Fig. 1 Scan-n-print WAAM testbed More about this image found in Scan-n-print WAAM testbed

Fig. 2 Scan-n-print framework More about this image found in Scan-n-print framework

Fig. 3 Scanning path plan More about this image found in Scanning path plan

Fig. 4 Deposition height of the weld piece More about this image found in Deposition height of the weld piece

Fig. 5 Speed update of 40 motion segments. Dots: difference from the current height to the target height Δ h d . Lines: the updated torch speed. More about this image found in Speed update of 40 motion segments. Dots: difference from the current heigh...

Fig. 6 100 ipm layers height. The speed of the torch varies from 2 mm/s at the bottom layers to 20 mm/s at the top layers to collect deposition data at each traveling speed. More about this image found in 100 ipm layers height. The speed of the torch varies from 2 mm/s at the bot...

Fig. 7 Welding motion speed to the deposition model for 100 ipm wire feed rate. Table 1 shows the model parameters of all tested wire feed rates with the data fitting RMSE. More about this image found in Welding motion speed to the deposition model for 100 ipm wire feed rate. Ta...

Fig. 8 Robotics WAAM and scanning execution More about this image found in Robotics WAAM and scanning execution

Fig. 9 Open-loop baseline versus scan-n-print for a wall structure, ER 4043 aluminum alloy: ( a ) Open-loop baseline and ( b ) scan-n-print framework More about this image found in Open-loop baseline versus scan-n-print for a wall structure, ER 4043 alumin...

Fig. 10 Height STD of each layer of the WAAM wall. Open-loop baseline versus closed-loop correction, ER 4043 aluminum alloy: ( a ) full piece and ( b ) edge excluded More about this image found in Height STD of each layer of the WAAM wall. Open-loop baseline versus closed...

Fig. 11 The 3D profile of the printed wall and blade (point cloud data from the Artec scanner) (the dots) versus the desired structure CAD model (the surfaces): ( a ) wall 3D profile and ( b ) blade 3D profile More about this image found in The 3D profile of the printed wall and blade (point cloud data from the Art...

Fig. 12 Error heat map between the desired wall structure CAD model and the WAAM wall: ( a ) baseline and ( b ) correction More about this image found in Error heat map between the desired wall structure CAD model and the WAAM wa...

Fig. 13 A generic fan blade geometry using the proposed scan-n-print framework. The circle shows the defect when using the open-loop setting. ( a ) Open-loop WAAM blade. ( b ) Scan-n-print WAAM blade. More about this image found in A generic fan blade geometry using the proposed scan-n-print framework. The...

Fig. 14 Height STD and RMSE of each layer of the WAAM blade: ( a ) height STD and ( b ) height RMSE More about this image found in Height STD and RMSE of each layer of the WAAM blade: ( a ) height S...

Fig. 15 Open-loop baseline versus scan-n-print for a wall structure, ER 70S-6 steel alloy: ( a ) open-loop baseline and ( b ) scan-n-print framework More about this image found in Open-loop baseline versus scan-n-print for a wall structure, ER 70S-6 steel...

Fig. 16 Height STD of each layer. Open-loop baseline versus closed-loop correction, ER 70S-6 steel alloy: ( a ) full piece and ( b ) edge excluded. More about this image found in Height STD of each layer. Open-loop baseline versus closed-loop correction,...

Fig. 17 Continuous scan-n-print of a cylinder: ( a ) cylinder, ( b ) height STD, and ( c ) height RMSE More about this image found in Continuous scan-n-print of a cylinder: ( a ) cylinder, ( b ) ...

Fig. 18 Repeatability test: ( a ) recorded, ( b ) repeat 1, and ( c ) repeat 2 More about this image found in Repeatability test: ( a ) recorded, ( b ) repeat 1, and ...