Image-Based Feature Tracking Algorithms for Real-Time Clad Height Detection in Laser Cladding

In laser cladding, a material, usually in the form of powder, is deposited on a substrate. Powder particles are intermingled with inert gas and fed by a powder feeder system on the substrate. Laser is employed to melt the additive material and a small layer of surface of the substrate simultaneously. While the powder is being deposited, the laser melts the powder particles and the melted powder particles join the melt pool on the substrate beneath the laser beam. Generating relative motion between the laser focal point and the substrate will result in moving melt pool on the substrate. This will lead to addition of a desired material to the substrate with desired thickness and good bonding as well as minimum dilution. In addition, by producing clads beside and on the top of each other a functional component can be built in a layer by layer fashion. Despite many advantages of laser cladding, it is highly sensitive to internal and external disturbances. This makes a closed-loop control system for laser cladding inevitable. Utilizing a closed-loop control system in laser cladding makes the system insensitive to external and internal disturbances. Having a closed-loop control system for laser cladding would contribute to substantial improvement in clad quality and cost reduction. Feedback sensor is an essential part in a closed-loop control system. Among di erent parameters that can be used as feedback signals in a closed-loop control of laser cladding, melt pool geometry and in particular clad height is of great importance speci cally for the purpose of rapid prototyping. This thesis presents novel algorithms for real-time detection of clad height in laser cladding. This is accomplished by the following: Tackling the issues pertinent to image acquisition in the presence of harsh and intensive light is scrutinized. Important parameters of digital cameras related to selection of proper type of CCD cameras in order to overcome the existent harsh condition are presented. Also, the existent light in laser cladding arisen from di erent sources is analyzed and based upon that proper bandpass lters and neutral lters are selected. All these lead to capture relatively sharp and clear images of the melt pool. Capturing good quality pictures potentially would provide valuable information about the process. This information could include, but is not limited to, melt pool geometry (i.e., melt pool height, width, melt