Neutron and gamma measurements for the NASA Plum Brook Reactor HB-6 beam hole insertion facility
Neutron and gamma measurements for NASA Plum Brook Reactor HB-6 beam hole insertion facility
Kish, J. A.↗
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Method for Estimating Thread Strength Reduction of Damaged Parent Holes with Inserts
During normal assembly and disassembly of bolted-joint components, thread damage and/or deformation may occur. If threads are overloaded, thread damage/deformation can also be anticipated. Typical inspection techniques (e.g. using GO-NO GO gages) may not provide adequate visibility of the extent of thread damage. More detailed inspection techniques have provided actual pitch-diameter profiles of damaged-hardware holes. A method to predict the reduction in thread shear-out capacity of damaged threaded holes has been developed. This method was based on testing and analytical modeling. Test samples were machined to simulate damaged holes in the hardware of interest. Test samples containing pristine parent-holes were also manufactured from the same bar-stock material to provide baseline results for comparison purposes. After the particular parent-hole thread profile was machined into each sample a helical insert was installed into the threaded hole. These samples were tested in a specially designed fixture to determine the maximum load required to shear out the parent threads. It was determined from the pristine-hole samples that, for the specific material tested, each individual thread could resist an average load of 3980 pounds. The shear-out loads of the holes having modified pitch diameters were compared to the ultimate loads of the specimens with pristine holes. An equivalent number of missing helical coil threads was then determined based on the ratio of shear-out loads for each thread configuration. These data were compared with the results from a finite element model (FEM). The model gave insights into the ability of the thread loads to redistribute for both pristine and simulated damage configurations. In this case, it was determined that the overall potential reduction in thread load-carrying capability in the hardware of interest was equal to having up to three fewer threads in the hole that bolt threads could engage. One- half of this potential reduction was due to local pitch-diameter variations and the other half was due to overall pitch-diameter enlargement beyond Class 2 fit. This result was important in that the thread shear capacity for this particular hardware design was the limiting structural capability. The details of the method development, including the supporting testing, data reduction and analytical model results comparison will be discussed hereafter.
Johnson, David L.↗
A shared position/force control methodology for teleoperation
A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion.
Lee, Jin S.↗
Performance evaluation of a six-axis generalized force-reflecting teleoperator
Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.
Hannaford, B.↗
The effect of bandwidth on telerobot system performance
The purpose of the experiment was to determine the effect that various slave-joint bandwidths have on telerobot system performance. The telerobot system consisted of a slave arm controlled by a master. The slave incorporated an impedance loop to provide local compliance in addition to the compliance provided by the operator via force feedback. Three joint bandwidths, 0.5, 1.0, and 2.0 Hz, were used. The performance measures were the task completion time and the sums of the squared forces and moments exerted on the environment. The task consisted of peg-in-hole insertion and removal. The results of the experiment indicate a significant performance decrease at 0.5-Hz bandwidth relative to the 1- and 2-Hz bandwidths. There was no significant change in performance between the 1- and 2-Hz bandwidths.
Uebel, Mark↗
Tool Removes Coil-Spring Thread Inserts
Tool removes coil-spring thread inserts from threaded holes. Threads into hole, pries insert loose, grips insert, then pulls insert to thread it out of hole. Effects essentially reverse of insertion process to ease removal and avoid further damage to threaded inner surface of hole.
Collins, Gerald J., Jr.↗
New Tool Creates a Big Stir
A new self-adjusting, retractable pin tool for friction stir welding is now used in the manufacturing of components for NASA Space Shuttles. Friction stir welding is a process that makes straight-line welds without bringing the parent material to a liquid state. This is accomplished through high-speed rotation, which generates frictional heat between the welding tool and the piece being welded. This heat causes the material to soften to the point of plasticity without allowing it to melt. The plasticized material is then transferred from the front edge of the welding tool to the trail edge, where it joins the pieces being welded. However, a major flaw of this method is its reliance on a single-piece pin tool. The weld is left unfinished and a hole remains where the pin was inserted. The hole must be covered with a rivet in order to preserve the integrity of the weld. The NASA-developed pin tool, however, eliminates the need for this finishing step, as its retraction allows continuous rewelding at lesser depths, until the hole is completely closed. With this NASA technology, welding of higher strength alloys, as well as non-planer and variable thickness structures can be achieved.
Source record↗
Reusable captive blind fastener
A one piece reusable fastener capable of joining materials together from one side (blind backside) comprises a screw driven pin ending in a wedge-shaped expander cone. The cone cooperates within a slotted collar end which has a number of tangs on a cylindrical body. The fastener is set by inserting it through aligned holes in the workpieces to be joined. Turning the pin in one direction draws the cone into the collar, deforming the tangs radially outward to mate with tapered back-tapered hold in the workpiece, thus fastening the two pieces together. Reversing the direction of the pin withdraws the cone from the collar, and allows the tangs to resume their contracted configuration without withdrawing the fastener from the insertion hole. The fastener is capable of joining materials together from only one side with substantial strength in tension and shear over many resue attachment cycles, with no special operations on the main assembly parts other than the tapering of the back end of the insertion hole.
Peterson, S. A.↗
Novel, Miniature Multi-Hole Probes and High-Accuracy Calibration Algorithms for their use in Compressible Flowfields
Two new calibration algorithms were developed for the calibration of non-nulling multi-hole probes in compressible, subsonic flowfields. The reduction algorithms are robust and able to reduce data from any multi-hole probe inserted into any subsonic flowfield to generate very accurate predictions of the velocity vector, flow direction, total pressure and static pressure. One of the algorithms PROBENET is based on the theory of neural networks, while the other is of a more conventional nature (polynomial approximation technique) and introduces a novel idea of local least-squares fits. Both algorithms have been developed to complete, user-friendly software packages. New technology was developed for the fabrication of miniature multi-hole probes, with probe tip diameters all the way down to 0.035". Several miniature 5- and 7-hole probes, with different probe tip geometries (hemispherical, conical, faceted) and different overall shapes (straight, cobra, elbow probes) were fabricated, calibrated and tested. Emphasis was placed on the development of four stainless-steel conical 7-hole probes, 1/16" in diameter calibrated at NASA Langley for the entire subsonic regime. The developed calibration algorithms were extensively tested with these probes demonstrating excellent prediction capabilities. The probes were used in the "trap wing" wind tunnel tests in the 14'x22' wind tunnel at NASA Langley, providing valuable information on the flowfield over the wing. This report is organized in the following fashion. It consists of a "Technical Achievements" section that summarizes the major achievements, followed by an assembly of journal articles that were produced from this project and ends with two manuals for the two probe calibration algorithms developed.
Rediniotis, Othon K.↗
FEP plug protects H2 masers
Lifetime of hydrogen-maser bulb is increased by replacing beam stop plate with thick fluorinated ethylene-propylene (FEP) plug inserted in hole opposite beam entrance stem of bulb.
Deluca, J. J.↗
An oven for many thermocouple reference junctions
Compact, lightweight oven designed with geometric and heating symmetry holds many junctions at stable temperature. Oven has cylindrical wall with all points equidistant from heating coil. Thermocouple junctions are inserted in holes bored radially in wall. Sensor controls power supplied to heating coil, maintaining cylinder wall and junctions at constant temperature.
Leblanc, L. P.↗
Noncontact Measurement Of Critical Current In Superconductor
Critical current measured indirectly via flux-compression technique. Magnetic flux compressed into gap between superconductive hollow cylinder and superconductive rod when rod inserted in hole in cylinder. Hall-effect probe measures flux density before and after compression. Method does not involve any electrical contact with superconductor. Therefore, does not cause resistive heating and consequent premature loss of superconductivity.
Israelsson, Ulf E.↗
Magnetically Operated Holding Plate And Ball-Lock Pin
Magnetically operated holding plate and ball-locking-pin mechanism part of object attached to, or detached from second object. Mechanism includes tubular housing inserted in hole in second object. Plunger moves inside tube forcing balls to protrude from sides. Balls prevent tube from sliding out of second object. Simpler, less expensive than motorized latches; suitable for robotics applications.
Monford, Leo G., Jr.↗
Quick-Connect, Slow-Disconnect Bolt
Proposed bolt functions similarly to device described in article "Quick-Connect, Slow-Disconnect Nut" (MFS-28833). Bolt installed in standard threaded hole simply by pushing it into hole. Once inserted, bolt withdrawn only by turning it in conventional way.
Weddendorf, Bruce↗
Improved Quick-Release Pin Mechanism
An improved quick-release pin mechanism supplants a prior such mechanism in which the pin bears a shear load to hold two objects together. The prior mechanism, of a ball-locking design, can fail when vibrations cause balls to fall out. The load-bearing pin is an outer tube with a handle at one end (hereafter denoted the near end). Within the outer tube is a spring-loaded inner tube that includes a handle at its near end and a pivoting tab at its far end. The pin is inserted through holes in the objects to be retained and the inner tube is pushed against an offset pivot inside the outer tube to make the tab rotate outward so that it protrudes past the outer diameter of the outer tube, and the spring load maintains this configuration so that the pin cannot be withdrawn through the holes. Pushing the handles together against the spring load moves the locking tab out far enough that the tab becomes free to rotate inward. Then releasing the inner-tube handle causes the tab to be pulled into a resting position inside the outer tube. The pin can then be pulled out through the holes.
Wright, Jay M.↗
Spark Igniters Fit In Correct Locations Only
Pins create interference if incorrect assembly is attempted. When two different types of spark igniters must be used on same engine simple expedient ensures that each igniter is inserted in correct hole. Damage to engine and consequent failure are thereby avoided. Pins in base of spark igniter allow part to be inserted in any type hole.
Wendland, Fred J.↗
Repairing Voids and Delaminations in Composite Materials
Proposed tool forces adhesive into cracks. After inlet and outlet holes have been drilled to proper depth, alinement pin is inserted in inlet hole. Adhesive fills void or is forced into delamination, expanding delamination slightly to ensure full penetration. Potential applications in repair of fiber-reinforced components, boats, storage tanks, and some automobile bodies.
Ott, D. D.↗
Cutting holes in fabric-faced panels
Tool has 2 carbide inserts that bore clean holes through fibrous material with knifelike slicing action. Cutting edge of insert is curved, with plane inner surface at 30 degree angle to tool axis. Drill press or hand-held drill can be used to hold cutting tool.
Peterson, S. A.↗