简介:Weldshapecontrolisafundamentalissueinautomaticwelding.Inthispaper,adoublesidevisualsystemisestablishedforpulsedgasmetalarcwelding(P-GMAW),andbothtopsideandbacksideweldpoolimagescanbecapturedandstoredcontinuouslyinrealtime.Byanalyzingtheweldshaperegulationwiththemoltenmetalvolume,sometopsideweldpoolcharacterizedparameters(WPCPs)areproposedfordeterminingpenetrationinbuttweldingofthinmildsteel.Moreover,someBPnetworkmodelsareestablishedtopredictbacksideweldpoolwidthwithweldingparametersandWPCPsasinputs.