Recall that the shuttle loom lays a filling yarn with every pass through the shed. There are also space limitations, since the single rapier must be at least as long as the loom width.

In this paper, a new filling strategy for multi pass welding, which can be used in robotic welding, is put forward.

Well, the basics are just getting all the credits you need to pass then filling up the rest of your time with things that sound interesting.