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acceptable band adaptive control system analog analog computer arc length arc welding Astro-Arc automatic welding systems axis capability changes clamp completely automated control of welding control unit electrode electron beam welding expansion external welders Fabrication feedback filler metal filler wire fitup fixture FlGURE functions fusion welding processes gas-tungsten-arc welding in-process inch industry joint following ln addition manual material measuring motion needed nugget numerical control system numerically controlled welding optimal control penetration control photocell pipe process control produce punch card punched tape quality control resistance spot welding resistance welding seam tracker sensing devices sensors shielding gas shown in Figure signal skate surface tape thermocouple tracking transducers travel speed tube utilizes variables voltage weld joint weld monitoring weld pass weld penetration welding control welding current welding engineer welding head Welding Journal welding machine welding operations welding program welding speed welding station welding torch WELDlNG weldment workpiece