Recently [1,2], a method for remote arc weld process control using real-time radiography as a vision system was described. In this work information on weld quality extracted from real-time radiographic images was used in feedback to change welding conditions to maintain weld quality. Principal attention was given to automatic control of weld penetration [2]. The radiographic image was analyzed at some distance behind the welding pool where the weld became solidified. An early detection, from the image, of depth of weld penetration was performed and based on this information the welding current was adjusted automatically to obtain complete penetration. The time (and space) delay in extracting information on weld penetration leads to the appearance of small areas of weld with lack of penetration.
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