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ALDUR alloy application arc welding austenite bainite base material base metal bead behaviour brazing calculated carbon ceramic CGHAZ Charpy coating cold welding contact tube cooling crack CTOD deformation deposit developed diffusion bonding effect electrode electron beam welding equation evaluation fatigue ferrite Figure flux fracture hardness heat input HSLA steels increase interface interlayer joining keyhole laser beam welding laser welding layer martensite measured mechanical properties method microstructure monitoring Neural Networks notch particles peak temperature penetration phase plate precipitates production pulse resistance robot robotic welding samples sensor shielding shielding gas short-circuit simulated solidification specimens stress submerged arc submerged arc welding surface Table techniques tensile thermal cycle thickness toughness values voltage weld joint weld metal weld pool weld quality weldability welders welding current welding parameters welding process welding wire weldments wire feed workpiece yield strength zone