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Robots have become an essential part of modern industries in welding departments to increase the accuracy and rate of production. The intelligent detection of welding line edges to start the weld in a proper position is very important. This work introduces a new approach using image processing to detect welding lines by tracking the edges of plates according to the required speed by three degrees of a freedom robotic arm. The two different algorithms achieved in the developed approach are the edge detection and top-hat transformation. An adaptive neuro-fuzzy inference system ANFIS was used to choose the best forward and inverse kinematics of the robot. MIG welding at the end-effector was applied as a tool in this system, and the weld was completed according to the required working conditions and performance. The parts of the system work with compatible and consistent performances, with acceptable accuracy for tracking the line of the welding path., Robots have become an essential part of modern industries in welding departments to increase the accuracy and rate of production. The intelligent detection of welding line edges to start the weld in a proper position is very important. This work introduces a new approach using image processing to detect welding lines by tracking the edges of plates according to the required speed by three degrees of a freedom robotic arm. The two different algorithms achieved in the developed approach are the edge detection and top-hat transformation. An adaptive neuro-fuzzy inference system ANFIS was used to choose the best forward and inverse kinematics of the robot. MIG welding at the end-effector was applied as a tool in this system, and the weld was completed according to the required working conditions and performance. The parts of the system work with compatible and consistent performances, with acceptable accuracy for tracking the line of the welding path.

The additive manufacturing (AM) process or three-dimensional printing (3DP) process is making stereoscopic shapes using a layered system. There are several materials used for printing such as plastic, wood, metal as powder, filament, liquid, or others and there are also different ways for printing. Recently, the focus has been on metal printing, but the problem is that the high energy used such as laser, electron beam, or high heat to melt the metal to print it as required. For this reason, the price of 3D printers for metal is very expensive. In this paper, design and implementation of a 3D printer for metal parts production are worked. The work also includes making an experimental test for the new 3D printer and printing 3D metal parts without using heat. In this work, Tevo-Tarantula 3D printer has been modified in terms of software and hardware. Two new extruders are designed to inject the metal powder and adhesive, where the heat was removed from the extruder head and the printer bed. The metal powder extruder contains a powder reservoir, glass funnel, and access valve where controlled through the solenoid valve. The adhesive extruder is controlled using a simple hydraulics. The printing process was done by printing two layers of metal powder and a layer of adhesive depending on the desired shape to create 3D objects using the SolidWorks software.Different metal models were printed and these models were compared with the original design which was drawing by SolidWorks software. The difference between the actual model drawing and the printed parts is differences between (0.004 mm) for some parts to (2.3 mm) for other parts or the percentage of error is between (0.1% - 4%) for the printed parts. However, the material can be used in high temperatures, where rubber materials cannot be used, and in applications requiring porosity. Keywords: 3D printer, powder metal, adhesive, layered system, FDM. DOI: 10.7176/ISDE/10-5-02 Publication date:June 30th 2019

The most difficult challenge in the design of such high-power end-pumped lasers is the handling of thermal problems that arise due to the high heat load in the small crystal volume. Most notably, the heat load leads to large temperature gradients both in the radial and axial directions referred to the pump beam axis. Such gradients may lead to severe thermal lensing effects due to the temperature dependence of the refractive index, and to large local stresses which induce a spatially varying birefringence and depolarization and may, in the worst event, lead to crystal fracture. The effects of thermal lensing and birefringence, and methods for compensation, are treated in following sections. The occurrence of thermal lensing may have serious implications on the stability conditions of the laser resonator, so it is necessary to take this into account in the resonator design. Keywords: Er:YAG laser, high power end pumping, thermal lensing.