“…When the FPGA board detects the precursory phenomenon of weld spatter, by outputting a trigger signal, it is possible to force suppression control. The detailed and exact cause of the high intensity spots by the disturbance of the surface state is still unclear, but several theories exist; for example, a luminous body might occur with high luminance from the weld pool, such as a laser-induced plume or plasma, and gas bubbles (Chen, et al, 1996, Kang and Na, 2005, Schweier, et al, 2013, Heider, et al 2013). In any case, sensing the high-intensity spots is closely related to detecting signs of flying spatter.…”