The union of a set of materials by way of Resistance Spot Welding is designed so that once fused together, a substantial amount of intentional, external force must be applied to separate the contents. Therefore, Resistance Spot Welding is often the preferred fusion method in high-volume manufacturing processes. The result of Resistance Spot Welding however is the formation of a weld nugget which is not visible to the naked eye. Destructive and/or ultrasonic methods applied off-line must be used to determine the quality of each weld; both inefficient and expensive processes. The following research analyzes the data fed back during resistance spot weld sequences in-line and establishes a correlation between emitted characteristics and the final quality of a spot weld. The two characteristics researched to segregate weld quality are: the electrical sin wave signature and the acoustic sin wave signature produced during the welding sequence. Both features were discovered to have a direct correlation to the final quality of a weld once cured. By measuring and comparing these characteristics at the source, an opportunity is presented to decrease time and potential defects by confirming the quality of each weld in-process and at the source.

The purpose of this thesis is non-destructive determination of residual stress state in the multi-pass welded steel plates by Magnetic Barkhausen Noise (MBN) technique. To control the effectiveness of the developed procedure, continuous MBN measurements on the heat affected zone and parent metal of the welded plates were performed. In the experimental part, various steel plates were welded with different number of weld passes. Various series of samples were prepared for residual stress and for angular deflection measurements. Microstructural investigation and hardness measurements were also conducted. The results were discussed to evaluate the effectiveness of MBN measurements to monitor the changes in the residual stress state in the welded components as a function of weld pass number.

The objective of this work was to use LEFM in order to assess the detrimental influence of surrounding chloride-containing environments for stainless steels, hardened steel as well as for a cast aluminium alloy. An additional aim was also to use LEFM to assess the influence of porosity on the fatigue properties for different commercial cast aluminium alloys and manufacturing methods. The environmental influence on fatigue performance was mainly evaluated from fatigue crack growth measurements using compact tension (CT) specimens. In addition, fatigue performance in the high cycle regime was studied using spot welded specimens and smooth specimens. Corrosion fatigue tests for stainless steels were performed in different chloride-containing aqueous solutions and compared to the behaviour in air. Variables, which have been investigated, included temperature, redox potential and fatigue test frequency. The environmental influence on fatigue performance has also been compared to localised corrosion properties. Fatigue crack propagation rates were found to be higher in 3% NaCl than in air for all stainless steels investigated. The highest alloyed austenitic steel, 654SMO, showed the least influence of the environment. For duplex stainless steels the environment enhanced fatigue crack propagation rate to a higher degree than for austenitic stainless steels. This is explained by a material-dependent corrosion fatigue mechanism. In the high cycle regime, fatigue properties for spot welded stainless steels specimens were found to be decreased between 30%-40% due to the presence of 3% NaCl. For the hardened steel 100CrMnMo8 a fracture mechanics approach was employed for prediction of corrosion fatigue properties. In this model corrosion pit growth rate and the threshold stress intensity factor for fatigue crack propagation are needed as input parameters. For the high pressure die cast aluminium alloy the environmental influence of fatigue initiation through pre-exposure of smooth specimens was studied. Depending on environment used for pre-exposure, fatigue strength was found to be reduced by up to 50 % compared to the fatigue strength in air. Fatigue strength reduction was clearly associated to corrosion pits in the aluminium material. A fracture mechanics model was further successfully used to predict the environmental influence. The influence of porosity on the fatigue strength for the cast aluminium alloys tested has been described by a Kitagawa diagram. In design, the Kitagawa diagram can be used to predict the largest allowable pore size if the load situation in the component is known. The size of the porosity could either be evaluated directly from x-ray images or from metallographic prepared cross-sections using a method of extreme value analysis / QC 20100907

Fiber laser welding (FLW) was used to join advanced high strength steel (AHSS) and high strength steel (HSS); specifically two dual-phase (DP) steels, with ultimate tensile strengths above 980 MPa and with different chemistries (DP980 Rich and DP980 Lean), and a high strength low alloy (HSLA) steel, with an ultimate tensile strength of 450MPa (HSLA450). The welding speed and power were varied to develop a process envelope for minimizing weld concavity. In order to attain welds free of weld concavity a balance of speed and power was required; weld concavity could be reduced by lowering power and increasing speed. Welds with amounts of concavity ranging from 15 % to 35 % were characterized with respect to hardness, tensile and fatigue testing. Tensile results revealed that DP steel was sensitive to weld concavity while HSLA450 was not. At stress amplitudes enduring beyond 1000 cycles, welded specimens exhibited lower fatigue resistance compared to the base metal. Concavity reduced the fatigue life of DP980 steels, where increasing the amount of concavity further reduced the fatigue resistance, while the fatigue resistance of HSLA steel welds was not sensitive to weld concavity. Hardness profiling of the welds revealed that HAZ softening was present in the DP980 steel welds. The amount of HAZ softening was normalized; allowing for comparison of different steels. Welds made by FLW demonstrated reduced softening compared other laser welding types because FLW was capable of welding with lower heat input. A difference in the FZ hardness was observed between the DP980 steels because of the difference in carbon content of the steels; where higher carbon content resulted in higher FZ hardness. Additionally the high cooling rate in FLW created higher fusion zone hardness than the values predicted by Yurioka’s model based on arc welding. Examination of the microstructure revealed that the soft zone of DP980 Lean steel possessed severely tempered martensite and untransformed ferrite while DP980 Rich generated a structure with a mixture of tempered martensite, untransformed ferrite and a small fraction of non-tempered martensite. This difference in HAZ softening was attributed to the alloying content of the DP980 Rich steel the higher alloying content of DP980 Rich steel formed a stable austenite that could exist near the Ac1 temperature and enabled the formation of new martensite in the soft zone. The effects of HAZ softening were apparent in tensile testing where the DP980 Lean steel, which exhibited higher softening, demonstrated by a severe reduction in elongation while the DP980 Rich steel, which had higher resistance to softening, attained elongation comparable to its base metal. HSLA450 exhibited a slight reduction in elongation due to the hardening of the fusion zone. The welded DP980 Rich and HSLA450 steels consistently failed within the base metal, while the DP980 Lean steel failed in the soft zone. The welded DP980 Rich steel also demonstrated limiting dome heights comparable to the base metal while the severe softening in the DP980 Lean led to premature fracture in the soft zone, yielding a larger reduction in the limiting dome height.

The overall purpose of this research is to develop a real-time ultrasound based system for controlling robotic weld quality by monitoring the weld pool. The concept of real-time weld quality control is quite broad, and this work focuses on weld penetration depth monitoring and control with laser ultrasonics. The weld penetration depth is one of the most important geometric parameters that define the weld quality, hence remains a key control quantity. This research focuses on the implementation and optimization of the laser phased array generation unit and the development of signal analysis algorithms to extract the weld penetration depth information from the received ultrasonic signals. The system developed is based on using the phased array technique to generate ultrasound, and an Electro-Magnetic Acoustic Transducer (EMAT) as a receiver. The generated ultrasound propagates through the weld pool and is picked up by the EMAT. A transient FE model is built to predict the temperature distribution during welding. An analytical model is developed to understand the propagation of ultrasound during real-time welding and the curved rays are numerically traced. The cross-correlation technique has been applied to estimate the Time-of-Flight (ToF) of the ultrasound. The ToF is then correlated to the measured weld penetration depth. The analytical relationship between the ToF and penetration depth, obtained by a ray-tracing algorithm and geometric analysis, matches the experimental results. The real-time weld sensing technique developed is efficient and can readily be deployed for commercial applications. The successful completion of this research will remove the major obstacle to a fully automated robotic welding process. An on-line welding monitoring and control system will facilitate mass production characterized by consistency, high quality, and low costs. Such a system will increase the precision of the welding process, resulting in quality control of the weld beads. Moreover, in-process control will relieve human operators of tedious, repetitive, and hazardous welding tasks, thus reducing welding-related injures.

This study aims to develop a computer program to perform finite elements based fracture mechanics analyses of three dimensional surface cracks in T-welded joints of construction machinery. The geometrical complexity of the finite elements models and the requirement of large computer resources for the analyses necessitate the use of shell elements for general stress distribution optimization. A sub-modeling technique, together with a shell to solid conversion method, enables the user to model a local region and analyze it by defining the weld and crack parameters. It is assumed that the weld material is the same with the sheet metal material and the surface cracks are considered to occur on two weld toes and weld root. The surface cracks are assumed to have a semi elliptical crack front profile. In order to simulate the square-root strain singularity around the crack front, collapsed 20-node three dimensional brick elements are utilized. The rest of the local model is modeled by using 20-node three dimensional brick elements. The main objective of this work is to calculate the mixed mode energy release rates around the crack front for a sub-model of a global shell model by using J-integral method.

Friction Stir Welding (FSW) is an emerging solid state welding process. It has been a proven method for welding high strength aluminium alloys which were previously not recommended for conventional fusion welding. Since the invention of the process by The Welding Institute, United Kingdom, in 1991, a number of studies have been conducted on the material flow, microstructural evolution and mechanical properties of friction stir welds. However, there is not enough conceptual background available on FSW process for physical understanding of the mechanism of weld formation. In addition to that, FSW welds of high strength precipitation hardenable aluminium alloys suffer from reduced joint efficiency due to overaging in the heat affected zone. In the present investigation, experimental analysis has been carried out to understand the mechanism of weld formation and parameter optimization for aluminium alloys 7020-T6 and 6061-T6. For this purpose the investigations have been made on both the process aspects and the material aspects. The process aspects are analyzed with the objective of learning the mechanism to produce defect free welds. For this purpose experiments have been carried out to analyze the effect of FSW parameters, material flow and the frictional characteristics between the tool and base metal. Preliminary experiments are conducted on aluminium alloy 7020-T6 with different tool geometries to analyze the interaction of the tool with the base metal using a knee-type vertical milling machine. Then, the tool geometry which produced defect-free weld is used for further experimentation. The role of tool pin, shoulder and axial load on the formation of defect free weld is analyzed in an innovative experiment, where the tool and base metal interaction is continuously increased by continuously increasing the interference between the tool and base metal. In another experiment the initial abutting interface position with respect to the tool is continuously varied to study the interaction of the tool with the initial interface and to find the positional information where the initial interface is completely eliminated. Further, the tool metal interface condition is studied using a specially designed tribological experiment which simulates the FSW condition. From the base metal point of view, due to the strain, strain rate and temperature imposed on the base metal during the process, the microstructure is altered. In precipitation hardenable aluminium alloys the strengthening precipitates are dissolved or overaged in the weld region depending on the peak temperature in the region, which reduces the joint efficiency. However, the dissolution and overaging are kinetic process. In order to analyze this time dependant softening behavior of the base metal 7020-T6 and 6061-T6, isothermal annealing and differential scanning calorimetric studies are performed. In order to obtain FSW welds with maximum joint efficiency, the welding temperature should not exceed the “softening temperature” of the base metal. But, to produce defect free welds favorable material flow in the weld nugget is necessary. The material flow and consolidation depend on the process temperature. Hence, for a given tool to produce defect free weld there is a need for minimum temperature. If the weld formation temperature is less than the base metal softening temperature, the weld can be made with 100% joint efficiency. In order to optimize the FSW parameter which gives defect free weld with lowest possible temperature, an instrumented programmable FSW machine is designed and developed. The machine is designed in such a way that welding parameters – rotation speed, traverse speed and plunging depth – can be continuously varied from the start to end of the weld between given two values. This reduces the number of experimental trials, material and time. Based on the experimental results the following conclusions are derived. 1.The minimum diameter of the pin required for FSW depends on the base metal and tool material property for a given set of parameters. If the pin diameter is insufficient for a given set of welding parameters, it fails during plunging operation itself. 2.There is a minimum diameter of the shoulder for a given diameter of the pin which produces defect free weld. The ratio of pin to shoulder to produce a defect free weld is not a constant value. It changes with tool geometry and process parameters. 3.Increasing the area of contact between the tool and shoulder for a given set of parameters increases the heat input and results in increased weld nugget grain size. 4.Initial abutting interface of the base metal is eliminated at the leading edge of the tool. However, new surfaces are generated due to interaction with the tool and the newer surfaces are consolidated at the trailing edge of the tool. Importantly, the weld strength is controlled by the defects generated due the improper elimination of newly generated surfaces. 5.Optimal axial load is required to generate the required pressure to consolidate the transferred material at the trailing edge of the tool and should be equal to the flow stress of the material at the processing temperature. The optimal axial load is 8.1kN for a tool having 20mm diameter shoulder with 6mm diameter frustum shaped pin. 6.Only the material that approaches the tool at the leading edge on the advancing side is stirred and the remaining material is simply extruded around the tool. Further, the initial abutting interface is completely removed only when it is located in the stirring zone, otherwise the initial abutting interface is not eliminated. In the present study the interface is completely stirred when it is located on the advancing side of the tool between 0.5mm away from the centerline and edge of the tool. 7.The temperature and pressure at the tool–base metal interface is above the temperature and pressure required for seizure to occur for given tool material (H13) and base metal (7020-T6). Hence, it is clear that during FSW the base metal transfers on to the tool and interaction occurs between transferred layer on tool and base metal. The coefficient of friction between the given tool material and base metal in FSW condition is in the range of 1.2 – 1.4. 8.The minimum temperature requirement for FSW of 7020-T6 is 400oC and 6061-T6 is 430oC. However, 7020-T6 and 6061-T6 softens at lower temperatures than that of the minimum FSW temperature. 7020-T6 softens 30% in 7min at 250oC, 4min at 300oC, 2min at 350oC and 1min at 400oC. After softening 30%, there is 10% recovery in hardness and the hardness remains constant thereafter. Whereas 6061-T6 softens gradually up to 47% in 7min at 350oC and 400oC, below the temperature of 250oC for 7020-T6 and 350oC for 6061-T6 there is no softening observed in 7min. 9.The maximum joint efficiency of the 7020-T6 weld is 82% and 6061-T6 weld is 60%. 10. The reduction in joint efficiency is attributed to overaging of the material in the heat affected zone.

Fiber laser welding (FLW) was used to join advanced high strength steel (AHSS) and high strength steel (HSS); specifically two dual-phase (DP) steels, with ultimate tensile strengths above 980 MPa and with different chemistries (DP980 Rich and DP980 Lean), and a high strength low alloy (HSLA) steel, with an ultimate tensile strength of 450MPa (HSLA450). The welding speed and power were varied to develop a process envelope for minimizing weld concavity. In order to attain welds free of weld concavity a balance of speed and power was required; weld concavity could be reduced by lowering power and increasing speed. Welds with amounts of concavity ranging from 15 % to 35 % were characterized with respect to hardness, tensile and fatigue testing. Tensile results revealed that DP steel was sensitive to weld concavity while HSLA450 was not. At stress amplitudes enduring beyond 1000 cycles, welded specimens exhibited lower fatigue resistance compared to the base metal. Concavity reduced the fatigue life of DP980 steels, where increasing the amount of concavity further reduced the fatigue resistance, while the fatigue resistance of HSLA steel welds was not sensitive to weld concavity. Hardness profiling of the welds revealed that HAZ softening was present in the DP980 steel welds. The amount of HAZ softening was normalized; allowing for comparison of different steels. Welds made by FLW demonstrated reduced softening compared other laser welding types because FLW was capable of welding with lower heat input. A difference in the FZ hardness was observed between the DP980 steels because of the difference in carbon content of the steels; where higher carbon content resulted in higher FZ hardness. Additionally the high cooling rate in FLW created higher fusion zone hardness than the values predicted by Yurioka’s model based on arc welding. Examination of the microstructure revealed that the soft zone of DP980 Lean steel possessed severely tempered martensite and untransformed ferrite while DP980 Rich generated a structure with a mixture of tempered martensite, untransformed ferrite and a small fraction of non-tempered martensite. This difference in HAZ softening was attributed to the alloying content of the DP980 Rich steel the higher alloying content of DP980 Rich steel formed a stable austenite that could exist near the Ac1 temperature and enabled the formation of new martensite in the soft zone. The effects of HAZ softening were apparent in tensile testing where the DP980 Lean steel, which exhibited higher softening, demonstrated by a severe reduction in elongation while the DP980 Rich steel, which had higher resistance to softening, attained elongation comparable to its base metal. HSLA450 exhibited a slight reduction in elongation due to the hardening of the fusion zone. The welded DP980 Rich and HSLA450 steels consistently failed within the base metal, while the DP980 Lean steel failed in the soft zone. The welded DP980 Rich steel also demonstrated limiting dome heights comparable to the base metal while the severe softening in the DP980 Lean led to premature fracture in the soft zone, yielding a larger reduction in the limiting dome height.

Inconel 738, which is a nickel base superalloy used for hot section components of aircraft and industrial turbines is difficult to fabricate and repair by fusion welding due to its susceptibility to heat affected zone (HAZ) intergranular cracking. Crack-free joining of the difficult-to-weld alloy is currently achieved by using linear friction welding (LFW). Nevertheless, oxidation along the joint during LFW is a major problem. Information about the effect of process parameters on the microstructural evolution of linear friction welded nickel base alloys is very limited. In this work, the effect of forging pressure on the microstructure of linear friction welded Inconel 738 was studied. The results as elucidated in this work showed that increased forging pressure caused strain-induced rapid solidification of metastable liquid, which resulted in complete elimination of deleterious liquid phase oxides in bonded material contrasting the generally accepted view that assumes extrusion of solid state oxides during LFW.

An innovative auxiliary control system is developed to cooperate with an unskilled welder in a manual GTAW in order to obtain a consistent welding performance. In the proposed system, a novel mobile sensing system is developed to non-intrusively monitor a manual GTAW by measuring three-dimensional (3D) weld pool surface. Specifically, a miniature structured-light laser amounted on torch projects a dot matrix pattern on weld pool surface during the process; Reflected by the weld pool surface, the laser pattern is intercepted by and imaged on the helmet glass, and recorded by a compact camera on it. Deformed reflection pattern contains the geometry information of weld pool, thus is utilized to reconstruct its $3$D surface. An innovative image processing algorithm and a reconstruction scheme have been developed for (3D) reconstruction. The real-time spatial relations of the torch and the helmet is formulated during welding. Two miniature wireless inertial measurement units (WIMU) are mounted on the torch and the helmet, respectively, to detect their rotation rates and accelerations. A quaternion based unscented Kalman filter (UKF) has been designed to estimate the helmet/torch orientations based on the data from the WIMUs. The distance between the torch and the helmet is measured using an extra structure-light low power laser pattern. Furthermore, human welder's behavior in welding performance has been studied, e.g., a welder`s adjustments on welding current were modeled as response to characteristic parameters of the three-dimensional weld pool surface. This response model as a controller is implemented both automatic and manual gas tungsten arc welding process to maintain a consistent full penetration.