On the basis of experiment results processed offline, a fuzzy controller and software used in real time seam tracking of vertical fillet joint is designed.

根据离线处理的实验结果，我们设计了一模糊控制器，开发了垂直角焊缝的实时自动跟踪软件。

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At last, the fatigue crack in the experiment and the main influential factor of fatigue strength of fillet welding seam was studied.

最后，对疲劳试验中有关裂纹以及影响焊缝疲劳强度的主要原因进行了探讨。

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