Fig. 1. Schematic of laser cleaning system

Fig. 2. Sequence diagram of XY2-100 protocol

Fig. 3. Swing amplitude distribution of motor under uniform sampling condition

Fig. 4. Swing amplitude distribution under Gauss sampling condition

Fig. 5. Simulation progress of uniform sampling path. (a) 5%; (b) 20%; (c) 50%; (d) 75%; (e) 85%; (f) 100%

Fig. 6. Simulation progress of Gaussian sampling path. (a) 5%; (b) 20%; (c) 50%; (d) 75%; (e) 85%; (f) 100%

Fig. 7. Sequence diagram of galvanometer deflection command transmission

Fig. 8. Ablation morphology distributions. (a) Line-by-line ablation; (b) spiral ablation

Fig. 9. Edge erosion morphology distributions. (a) Line-by-line ablation; (b) spiral ablation

Fig. 10. Rust surface cleaning effects. (a) Line-by-line ablation; (b) spiral ablation