{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T22:33:39Z","timestamp":1761518019844,"version":"3.41.2"},"reference-count":16,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T00:00:00Z","timestamp":1241136000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,5,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The control of weld penetration in gas tungsten\u2010arc welding (GTAW) is required for fully automated systems to overcome variations in the welding process. The surface depression of weld pool, or weld pool height, has a close relationship with width of the backside bead in the full\u2010penetrated weld. The purpose of this paper is to inspect the pool height.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A fast linear approach, based on shape from shading (SFS) algorithm, was employed to reconstruct a 3D shape of welding pool from a 2D image, which was obtained from a real welding pool. Then the pool height can be extracted. Furthermore, three methods were introduced to improve the above algorithm.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The reconstructed pool height was in good agreement with the real height of weld pool from experiments.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>The algorithm requires a uniform reflection on the pool surface.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>This method is applicable to inspect weld pool height in GTAW. It is a basis for future work on control of weld penetration.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>A faster SFS algorithm has been introduced to extract weld pool height in real\u2010time. Moreover, the algorithm was improved to fit for extracting the surface shape of weld pool.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910950540","type":"journal-article","created":{"date-parts":[[2009,5,1]],"date-time":"2009-05-01T10:56:41Z","timestamp":1241175401000},"page":"270-276","source":"Crossref","is-referenced-by-count":13,"title":["Inspection of welding pool height from shading in pulsed GTAW with wire filler"],"prefix":"10.1108","volume":"36","author":[{"given":"J.F.","family":"Wang","sequence":"first","affiliation":[]},{"given":"W.Y.","family":"Wang","sequence":"additional","affiliation":[]},{"given":"S.B.","family":"Chen","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012220394695300_b3","unstructured":"Carlson, N.M. and Johnson, J.A. (1988), \u201cUltrasonic sensing of weld pool penetration\u201d, Welding Journal, Vol. 67 No. 11, pp. 239\u201046."},{"key":"key2022012220394695300_b6","unstructured":"Chen, S.B., Zhao, D.B. and Wu, L. (2000), \u201cIntelligent methodology for sensing, modeling and control of pulsed GTAW. Part II \u2013 butt welding\u201d, Welding Journal, Vol. 79 No. 6, pp. 164\u201074."},{"key":"key2022012220394695300_b4","unstructured":"Chen, W. and Chin, B.A. (1990), \u201cMonitoring joint penetration using infrared sensing technology\u201d, Welding Journal, Vol. 69 No. 4, pp. 181\u20105."},{"key":"key2022012220394695300_b14","doi-asserted-by":"crossref","unstructured":"Du, Q., Chen, S.B. and Lin, T. (2005), \u201cInspection of weld shape based on the shape from shading\u201d, The International Journal of Advanced Manufacturing Technology, Vol. 27, pp. 667\u201071.","DOI":"10.1007\/s00170-004-2237-x"},{"key":"key2022012220394695300_b11","doi-asserted-by":"crossref","unstructured":"Horn, B.K.P. (1990), \u201cHeight and gradient from shading\u201d, International Journal of Computer Vision, Vol. 5 No. 1, pp. 37\u201075.","DOI":"10.1007\/BF00056771"},{"key":"key2022012220394695300_b9","doi-asserted-by":"crossref","unstructured":"Kovacevic, R. and Zhang, Y.M. (1997), \u201cReal\u2010time image processing for monitoring of free weld pool surface\u201d, Journal of Manufacturing Science and Engineering, Vol. 119, pp. 161\u20109.","DOI":"10.1115\/1.2831091"},{"key":"key2022012220394695300_b15","doi-asserted-by":"crossref","unstructured":"Li, L., Chen, S.B. and Lin, T. (2005), \u201cThe modeling of welding pool surface reflectance of aluminum alloy pulse GTAW\u201d, Materials Science and Engineering: A, Vol. 394, pp. 320\u20106.","DOI":"10.1016\/j.msea.2004.11.063"},{"key":"key2022012220394695300_b2","unstructured":"Renwick, R.J., Rarson, D.F. and Richardson, R.W. 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(1990), \u201cA study of GTA weld pool oscillation\u201d, Welding Journal, Vol. 69 No. 8, pp. 289\u201093."},{"key":"key2022012220394695300_b12","doi-asserted-by":"crossref","unstructured":"Zhang, R., Tai, P.\u2010S., Cryer, J.E. and Shah, M. (1999), \u201cShape from shading: a survey\u201d, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 21 No. 8, pp. 690\u2010706.","DOI":"10.1109\/34.784284"},{"key":"key2022012220394695300_b8","doi-asserted-by":"crossref","unstructured":"Zhang, Y.M., Kovacevic, R. and Wu, L. (1996), \u201cDynamic analysis and identification of gas tungsten arc welding\u201d, ASME Journal of Engineering for Industry, Vol. 118 No. 1, pp. 123\u201036.","DOI":"10.1115\/1.2803633"},{"key":"key2022012220394695300_b5","doi-asserted-by":"crossref","unstructured":"Zhang, Y.M., Li, L. and Kovacevic, R. (1997), \u201cDynamic estimation of full penetration using geometry of adjacent weld pools\u201d, Journal of Manufacturing Science and Engineering, Vol. 119, pp. 631\u201043.","DOI":"10.1115\/1.2831197"},{"key":"key2022012220394695300_b13","doi-asserted-by":"crossref","unstructured":"Zhao, D.B., Chen, S.B. and Wu, L. (2003), \u201cExtration of three\u2010dimensional parameters for weld pool surface in pulsed GTAW with wire filler\u201d, Journal of Manufacturing Science and Engineering, Vol. 125, pp. 493\u2010503.","DOI":"10.1115\/1.1556400"},{"key":"key2022012220394695300_b10","doi-asserted-by":"crossref","unstructured":"Zhao, D.B., Lou, Y.J., Chen, S.B. and Wu, L. (1999), \u201cSurface height and geometry parameters for describing shape of weld pool during pulsed GTAW\u201d, SPIE International Symposium on Intelligent System and Advanced Manufacturing, Boston, MA, Vol. 3833, pp. 91\u20109.","DOI":"10.1117\/12.359509"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910910950540","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910950540\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910950540\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:26Z","timestamp":1753401026000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/36\/3\/270-276\/179955"}},"subtitle":[],"editor":[{"given":"Youlun","family":"Xiong","sequence":"first","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2009,5,1]]},"references-count":16,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,5,1]]}},"alternative-id":["10.1108\/01439910910950540"],"URL":"https:\/\/doi.org\/10.1108\/01439910910950540","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2009,5,1]]}}}