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Aiming at the seam tracking and weld penetration based on welding temperature field, seam position and penetration parameters were extracted by image processing which is captured by a compact real-time measurement system. An intelligent controller was designed for welding process charactering as multivariable and non linear to realize dynamic control for seam tracking and weld penetration control. Finally, the developed system was applied in the seam tracking and penetration control of inner welding of spiral steel pipe with submerged arc welding. [ABSTRACT FROM AUTHOR]