyama, T. et al. (1993) Study of
low-frequency pulsed MIG welding. Welding Int., 7(1), 21–26.
14. Yamamoto, H., Harada, S., Ueyama, T. et al. (1993) Benefi-
cial effects of low-frequency pulsed MIG welding on grain
refinement of weld metal and improvement of solidification
crack susceptibility of aluminium alloys. Ibid., 7(6), 456–
461.
15. Yamamoto, H., Harada, S., Ueyama, T. et al. (1994) Inhib-
iting effect of low-frequency pulsed MIG welding on blow-
hole generation in Al and its alloys. Ibid., 8(8), 606–611.
16. Ueyama, T., Tong, H., Harada, S. et al. (2005) AC pulsed
GMAW improves sheet metal joining. Welding J., 84(2), 40–
45.
Recieved 01.03.2013
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