Abstract: A gas delivery system delivers a shielding gas from a source through one or more hoses to a torch having a nozzle during welding of a workpiece. A shielding gas controller includes an inlet, an outlet, and at least one valve between the inlet and the outlet. The valve operates in response to a predetermined minimum shielding gas flow set point. The shielding gas controller operates the valve before or after a weld to change the flow of the shielding gas according to the predetermined minimum shielding gas flow set point. A method of welding includes predetermining a flow rate of a shielding gas, predetermining another flow rate of the gas, dispensing the gas at the first flow rate proximate a first weld pool during welding, and dispensing the shielding gas at the second flow rate, different from the first flow rate, during welding of another weld on the workpiece.

Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.

Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.