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Baoyi Liao 1,2, Yonghua Shi 1,2,* , Yanxin Cui 1,2, Shuwan Cui 1,2, Zexin Jiang 3 and Yaoyong Yi 4 1 School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China; 13430279851@163.com (B.L.); 201810100312@mail.scut.edu.cn (Y.C.); 13597066615@163.com (S.C.) 2 Guangdong Provincial Engineering Research Center for Special Welding Technology and Equipment, South China University of Technology, Guangzhou 510640, China 3 Guangzhou Shipyard International Company Limited, Guangzhou 511462, China; wljzxbs@163.com 4 Guangdong Welding Institute (China-Ukraine E. O. Paton Institute of Welding), Guangzhou 510650, China; yiyy@gwi.gd.cn * Correspondence: yhuashi@scut.edu.cn; Tel./Fax.: +86-208-7114-407

Mathematical Model for Prediction and Optimization of Weld Bead Geometry in All-Position Automatic Welding of Pipes