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It is difficult to reach the requirement of 80% U-rib weld penetration in the practical application of single-sided welding of steel bridge panels. Meanwhile, full penetration has to be avoided. In this study, efforts are made in order to achieve fillet welds with 80% and above penetration consistently. The effect of welding parameters on the formation of single-sided U-rib fillet welds is investigated. This work has revealed that U-rib fillet weld penetration is presenting an upward trend as the welding current increases under specific welding conditions, and full penetration was observed at the current of 325 A. With the increasing distance between the filler wire and the root of the weld, the U-rib penetration reduces. As the torch angle increases during ship position welding, the U-rib penetration will first increase and then decrease. The weld formation of flat position welding is more stable and the U-rib weld penetration has been significantly improved. The optimum U-rib weld with penetration of 84.8% is achieved under the conditions of flat position welding with 285 A welding current, 44∘ torch angle, and 2mm distance between the wire and the root. [ABSTRACT FROM AUTHOR]