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In gas tungsten arc welding (GTAW), the weld pool is the major source of information that can be used to assure the production of the desired weld penetration-the most critical factor determining the weld integrity. To meet this challenge, various sensing technologies, modeling methods, and control strategies have been studied, and artificial intelligence technologies were applied to improve system intelligence. The GTAW process analysis is given first. Then, a short introduction on weld pool sensing technologies is presented, where three-dimensional (3D) vision sensing is a very active orientation. Furthermore, weld pool description model and characteristic parameter model are also discussed, where intelligent algorithms were used generally. Besides, dynamic modeling and penetration control strategies, especially intelligent control strategies are presented. At last, the discussion about development of the GTAW penetration control product is analyzed briefly. [ABSTRACT FROM AUTHOR]