THE GEORGE W. WOODRUFF SCHOOL OF 

MECHANICAL ENGINEERING 

Georgia Institute of Technology 

Atlanta, Georgia 30332-0405 

ME 4182 

DESIGN GROUP 6 

FALL QUARTER 1988 

LUNAR RATED 

FASTENERS 

LINDSEY GUPTON 

STEVE HYDE 

DAN McKlLLlP 

BRYAN PLAYER 

GREG SMITH 

~ 

An Equal Education and Employment Opportunity institution A Unit of he Univasity System of Ceorgia 
Skylab and ASP - Apollo Lives On 

Skylab EVAS wdly took the form of two astronauts actually performing the work outside the station while the third followed them with W 

and still cameras through the windows. Here, Jack Eousma is pictured during Skylab 3's EVA to erect a new Sunshade. 
TABLE OF CONTENTS 

ABSTRACT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

PROBLEM STATEMENT ........ ... . .............................................................. 

DESCTIPTION .......................................................................... 

A) BACKGROUND 

6) PERFORMANCE 

C) CONSTRAINTS 

ANALYSIS ..................................................................................... 

A) FASTENER SELECTION 

8) MATERIALS 

C) LUBRICATION 

CONCLUSIONS AND RECOMMENDATIONS ........ .. .... ... .... .. .. .. .... .. .... .... .. . 

ACKNOWLEDGEMENTS .......................................................................... 

REFERENCES ............................................................................ 

BIBLIOGRAPHY ........................................................................................ 

APPENDIX ........................................................................................ 

A: FASTENER CATALOG 

6: EVALUATION SPREADSHEETS 

C: CALCULATIONS 

D: PROGRESS REPORTS 

E: DISCLOSURE fQRMS 

F: DESIGN ALTERNATIVES 

1 

2 

7 

9 

20 

21 

21 

24 

29 

26 

28 

28 

49 

55 

60 

69 
ABSTRACT 

A catalog of fasteners is presented for a variety of applications 

to be used in a lunar environment. The fastening applications 

targeted include: covers, panels, hatches, bearings, wheels, gears, 

pulleys, anchors for the lunar surface and structural fasteners 

(general duty preloadable). The robotic installation and removal of 

each fastener is presented along with a discussion of failure modes. 

Structural performance data is tabulated for various configurations. 

Potential materials for the space environment are presented along 

with recommendations of appropriate solid film lubricants. 

Three original fastener designs were found suitable for the lunar 

environment. A structural analysis is presented for each original 

design. 

1 
PROBLEM STATEMENT 

Compile a catalog of fasteners suitable for the lunar environment 

that covers a practical range of applications. Design one or more 

fasteners for applications where existing fastening systems do not 

meet required constraints. 

DESCRIPTION 

BACKGROUND 

With the United States pressing for a manned space station on the 

surface of the moon, a need for lunar rated fasteners has been 

recognized. Equipment for the operation of the manned space station 

will require a long life due to the expense of sending equipment to 

the moon. Therefore, a robotically actuated maintenance program is 

inevitable. An integral part of this program includes a pool of 

reuseable fasteners for both temporary and semi-permanent 

applications. 

Suitable fasteners have been determined through a selection 

process which accounts for the extreme environment on the moon's 

surface. These conditions include [ll]: 

1 ) Hard Vacuum 

2) Gravitational attraction of 1/6 g 

3) Intense Radiation 

4) Highly Abrasive Lunar Soil 

5) Large Thermal Stresses (-170 to 130 degrees C) 

PERFORMANCE 

The performance objectives for lunar rated fasteners consist of 

bu and -. In an extreme environment, the performance 

of a mechanical fastener relies on a number of factors. The most 

important of these factors are considered below. 

Controlling -ai ems ion of the fastener material relative 

to the structural material is crucial for a sound joint [5]. If the 

fastener has a coefficient of expansion considerably less than the 

structural material, the stress on the fastener will exceed intended 

2 
values and a decreased fatigue life and vacuum welding are likely to 

occur. If the coefficient of expansion of the fastener is greater than 

the structural material, a loss of preload would ensue. Therefore, 

fastener materials and the corresponding structural materials 

should be chosen to have close expansion coefficients. (A low 

coefficient of thermal expansion is desired for resistance to 

thermal fatigue .) 

pes is ta nce to vacuu m welding is required for temporary 

fasteners in an extreme environment [8]. Fasteners that have sliding 

surfaces or surfaces in close tolerances will tend to vacuum weld. 

The use of an appropriate lubricant coating applied to the bearing 

surfaces will help prevent galling, seizing and vacuum welding. 

Vacuum welding is also hindered by using different materials for 

fastener and structure. This hinderance is due to differences in 

crystal structures and atom sizes. Therefore, with proper choice of 

materials, vacuum welding can be controlled. 

Stabilitv of the fastener material over the temperature range 

encountered on the moon should be considered. Materials displaying 

a ductile to brittle transition temperature may be brittle at lower 

temperatures. This embrittlement of fastener material due to 

thermal conditions could lead to catastrophic failure. At higher 

temperatures, adhesion between fastener and structure increases 

due to the corresponding change in mechanical properties and 

possibly an increase in chemical reactivity [8]. 

Radiation stab ilitv is required to maintain fastener integrity. 

Radiation can introduce microstructural changes [6] (vacancies and 

interstitials) into a material's crystal lattice. This, in turn, will 

cause a restriction in the amount of plastic flow (Radiation 

hardening). Other effects of irradiation on materials include void 

swelling, creep and solid state phase transformations [6], [7]. Above 

room temperature, radiation damage tends to anneal out, while at 

cryogenic temperatures, the defects are frozen into place. 

Therefore, material stability under cryogenic irradiation, which 

causes a decrease in tensile strength and elongation, must be 

co n side red when choosing mate rials . 

3 
A biah tolerace f it between fastener and structure is desired 

due to the dusty environment. When fasteners are removed and 

reinstalled for maintenance, a fair amount of dust might accompany 

the fastener in remaking the joint. A low tolerance fit could render 

the dust covered fastener useless, so high tolerance fits are 

desirable [ll]. Tolerances should permit fastener operation in 

environments where dust particle size is on the order of 25 microns. 

CONSTRAINTS 

The following constraints were used in selecting the most 

desireable fastener for a specific application. Each constraint was 

weighted differently for each application. The weighting factors are 

listed on selected spreadsheets in Appendix B. 

A: Thermal Stresses 

Thermal stresses on the fasteners affect several functions of the 

fastener. The first is the size of the fastener. With a change in 

temperature, the size of the fastener changes. This will affect the 

tolerance of the fastener. If one part of the fastener is ralatively 

hotter than another, binding may occur. 

As the fastener cycles from darkness to light on the moon it 

will undergo ihermal fatigue. This will shorten the life of the 

fastener. Therefore fasteners should be made from materials with 

low coefficients of thermal expansion, and few parts. 

In different fastening applications, the importance of thermal 

stress varies. For fastening with a required preload, for example, 

the effects of thermal stresses are augmented; for fastening a 

panel, the thermal stresses are less important. 

B: Vacuum Welding 

Vacuum welding can occur when two surfaces of unprotected 

similar metals are moved relative to each other while under a load 

in a vacuum. 

This is important for all temporary and semi-permanent 

fastening applications. If a fastener vacuum welds its service life 

will end when it has to be removed. To avoid this the parts of the 

fastener which make contact with any surface and undergo relative 

4 
motion must be made of dissimilar metals (atomic size and crystal 

structure) and/or lubricated with a solid film lubricant. 

C: Abrasive Environment 

The abrasive environment of the moon will affect all fasteners 

by shortening their service life . To counter this, all pieces that 

move while in contact with another part of the fastener must be 

sealed from lunar dust. 

D and E: Robotic Manipulation 

Since robots will do the field servicing of the equipment, all 

fasteners must be easily manipulated by a robot. 

The robots will be remotely controlled. To simplify the 

fastening maneuvers, installation will consist of few operating 

movements, high tolerance fits, blind installations, low torque 

requirements, and a minimal amount of torque required for 

installation. All fasteners must be designed with this in mind. 

F: Size 

The 

size affects the cost of getting a fastener to the moon. But small 

fasteners may be hard to install by robots, have lower strengths and 

a shorter service life. Therefore, The size criterion was weighted 

less than other criteria. 

The size factor is less important than most other criteria. 

G: Service Life 

To save money in the area of transportation costs, the service 

life must be long. In considering NASA's goal of a ten year service 

life, a strict maintenance schedule which would require the fastener 

to be operated several times a week and still be able to perform its 

specified duties to its design limits is desired. To avoid 

transporting an excessive amount of fasteners to the moon, 

successful operation under the above service conditions is required. 

H, I, and J: Strength 

Strength of the fastener is a very important part of the fastener 

design. Tension and shear strength are the most important. Torsion 

can be handled by using more than one fastener and transfer a 

5 
torsional load to a shear load. 

The strengths of the fasteners in each category vary in 

importance for the overall fastener. For preloadable applications, 

strength is very critical since the anticipated loads will be higher 

than non-preloadable applications. Failure of a preloadable fastener 

will very likely be catastrophic in nature; for example, a crane boom 

joint failing as opposed to a cover panel falling off. 

K: Reusability 

Reusability takes into account the extent to which a fastener 

can be reused after removal. For example, a blind rivet has no 

reusability since it must be drilled out. 

L: Maintainability 

Maintainability is how easily the fastener can be replaced if it 

breaks. This, for example, is more important on latches since part 

of the latch may also be attached to structural components. If the 

fastener fails but replacing or repairing the fastener is easy, then it 

would score high in this category. 

M: Vibrational Resistance 

This is how well a fastener will perform under vibration from 

equipment operation. This is especially important for fasteners that 

hold together preloaded joints used for wheels, bearings, gears, 

pulleys on shafts, and other structural connections. 

N: Versatility 

This was used in the general preloadable case to give a weight 

to the fastener's versatility. To score highly, the fastener must 

have the potential to fasten several types of joints so that fewer 

specific fasteners will have to be taken to the moon. 

0: Preloadability 

This category takes into account how easily a fastener can be 

preloaded, how precise a preload can be achieved, and how much 

preload it can apply. This is most important in preloadable fastener 

applications. 

6 
ANALYSIS 

Of the many fasteners already available for use here on earth, it 

is necessary to determine which ones would function under the 

adverse conditions of the lunar environment. The applications of 

fasteners on the moon were broken down into six categories. 

Certain constraints were determined for the specific application and 

weighted according to importance on a scale from zero to ten. In 

each category, a list of possible fasteners was formulated from both 

existing and original designs and then evaluated (Appendix B). 

Assigning actual numbers to each fastener for each constraint 

helped to define the best candidates for robotic installation in a 

lunar environment. The numbering system follows a convention 

where the best performance for a given constraint would merit a 

ten, while the worst performance earns a zero. 

The six categories analyzed will encompass many applications 

for fasteners to be used on the moon. Each category has certain 

constraints which will be more important to it than it will be to 

others. 

The most general category is the preloadable structural generalduty fasteners. Here, the strength of the fastener will be very 

important since it will be under constant load for long periods of 

time. Also, the robotic operation in installing and removing the 

fastener will be important since a considerable amount of torque or 

a tight fit may be needed to get the desired preload. 

A category for fasteners used on covers and hatches was created 

to cover the panels, electrical covers, access hatches, and other 

plate-like covers that will be used on the equipment or buildings on 

the moon. Here, the importance of vacuum welding was weighted as 

the most important constraint due to the probability of a panel 

getting permanently stuck due to a fastener that vacuum welds into 

place. Again, the robotic operation of the fastener was given a high 

priority because the fasteners will probably have to be lined up to 

fit in an array of holes (one in each corner of the panel). The 

strength of the fastener in shear will be the most important since 

the panel will probably be hanging vertically and the fastener 

holding it up will be inserted horizontally. 

7 
Fasteners for securing wheels, gears, and pulleys to shafts were 

analyzed with vacuum welding and vibration resistance ranking as 

the most important constraints. Robotic applications were given 

high priority because if a fastener cannot be installed or removed 

from a machine to get to the gear or wheel, the machine may be 

rendered useless. 

Most of the moving machinery will use some kind of bearings in 

their operation. Methods of securing these bearings to shafts were 

analyzed according to their ability to secure the bearing effectively. 

The thrust of the bearing against the securing device was rated as 

the most important constraint, while robotic operation, thermal 

stresses, and vacuum welding also ranked as high in priority. 

A category for dealing with the hoses used on the machinery was 

broken into two sections. The first deals with the connection of , 

theses hoses to one another, while the second deals securing the 

hoses and keeping them out of the way of moving parts or dragging 

the ground. In the connection section, the tension strength, robotic 

operation, and the reusability ranked most important. 

In the securing section, the same constraints were given the 

highest priority. Here, the vacuum welding and thermal stresses are 

not as important as in the connection section because the securing 

device could be designed to flex under thermal stresses and still do 

the intended task and a vacuum weld would not render the hose 

useless. 

In designing a device to exert a force perpendicular to the lunar 

surface(i.e. a lunar drill), it is necessary to provide enough force to 

counter the opposing force that the moon will supply. Fasteners for 

anchoring things such as guy lines or anchoring cables to the lunar 

surface were analyzed and weighted for their performance in an 

environment consisting entirely of abrasive lunar regolith. Hence, 

the ability to operate in dust was rated among the most important 

constraints along with strength in tension and robotic installation. 

After the values were assigned, the total score for each 

fastener was arrived at by taking the sum of all the products of 

importance factor and category value for all of the categories. 

The original fasteners that proved to be worthy for lunar use 

were analyzed to see if they would work as designed. These 

calculations are given in Appendix C. 

a 
FASTENER SELECTION 

SEALED-THREAD BLIND FASTENER 

Refer to Figure 1, Appendix A. Intended to be a general-duty, 

preloadable fastener, the sealed-thread blind fastener is an original 

design which eliminates many of the problems of conventional 

preloadable fasteners when used in the lunar environment. It was 

designed specifically for this environment and for ease of robotic 

installation. 

The fastener utilizes a threaded design for maximum precision 

in torque application as well as for reasons of strength. However, 

since conventional threaded designs are impractical for lunar 

robotic use, due to dust fouling problems and potential for stripping, 

this uses a sealed thread principle. Dust penetrability is 

eliminated, and O-ring seals can be incorporated for an additional 

factor of security. The fastener is pre- threaded, eliminating this 

difficult robotic operation as well as the potential for stripping the 

nut. 

The unit incorporates an internally-threaded sleeve unit, an 

externally- threaded inner bolt with a semi-hollow cone bottom, and 

an expanding wing unit with three leaves and an O-ring type spring. 

The inner bolt is tightened against the wing unit, causing it to 

expand and grip the bottom side of the material. Upon removal, the 

inner bolt is loosened, and the wing pieces retract due to the 

pressure of the O-ring and the unit can be removed from the hole. 

The fastener is completely blind, requiring no engagement of the 

opposite side of the material, and can be installed by one robotic 

arm in one operation. The sleeve piece is round and can be installed 

in conventionally-drilled holes. Its top incorporates a crescent 

head, and the robot holds this to prevent the fastener from spinning 

freely in the hole as it is tightened. The sleeve crescent head can be 

held in place by the same arm that spins the inner bolt with a simple 

attachment. The inner bolt has a reverse-blade head (see drawing), 

and is spun to tighten. It is completely flush with the outer sleeve 

top, and the reverse-blade design was chosen to minimize the effect 

of dust accumulation in its recess. However, an allen-type head 

could be used if desired. 

The advantages of this design over conventional blind fasteners 

9 
are several. First, it is easily removed and completely reusable, 

because no pieces are deformed in the tightening process. 

Additionally, the fastener can be used with material of various 

thicknesses - its length does not have to be specifically matched 

to the material thickness as in some designs. This is due to the 

free-floating wing piece, which after expansion can be tightened 

within a reasonable length (one-half inch or so, depending on outer 

diameter). Furthermore, its smooth outer bore and tapered bottom 

insure easy low-tolerance robotic installation and easy potential 

for magazine loading, speeding up the installation process. 

There was no device existing similar to this proposal found 

after an exhaustive patent and literature search. NASA presented 

the closest alternative found, incorporating a sealed-thread 

configuration but utilizing a deformable lower shank, requiring a 

bottom counterbore, incorporating very little latitude in material 

thickness, and requiring a special hole to prevent the fastener from 

spinning while tightening. Turn to the appendix on alternative 

designs for an illustration. 

The proposed design will perform very similarly to a bolt of 

similar dimensions in shear and tension. It may fail first at the 

wing unit either at the O-ring spring or a wing piece itself if loading 

forces are too great. However, if the spring (the weakest link) 

should fail in operation, the fastener's performance would not be 

compromised; in removal the wing 

In choosing the sealed-thread blind fastener, the relevant 

criteria considered were the general constraints previously 

mentioned. Refer to the evaluation matrix presented as Table 7, 

Appendix B . 

pieces would simply fall off. 

QT CAM FASTENER 

Refer to Fig. 2, Appendix A. The QT (quarter turn) Cam fastener 

is intended for use in preloadable joints where threaded fasteners 

would be used on Earth. This is a general use fastener for blind 

preloadable operation. The fastener consists of a shaft with two 

keys at one end of the shaft and two offset circular disks on hinge 

pins at the other end. The eccentricity of the circles cause the 

preload on the fastener. The fastener is inserted into a keyed hole 

10 
and pushed through to the other side until it clears the material. 

Then the fastener is turned one quarter turn to provide a bearing 

surface from the keys on the fastener shaft. The cams are then 

rotated past the peak load position to the stop which is at 5" past 

center. A spanner wrench hole is provided for extra torque 

applications. 

To install the QT Cam robotically, the robot must first grasp the 

fastener by the shaft and the cams. Then the robot must insert the 

keyed shaft into the keyed hole and push it through to the other side. 

Then it must turn the fastener one quarter turn and push the cam 

past the peak load point to the stop at 5" past center. The removal 

is the opposite of installation. 

The possible areas of failure in the QT cam are at the keys and 

at the hinge pins. The hinge pins will shear off before the shaft 

breaks because of the way they are loaded. If the seals to the hinge 

pins fail and dust gets into the cavity then the pins can seize. 

In choosing the QT Cam the relevant criteria considered were 

the general constraints considered above. Refer to the evaluation 

matrix presented in Table 1, Appendix B. The advantages to this 

fastener are its ease of application, blind fastening ability, 

preloadable to a high preload, high tensile and shear load 

capabilities, and an over-center lock to counter loosening by 

vibration. The cams will be coated to counter vacuum welding. 

DISENGAGEABLE MAGNETIC FASTENER 

Refer to Figures 3, Appendix A. This hatch and panel fastener is 

an original design which incorporates a magnet to provide holding 

force and can be completely disenabled through a quarter-turn of its 

wing handle. Robotic installation and removal is extremely easy, 

and its performance in the lunar environment should be excellent. 

The magnetic forces can be disenabled through a mechanism 

similar to that found on dial gauge-holding tools for the machine 

shop. Basically, there is a magnetic core which the 1/4-turn handle 

brings in and out of contact with two conductor pieces, effectively 

engaging or separating the two poles of the magnet. The result is 

that when "off", the magnet provides virtually no force and can be 

easi I y disengaged. 

The two parts of the fastener incorporate pre-installed 

11 
housings, attached by small screws, rivets, or similar device. They 

are to be constructed of a non-magnetic material such as aluminum. 

In the female piece, there is a circular steel (or other magnetic 

material) insert to correspond with the magnet on the male unit. 

The male unit includes the wing piece to engage the magnet. The 

different materials allow easy robotic lining-up of the fastener; the 

two pieces will only be attracted to each other in the area intended. 

The magnet itself can easily provide enough force in a small 

size; one disengageable magnet found exerted 175 Ibs of force (in 

perfect tension) in a 2x2 inch package. Much less total force would 

be required for the applications foreseen in the lunar environment, 

and therefore the size required can be minimized. Additionally, the 

fastener would be impervious to the ferric regolith particles; since 

the magnet is "off" when disengaged, and completely sealed when 

"on", it cannot attract the dust particles. Radiation coatings could 

be applied to the magnet if necessary, and vacuum welding would not 

be a factor in its operation. The Curie temperatures of the magnetic 

materials considered all far exceeded any found on the moon, and 

thermal stresses are negligible. Furthermore, the fastener's 

reusability and service life is indefinite. 

Failure would first occur in the wing handle mechanism itself 

from excessive application force. The housing retaining screws are 

also subject to failure under high loads. The magnet itself should 

have good service life and provide plenty of tensile strength. 

The criteria involved in our choosing the magnetic panel 

fastener are outlined above. Refer to the evaluation matrix 

presented as Table 2 in Appendix B. The advantages of this proposal 

over existing designs are several. Its installation/removal is as 

simple as possible. Its tolerance to the lunar environment is 

excellent, and its reusability is great. It is relatively simple in 

design and can provide great strength in a reasonable size. 

T-HANDLE LATCH 

Refer to Fig. 4, Appendix A. The T-handle latch is intended for 

use in securing panels, covers and hatches. The latch itself is preinstalled in the panel that is to be secured. The latch essentially 

consists of a shaft on which one end is a T-shaped handle and on the 

other, a bar. The object that the panel is to be secured to has a 

12 
receptacle to accept the bar at the end of the latch shaft. To apply 

the latch, the latch is positioned so that the bar at the end of the 

latch shaft enters the receptacle. Once the bar has fully entered the 

receptacle, the shaft is then turned (via the T-handle) ninety 

degrees. This in turn rotates the bar into the receptacle, forcing the 

bar to bear against the interior surface of the receptacle, here by 

preventing the latch (and therefore the panel) from being removed. 

This provides the fastening action of the latch. 

To install the T-handle latch robotically, the robotic device 

must first grasp the T-handle of the latch, position it over the 

receptacle, insert the bar end into the receptacle, turn the T-handle 

ninety degrees, and then release the T-handle. Removal is the 

opposite of the above. 

The T-handle latch may fail by some defect or fatigue in the 

material of the latch, by exerting too large a force while inserting 

the bar into the receptacle, which may promote plastic deformation 

or fracture of one or more fastener parts. 

In choosing the T-handle latch, the relevant criteria considered 

were the general constraints mentioned above. Refer to the 

evaluation matrix presented as Table 2 in Appendix B. The 

advantages of the T-handle latch are that it is relatively simple in 

theory and operation, is potentially small in size, is reasonably dirt 

tolerant depending on the design of the receptacle, and is tolerant 

of thermal stresses. It is also very reusable. As can be seen from 

the evaluation matrix referred to above, the T-handle latch seems to 

be the best compromise with respect to optimum performance 

with in the tequ ired constraints. 

13 
INTERNAL AND EXTERNAL SNAP RING 

Refer to Fig.s 5a & 5b, Appendix A. The internal and external 

snap rings are intended for use in fastening bearings, wheels, gears 

and pulleys to shafts. The interior snap ring is designed to work in 

the inner radius of hollow shafts. The internal snap ring is applied 

by inserting the proper tool into the semi-circular notches at the 

ends of the ring. A force is then applied, through the tool, such that 

the notches are brought toward each other reducing the diameter of 

the ring. The ring is then inserted into a machined groove. The force 

on the notches is removed, thereby allowing the ring to expand into 

the groove. The groove is smaller in diameter than the unstressed 

ring, therefore, when the force on the ring due to the tool is 

released the ring will exert a spring force on the inside surface of 

the groove, thereby preventing the ring from working its way out of 

the groove. The inner portion of the ring also protrudes out of the 

groove preventing the bearing from moving past the ring and 

effectively restricting the bearing to a particular position along the 

shaft. The external snap ring works similarly, except that it is 

designed to work on the outer radius of shafts. 

To install the snap ring robotically, the robotic device must 

grasp the ring, insert the proper tool into the notches at the ends of 

the ring, apply the appropriate force to the ends, position the ring 

with respect to the machined groove, remove the force on the ends 

and release the ring. Removal is the opposite of the above. 

The snap ring may fail by some defect or fatigue of the ring 

material, or by exerting too great a force on the ring ends during 

installation/removal, causing the ring to either plastically deform 

or break. The ring may also fail by the bearing exerting too great a 

thrust force on the ring, causing the ring to either plastically 

deform or break. 

In choosing the snap ring, the relevant criteria considered were 

the general constraints mentioned above, with the exception of 

strengths in tension and shear being replaced with strength in 

thrust. Refer to the evaluation matrix presented as Table 3 & 4, 

Appendix B. The advantages of the snap ring are that it is small in 

size, simple in theory and operation, and reasonably tolerant of dust 

contamination and thermal stresses. It is also very reusable. As 

, 14 
can be seen from the evaluation matrix referred to above, the snap 

ring seems to be the best compromise with respect to optimum 

performance within the required constraints. 

GIB KEY 

Refer to Fig. 6, Appendix A. The Gib key is intended for use in 

securing wheels, gears and pulleys to shafts. To apply, the wheel is 

placed on the shaft to which it must be secured. The Gib key is then 

placed into a machined groove in the shaft, with the small end of the 

key facing the wheel. The key is then forced toward and under the 

wheel. Wedging the key between the shaft and the wheel and fastens 

the wheel to the shaft. The wheel may also have a machined groove 

in it to receive the key if alignment of the wheel with respect to 

the shaft is critical. The key is installed so that there is a gap 

between the wheel This facilitates 

removal of the wheel from the shaft by providing a bearing surface 

by which the wheel can be pried free from the key using an 

appropriate tool. 

To apply robotically, the robotic device must grasp the wheel , 

position the wheel on the shaft it is to be secured to, grasp the key, 

position it in the machined groove, apply a force to the key such that 

the key is forced toward and under the wheel and wedged between 

the wheel and the shaft. Removal is the opposite of the above; if the 

key is difficult to remove, the wheel may be pried off of the key by 

inserting a tool between the wheel and the key and applying the 

necessary force. 

The Gib key may fail by defect or fatigue of the key material or 

by exerting too great a force to the key during installationhemoval, 

causing the key to either elastically deform or break. The key may 

also fail due to the wheel exerting too great a thrust force on the 

key, causing the key to either plastically deform or break. 

In choosing the Gib key, the relevant criteria considered were 

the general constraints mentioned above, with the exception of 

strength in tension and torsion being replaced with strength in 

thrust and shear. Refer to the evaluation matrix presented as Table 

3, Appendix B. The advantages of the Gib key are its simplicity of 

theory and operation, its small size, and some degree of reusability. 

and the large end of the key. 

15 
It is also tolerant of thermal stresses and dust contamination, 

provided the design tolerances between the key and the machined 

groove are reasonably large. A small amount of dust may actually 

improve the fastening ability of the key. As can be seen from the 

evaluation matrix, the Gib key seems to be the best compromise 

with respect to optimum performance within the required 

cons trai n ts . 

ANCHOR STAKE 

Refer to Fig 7, Appendix A. The anchor stake is intended for use 

in securing objects such as drilling devices to the lunar surface. 

The stake has a cable pre-attached to its large end; the cable is in 

turn fastened to the object to be secured. To apply the anchor stake, 

position the stake at a desired angle to the lunar surface (the angle 

depends on the nature and slope of the lunar surface and the position 

of the object) with the pointed end pointing toward the lunar 

surface, and apply force to the stake such that the pointed end of the 

stake is driven into the lunar surface while maintaining the cable 

taught. The stake is driven into the lunar surface to a sufficient 

depth so that the friction force applied by the lunar surface 

material on the stake is greater than the retracting force on the 

stake due to the tension in the cable. This friction force supplies 

the fastening action of the stake. 

To apply robotically, the robotic device must grasp the stake, 

position it relative to the lunar surface, apply a force driving the 

stake a sufficient depth into the surface while maintaining tension 

in the cable, and releasing the stake. Removal is the opposite of the 

above. 

The anchor stake may fail either by defect or fatigue of the 

stake material. Exerting too great a force on the stake during 

installation (in the effort to overcome the repelling friction force 

due to the surface material or after striking some hard object under 

the surface) may cause the stake to either plastically deform or 

break. The stake may also fail due to tension force in the cable 

exceeding the friction force due to the surface material, causing the 

stake to pull out of the surface, or by the resultant forces on the 

stake exceeding the specified strength of the stake material, 

16 
causing the stake to either plastically deform or break. 

In choosing the anchor stake, the relevant criteria considered 

were the general constraints mentioned above. Refer to the 

evaluation matrix presented as Table 5, Appendix B. The advantages 

of the anchor stake are its simplicity of theory and operation, its 

reusability, dust contamination (it is designed to operate in 

essentially a 100% contaminated environment) and thermal stresses 

(irrelevant to its method of operation). As can be seen from the 

evaluation matrix, the anchor stake seems to be the best 

compromise with respect to optimum performance within the 

required constraints. 

GLAD-HANDS COUPLING 

Refer to Fig. 8, Appendix A. The glad-hands coupling is intended 

for use in connecting the ends of pneumatic and hydraulic lines and 

hoses that may or may not require maintenance of pressure within 

the lines. The glad-hands coupling consists of two pieces. One 

piece is pre-attached to the end of one of two lines to be connected 

together; the other piece is pre-attached to the end of the other line. 

The two pieces are then positioned together so that the seals 

contained within each piece are in contact with each other. The 

follower of each piece is then aligned with the receiving groove in 

the other piece, and the pieces are rotated in such a way as to 

engage the followers in their respective grooves until the stops at 

the ends of the grooves are contacted by the followers. This action 

compresses the seals together, providing an effective seal between 

the two pieces, while the reaction force provided by the compressed 

seals clamps the two pieces together, preventing the followers from 

slipping out of their respective receiving grooves. This clamping 

force provides the fastener action. 

To apply robotically, the robotic device must grasp the two 

pieces, position them together so that the seals contained within 

the two pieces are in contact with each other, and apply a force to 

rotate the pieces with respect to each other until the followers are 

fully engaged in their respective receiving grooves, and then release 

the pieces. Removal is the opposite of the above. The coupling piece 

presented in the drawing in Figure 8 of Appendix A entails a slight 

17 
modification to the typical glad-hand piece to better enable a 

robotic device to grasp it. 

The glad-hands coupling may fail by defect or fatigue of the 

material in the pieces (especially in the follower and groove areas). 

Wear in the groove and follower bearing surfaces and the seal 

bearing surfaces, may cause a reduction in the pressure sealing 

capability. The sealing capability may also be affected if the 

coupling is exposed to temperatures cold enough to cause the seal 

material to freeze or hot enough to cause the seal material to melt. 

In choosing the glad-hands coupling, the relevant criteria 

considered were the general constraints mentioned above. Refer to 

the evaluation matrix presented as Table 6 in Appendix B. The 

advantages of the glad-hands coupling are its good resistance to 

thermal stresses, its reusability and its simple operation. It is also 

reasonably tolerant of dust, although a particularly large 

accumulation of dust on the seal surfaces may adversely affect the 

sealing capability of the coupling. The rotation required to apply the 

coupling with the seal surfaces in contact may provide enough 

cleaning action should such an accumulation occur. As can be seen 

from the evaluation matrix referred to above, the glad-hands 

coupling seems to be the best compromise with respect to optimum 

performance with in the required constraints. 

SPRING CLIP 

Refer to Fig 9, Appendix A. The spring clip is intended for use in 

securing hoses, lines and cables. The back face of the clip is preattached to the object that it is desired the hose be secured to. To 

apply the spring clip, the hose is placed against the front face of the 

clip between the outwardly protruding ends, and then pushed 

against the front of the clip with sufficient force that the two 

prongs of the clip are spread outward and around the hose until the 

hose contacts the back of the clip. The distance between the 

unstressed prongs is less than the diameter of the hose to be 

secured, resulting in a spring force exerted by the prongs on the 

hose. This force provides the fastening action of the clip. 

To apply robotically, the robotic device must grasp the hose to 

be secured, position it against the front of the clip, and push the 

18 
hose into the clip with sufficient force to snap the hose into place. 

Removal is the opposite of the above. 

The spring clip may fail by defect or fatigue of the material of 

the clip, or of the material of the object the clip is pre-attached to. 

The clip may also fail due to improper positioning of the hose during 

installationhemoval, causing excess force to be brought against one 

of the prongs, causing the clip to either plastically deform or break. 

In choosing the spring clip, the relevant criteria considered 

were the general constraints mentioned above. Refer to the 

evaluation matrix presented as Table 7, Appendix B. The advantages 

of the spring clip are its small size, its tolerance of thermal 

stresses and dust, its simplicity of theory and operation, and its 

reusability. As can be seen from the evaluation matrix, the spring 

clip seems to be the best compromise with respect to optimum 

performance within the required constraints. 

OVER-CENTER LIVING HINGE 

Refer to Fig. 10, Appendix A. The over-center living hinge is 

intended for use in securing hoses, lines and cables. The back face 

of the hinge is pre-attached to the object it is desired the hose be 

secured to. To apply the hinge, the hinge must initially be in the 

open position. The hose is then positioned between the protruding 

ends and against the back of the hinge. A hose is pushed into the 

hinge forcing it to clamp around the hose. The ends of the hinge 

simultaneously close around the hose until the ends of the hinge 

completely surround the hose. The hinge is then in the closed 

position. The material of the hinge, polypropylene, is highly elastic, 

providing a spring action keeping the hinge closed. This force 

provides the fastening action of the hinge. 

To apply robotically, the robotic device must grasp the hose that 

must be secured, position it between the ends of and against the 

back of the hinge, apply a force such that the hose is pushed into the 

hinge until the hinge is closed, and then release the hose. Removal 

is the opposite of the above. 

The over-center living hinge may fail by fatigue or defect of the 

material of the hinge or of the object the hinge is pre-attached to. 

The hinge may also fail during installation of the hose due to 

19 
improper alignment of the hose between the open ends of the hinge, 

or attempting to install the hose with the hinge in the closed 

position, causing the hinge to either plastically deform or break. 

In choosing the over-center living hinge, the relevant criteria 

considered were the general constraints mentioned above. Refer to 

the evaluation matrix presented as Table 7, Appendix B. The 

advantages of the over-center living hinge are its simplicity of 

operation, its tolerance of thermal stresses and dust, and its 

reusability. As can be seen from the evaluation matrix mentioned 

above, the over-center living hinge seems to be the best compromise 

with respect to optimum performance within the required 

cons trai n ts. 

MATERIALS 

The more popular materials for space applications today fall 

into three general categories: alloys, plastics and composites, The 

most promising alloys for fastener applications are beryllium, 

molybdenum or nickel based 11 01, [12]. Beryllium and Molybdenum 

alloys are both seeing applications in deep space (Space Shuttle 

brake systems, satellite structures, lubricants) because they have 

excellent dimensional stability, high strength to weight ratio (for 

Beryllium, five times that of ultra-high strength steels) and vacuum 

stability [2]. Monel, a Nickel-Copper alloy, is strong and tough at subzero temperatures and has excellent anti-seizing and non-galling 

properties. 

Nickel-based superalloys (Incoloy) are good choices for high 

temperature applications (Space Shuttle engine parts: heat 

exchanger liners, housing supports) [2]. lncoloy 903 exhibits a nearly 

constant coefficient of thermal expansion (thus resistant to thermal 

fatigue). 

Aluminum-Boron, Carbon-Phenolic and Epoxy-Boron composites 

Illustrate high-strength, high-temperature, light-weight materials 

for aerospace applications. 

Poly(amide-imide) is especially used in applications where 

strength at high temperature is required. This engineering 

thermoplastic is characterized by good impact resistance, excellent 

dimensional stability, high strength at high temperatures and good 

20 
radiation resistance. Numerous grades of Poly(amide-imide) are 

currently available. The type of fiber reinforcement and its volume 

fraction percent are variables that can be developed to meet special 

de si g n s. Aero space ap pl icat io ns i ncl ude fasten e rs , bu s h i ng s , 

brackets and housings. 

LUBRICATION 

In virtually all of our fastening applications, the tendency for 

vacuum welding of bearing surfaces or sliding parts can be reduced 

by an increase in the lubricity of mating surfaces. Liquid lubricants 

were not considered because they vaporize in a vacuum, they trap 

abrasive particles and they require complex robotic maneuvers for 

application and removal. The following solid lubricants prevent 

galling and have anti-seize properties and are satisfactory for the 

space environment [3]. 

1) Lube - Lok 4306, Electrof iI m , I nc. 

specification: NASA-A-D-66A 

composition: 

usable temperature: -184 to 316 degrees C (air) 

used on: Plastics, Fibers, Ceramics, Metals 

remarks: Good outgassing properties, poor 

radiation properties, widely tested 

and approved for deep space and high 

vacuum applications 

MoS2 in phenolic binder (no graphite) 

2) Bps 18.07, Ball Aerospace Systems (vac kote 

process) 

MoS2 lube solids, organic binder 

-184 to 288 degrees C (vacuum) 

May be applied to most metals, space 

environment, load capacity > 

100,000 psi 

specification : not available 

composition : 

usable temperature: 

used on: Glass, Ceramics, Metals 

remarks: 

3) Drilube 805 N, Drilube Company 

21 
specification: 

composition : 

usable temperature: 

used on: 

remarks: 

4) Everlube 811 

specification: 

composition: 

usable temperature : 

used on: 

remarks: 

MIL-L-81329 

MoS2 and graphite in a sodium 

silicate binder. 

-240 to 649 degrees C (vacuum) 

Glass, Ceramics, Metals 

Very good load capacity 

E/M Lubricants, Inc. 

MoS2 and graphite in sodium silicate 

binder. 

-240 to 649 degrees C (air) 

Glass, Ceramics, Metals 

Very good radiation properties 

negligeable vacuum weight loss 

MIL-L-81329 

22 
CONCLUSIONS AND RECOMMENDATIONS 

An ideal fastener rated for the lunar environment should' be 

small, dirt tolerant and simple. Six of the 10 fasteners herein 

recommended for use in a lunar environment illustrate these aspects 

(snap ring, over-center living hinge, glad hands coupling, spring clip, 

anchor stake, Gib key). In choosing the material for a specific 

application, the physical, mechanical and thermal properties can be 

specified to meet criterion stated in the report (i.e. lightweight, 

strong and long-lived). With an appropriate solid lubricant, adhesion 

can be avoided. In the design or redesign of existing fasteners, blind 

installation (robotically actuated) can be achieved along with dust 

seals to protect threads. The fastener design incorporating 

dissimilar metals has potential for anti-seizing and non-galling 

character is t ics . Further studies geared toward the design of a lunar-based 

station should include the production of an in-depth materials 

selection catalog. The design of composite materials and materials 

testing for the extreme environment might accompany materials 

selection. 

23 
ACKNOWLEDGEMENTS 

We gratefully acknowledge Mr. J. W. Brazell, our instructor, 

along with teaching assistants Mr. Brice Maclaren and Ms. Jill 

Harvey. We would also like to acknowledge Dr. Alan V. Larson for his 

valuable advice. 

24 
REFERENCES 

Flinn, R.A., Trojan, P.K., Engineering Materials and Their 

Applications, Houghton Mifflin Company, Boston, Mass., 

Dreger, D.R., Kacala, J. (eds.), NONFERROUS METALS, Machine 

Design, Vol. 59, No. 8, 1987, pp. 203-226. 

McMurtrey, E.L. , High Performance Solid and Liquid 

Lubricants, Noyes Data Corporation, Park Ridge, N. J., 

Clauss, F. J., chp.1-4, Solid Lubricants and Self-Lubricating 

Solids, Acedemic Press, Inc., New York, N.Y., 1972, pp.1-112. 

Howell, J.N., MECHANICAL FASTENERS FOR HIGH 

TEMPERATURE APPLICATIONS, National SAMPE Technical 

Conference, Vol.1, Western Periodicals Company, North 

Hollywood, Cal., 1969. 

Garner, F.A., Peckan, N.H., Kumar, A.S., (eds.), RadiationInduced Changes in Microstructure, ASTM, STP No. 955, 

Philadelphia, Pa.,1987. 

Garner, F.A., Peckan, N.H., Kumar, A.S., (eds.), Influence of 

Radiation on Material Properties, ASTM, STP No. 955, 

Philadelphia, Pa., 1987. 

Adhesion or Cold Welding of Materials In Space 

environments, ASTM, STP No. 431, Philadelphia, Pa., 1967. 

Salkind, M.J., Holister, G.S., Applications of Composite 

Materials, ASTM, STP No. 524, Philadelphia, Pa., 1973. 

AEROSPACE STRUCTURAL METALS HANDBOOK, Belfour Stolen 

Inc., 1988. 

Regel, L.L., Materials Science In Space, Halsted Press Inc., 

New York, N.Y., 1987. 

Fenn, R. W., Jr.,NEW DUCTILE BERYLLIUM-ALUMINUM WROUGHT 

ALLOYS , Newer Structural Materials for Aerospace 

Vehicals, ASTM, STP No. 379, Philadelphia, Pa., 1964. 

1986, pp. 682-685. 

1987, pp. 2-140. 

25 
BIBLIOGRAPHY 

Shackelford, J. F., lntroduction to Material Science for 

Engineers, Macmillian Publishing Company, New York, N. Y., 

1985. 

Guide to Selecting Engineered Materials, Advanced Materials 

and Processes, v01.2, No.1, 1987. 

Catalog and Service Guide, Phillips Manufacturing Company, 

Montebello, Cal., 1983. 

Maintenance Catalog, Bowman Products Division, Associated 

Spring Corporation, Cleveland, Ohio, 1975. 

Georges, J.M. (ed.), Microscopic Aspects of Adhesion and 

Lubrication, Vo1.7, Elsevier Science Publishing 

Company,lnc., New York, N.Y., 1982. 

Kato, I., Sadamoto, K. (eds.), Mechanical Hands Illustrated, 

revised edition, Hemisphere Publishing Corporation, 

New York, N. Y., 1987. 

Frandel, J.W., Lunar Mineralogy, John Wiley & Sons, New 

York, N.Y., 1975. 

Schultz, P.H., Moon Morphology, University of Texas Press, 

Austin, Tx., 1972,1976. 

Mutch, T.A., Geology of the Moon Princeton University Press, 

Princeton, N.J., 1970, 1972. 

Bushings and Beyond, Catalog 187, HEYCO Molded Products 

catalog, Kenilworth, N.J., 1987. 

Tinnerman brand fasteners, Catalog 383-8, Eaton 

Corporation, Cleveland, Ohio, 1985. 

Thousands of Fastex Solutions that Work!,TW Fastex, Des 

Plaines, Ill., 1987. 

Aerospace and Military Hardware, Industrial Fasteners 

Corporation, Port Washington, N.Y. 

Industrial Retaining Rings, Catalog A-4-c, Industrial 

Retaining Ring Company, Irvington, N.J., 1986. 

Southco Fasteners Handbook 37, Southco Inc., Concordville, 

Pa., 1987. 

Fenn, R. W., Jr.,NEW DUCTILE BERYLLIUM-ALUMINUM WROUGHT 

ALLOYS , Newer Structural Materials for Aerospace 

Vehicles, ASTM, STP No. 379, Philadelphia, Pa., 1964. 

26 
Cranor, M., ed., Chouinard Equipment, Catalog 1988, 

Ventura, California, 1988. 

Shigley, J. E., and Mitchell, L. D., Mechanical Engineering 

Design, fourth edition, McGraw-Hill, New York, N. Y.,1983. 

Pollack, H. W., Applied Physics, Prentice-Hall, Englewood 

Cliffs, N. J., 1971. 

Soled, J., Fasteners Handbook, Reinhold Publishing Corp., 

New York, N. Y., 1957. 

Dzik, Stanley J., Aircraft Hardware Standards Manual and 

Engineering Reference, Aviation Publications, Milwaukee, 

WI., 1971. 

Fasteners and Fastening Techniques: NASA SP-5906(0 l), 

NASA, Washington, D. C., 1967. 

Fasteners and Fastening Techniques: NASA SP-5906(02), 

NASA, Washington, D. C., 1968. 

Fasteners and Fastening Techniques: NASA SP-5906(03), 

NASA, Washington, D. C. 

NASA Technical Report 3N82-26673, NASA, Washington, 

D.C., 1983. 

27 
APPENDIX A 

LUNAR RATED FASTENER CATALOG 

28 
-0 

-- 

A 

SEALED-THREAD BLIND FASTENER 

Intended to be a general-duty, prefoadable fastener (Figure l), the 

sealed-thread blind fastener is an original design which eliminates 

many of the problems of conventional preloadable fasteners when 

used in the lunar environment. It was designed specifically for this 

environment and for ease of robotic installation. 

The fastener utilizes a threaded design for maximum precision in 

torque application as well as for reasons of strength. However, 

since conventional threaded designs are impractical for lunar 

robotic use, due to dust fouling problems and potential for stripping, 

this uses a sealed thread principle. Dust penetrability is 

eliminated, and O-ring seals can be incorporated for an additional 

factor of security. The fastener is pre- threaded, eliminating this 

difficult robotic operation as well as the potential for stripping the 

nut. 

The unit incorporates an internally-threaded sleeve unit, an 

externally- threaded inner bolt with a semi-hollow cone bottom, and 

an expanding wing unit with three leaves and an O-ring type spring. 

The inner bolt is tightened against the wing unit, causing it to 

expand and grip the bottom side of the material. Upon removal, the 

inner bolt is loosened, and the wing pieces retract due to the 

pressure of the O-ring and the unit can be removed from the hole. 

29 
RLLEN HERD 

INNER BOLT 

CRLTERNRTE HERD DESIGN) 

GROOVE TO RETRIN 

, O-RING SPRING 

(NOT TO SCALE) 

DETRIL R 

EXPRNDRELE WING5 

INVER5E-ELRDE HERD 

SLEEVE 

HEXPRNDRBLE WINGS 

C5EE DETRIL A> 

td -7 ‘O-RING SPRING 

INSTALLED VIEW 

DETAIL B 

Figure I 

5ERLED-THRERD 

BLIND FR5TENER 
QT CAM FASTENER 

The QT (quarter turn) Cam fastener (Figure 2) is intended for use 

in preloadable joints where threaded fasteners would be used on 

Earth. This is a general use fastener for blind preloadable operation. 

The fastener consists of a shaft with two keys at one end of the 

shaft and two offset circular disks on hinge pins at the other end. 

The eccentricity of the circles cause the preload on the fastener. 

The fastener is inserted into a keyed hole and pushed through to the 

other side until it clears the material. Then the fastener is turned 

one quarter turn to provide a bearing surface from the keys on the 

fastener shaft. The cams are then rotated past the peak load 

position to the stop which is at 5" past center. A spanner wrench 

hole is provided for extra torque applications. 

To install the QT Cam robotically, the robot must first grasp the 

fastener by the shaft and the cams. Then the robot must insert the 

keyed shaft into the keyed hole and push it through to the other side. 

Then it must turn the fastener one quarter turn and push the cam 

past the peak load point to the stop at 5" past center. The removal 

is the opposite of installation. 

31 
I 

i 

Figure 2 

LIT CRM FR5TENER 
DISENGAGEABLE MAGNETIC FASTENER 

This hatch and panel fastener (Figure 3) is an .original design 

which incorporates a magnet to provide holding force and can be 

completely disenabled through a quarter-turn of its wing handle. 

Robotic installation and removal is extremely easy, and its 

performance in the lunar environment should be excellent. 

The magnetic forces can be disenabled through a mechanism 

similar to that found on dial gauge-holding tools for the machine 

shop. Basically, there is a magnetic core which the 1/4-turn handle 

brings in and out of contact with two conductor pieces, effectively 

engaging or seperating the two poles of the magnet. The result is 

that when "off", the magnet provides virtually no force and can be 

easily disengaged. 

The two parts of the fastener incorporate pre-installed housings, 

attached by small screws, rivets, or similar device. They are to be 

constructed of a non-magnetic material such as aluminum. In the 

female piece, there is a circular steel (or other magnetic material) 

insert to correspond with the magnet on the male unit. The male 

unit includes the wing piece to engage the magnet. The different 

materials allow easy robotic lining-up of the fastener; the two 

pieces will only be attracted to each other in the area intended. 

33 
c R 

r 

I 

fA 

I 

I L\ . ’AI_ 

1 I 

L I 

MRLE 

f \ 

RLUMINUM HOU5ING 

r‘ 

FEMRLE 

l/q TURN WING TO 

RELER5E/ENGRGE MRGNET 

MRGNETIC PORTION 

FL 

C 

U5H-PRNEL F 

HRCK-MOUNTE 

NOT TO SCRL 

EMRL 

0 

.E > 

E 

(WING TURNED TO SIDE) 

Figure 3 

DI5ENGRGRBLE 

MRGNETIC FRSTENER 
T-HANDLE LATCH 

The T-handle latch (Figure 4) is intended for use in securing 

panels, covers and hatches. The latch itself is pre-installed in the 

panel that is to be secured. The latch essentially consists of a shaft 

on which one end is a T-shaped handle and on the other, a bar. The 

object that the panel is to be secured to has a receptacle to accept 

the bar at the end of the latch shaft. To apply the latch, the latch is 

positioned so that the bar at the end of the latch shaft enters the 

receptacle. Once the bar has fully entered the receptacle, the shaft 

is then turned (via the T-handle) ninety degrees. This in turn 

rotates the bar into the receptacle, forcing the bar to bear against 

the interior surface of the receptacle, here by preventing the latch 

(and therefore the panel) from being removed. This provides the 

fastening action of the latch. 

To install the T-handle latch robotically, the robotic device must 

first grasp the T-handle of the latch, position it over the receptacle, 

insert the bar end into the receptacle, turn the T-handle ninety 

degrees, and then release the T-handle. Removal is the opposite of 

the above. 

35 
J 

[r 

tU 

I 
INTERNAL AND EXTERNAL SNAP RING 

The internal and external snap rings (Figures 5a 8 5b) are 

intended for use in fastening bearings, wheels, gears and pulleys to 

shafts. The interior snap ring is designed to work in the inner 

radius of hollow shafts. The internal snap ring is applied by 

inserting the proper tool into the semi-circular notches at the ends 

of the ring. A force is then applied, through the tool, such that the 

notches are brought toward each other reducing the diameter of the 

ring. The ring is then inserted into a machined groove. The force on 

the notches is removed, thereby allowing the ring to expand into the 

groove. The groove is smaller in diameter than the unstressed ring, 

therefore, when the force on the ring due to the tool is released the 

ring will exert a spring force on the inside surface of the groove, 

thereby preventing the ring from working its way out of the groove. 

The inner portion of the ring also protrudes out of the groove 

preventing the bearing from moving past the ring and effectively 

restricting the bearing to a particular position along the shaft. The 

external snap ring works similarly, except that it is designed to 

work on the outer radius of shafts. 

To install the snap ring robotically, the robotic device must grasp 

the ring, insert the proper tool into the notches at the ends of the 

ring, apply the appropriate force to the ends, position the ring with 

respect to the machined groove, remove the force on the ends and 

release the ring. Removal is the opposite of the above. 

37 
a! 

H 

9 

GIB KEY 

The Gib key (Figure 6) is intended for use in securing wheels, 

gears and pulleys to shafts. To apply, the wheel is placed on the 

shaft to which it must be secured. The Gib key is then placed into a 

machined groove in the shaft, with the small end of the key facing 

the wheel. The key is then forced toward and under the wheel. 

Wedging the key between the shaft and the wheel and fastens the 

wheel to the shaft. The wheel may also have a machined groove in 

it to receive the key if alignment of the wheel with respect to the 

shaft is critical. The key is installed so that there is a gap between 

the wheel and the large end of the key. This facilitates removal of 

the wheel from the shaft by providing a bearing surface by which 

the wheel can be pried free from the key using an appropriate tool. 

To apply robotically, the robotic device must grasp the wheel , 

position the wheel on the shaft it is to be secured to, grasp the key, 

position it in the machined groove, apply a force to the key such that 

the key is forced toward and under the wheel and wedged between 

the wheel and the shaft. Removal is the opposite of the above; if the 

key is difficult to remove, the wheel may be pried off of the key by 

inserting a tool between the wheel and the key and applying the 

necessary force. 

39 A 

ANCHOR STAKE 

The anchor stake (Figure 7) is intended for use in securing 

objects such as drilling devices to the lunar surface. The stake has 

a cable pre-attached to its large end; the cable is in turn fastened to 

the object to be secured. To apply the anchor stake, position the 

stake at a desired angle to the lunar surface (the angle depends on 

the nature and slope of the lunar surface and the position of the 

object) with the pointed end pointing toward the lunar surface, and 

apply force to the stake such that the pointed end of the stake is 

driven into the lunar surface while maintaining the cable taught. 

The stake is driven into the lunar surface to a sufficient depth so 

that the friction force applied by the lunar surface material on the 

stake is greater than the retracting force on the stake due to the 

tension in the cable. This friction force supplies the fastening 

action of the stake. 

To apply robotically, the robotic device must grasp the stake, 

position it relative to the lunar surface, apply a force driving the 

stake a sufficient depth into the surface while maintaining tension 

in the cable, and releasing the stake. Removal is the opposite of the 

above. 

41 
I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

m 

I- 

[r 

Y 

W 
GLAD-HANDS COUPLING 

The glad-hands coupling (Figure 8) is intended for use in 

connecting the ends of pneumatic and hydraulic lines and hoses that 

may or may not require maintenance of pressure within the lines. 

The glad-hands coupling consists of two pieces. One piece is preattached to the end of one of two lines to be connected together; 

the other piece is pre-attached to the end of the other line. The two 

pieces are then positioned together so that the seals contained 

within each piece are in contact with each other. The follower of 

each piece is then aligned with the receiving groove in the other 

piece, and the pieces are rotated in such a way as to engage the 

followers in their respective grooves until the stops at the ends of 

the grooves are contacted by the followers. This action compresses 

the seals together, providing an effective seal between the two 

pieces, while the reaction force provided by the compressed seals 

clamps the two pieces together, preventing the followers from 

slipping out of their respective receiving grooves. This clamping 

force provides the fastener action. 

To apply robotically, the robotic device must grasp the two 

pieces, position them together so that the seals contained within 

the two pieces are in contact with each other, and apply a force to 

rotate the pieces with respect to each other until the followers are 

fully engaged in their respective receiving grooves, and then release 

the pieces. Removal is the opposite of the above. The coupling piece 

presented in the drawing in Figure 8 of Appendix A entails a slight 

modification to the typical glad-hand piece to better enable a 

robotic device to orasp it. 

43 
MODIFIED ELRDHRND HO5E COUPLEF; 

FOR ROBOTIC OPERRTION 
SPRING CLIP 

The spring clip (Figure 9) is intended for use insecuring hoses, 

lines and cables. The back face of the clip is pre-attached to the 

object that it is desired the hose be secured to. To apply the spring 

clip, the hose is placed against the front face of the clip between 

the outwardly protruding ends, and then pushed against the front of 

the clip with sufficient force that the two prongs of the clip are 

spread outward and around the hose until the hose contacts the back 

of the clip. The distance between the unstressed prongs is less than 

the diameter of the hose to be secured, resulting in a spring force 

exerted by the prongs on the hose. This force provides the fastening 

action of the clip. 

To apply robotically, the robotic device must grasp the hose to be 

secured, position it against the front of the clip, and push the hose 

into the clip with sufficient force to snap the hose into place. 

Removal is the opposite of the above. 

45 
* 

I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

I 

& L 
OVER-CENTER LIVING HINGE 

The over-center living hinge (Figure 10) is intended for use in 

securing hoses, lines and cables. The back face of the hinge is preattached to the object it is desired the hose be secured to. To apply 

the hinge, the hinge must initially be in the open position. The hose 

is then positioned between the protruding ends and against the back 

of the hinge. A hose is pushed into the hinge forcing it to clamp 

around the hose. The ends of the hinge simultaneously close around 

the hose until the ends of the hinge completely surround the hose. 

The hinge is then in the closed position. The material of the hinge, 

polypropylene, is highly elastic, providing a spring action keeping 

the hinge closed. This force provides the fastening action of the 

hinge. 

To apply robotically, the robotic device must grasp the hose that 

must be secured, position it between the ends of and against the 

back of the hinge, apply a force such that the hose is pushed into the 

hinge until the hinge is closed, and then release the hose. Removal 

is the opposite of the above. 

47 
OPEN 

PUSITION 

F i gure 

CLCI5ED 

PO51 T ION 

OVER-CENTER LIVING HINGE 

FRSTENER 

B 
APPENDIX B 

FASTENER EVALUATION MATRICES 

The fasteners chosen for inclusion in this report were 

selected according to their overall qualifications with 

respect to performance in a number of predetermined design 

criteria. To facilitate the selection process, evaluation 

matrices were created, one matrix per general category of 

fastener type. The column headings are comprised of the 

design criteria against which the candidate fasteners are to 

be judged. Directly above each criterion is a number 

representing its weighting, or intended application. The 

row headings are comprised of the names or descriptions of 

the candidate fasteners themselves. The elements of the 

matrix are numbers representing individual candidate 

fasteners' performance with scores for the candidate 

fasteners are recorded in the rightmost column of the 

matrix. These scores are determined by taking the criteria 

performance scores of a particular candidate fastener, 

multiplying each individual criterion score by the weighting 

for that criterion, and then summing the results. The 

candidate fastener with the highest resulting overall score 

is deemed the most satisfactory fastener for use in its 

general application category. 

49 
I 

ow WA t-enw n tm* 

mn we wont n nom 

eiglae tt- tnnw t- wwt 

nn wo t-awr- t- wr-m 

*El I 

na no bmwm a catmm mmt-m a wma 
I r m 

r- n 

CI n 

r N 

w rn n 

0 Y 

t- '0 

I- n 

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7 

0 
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m 

Inn 

n* 

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tn 

I-0 

no on om I-* 0 

mt tn 

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9 

Y 

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m 

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em n *m 

m Y 

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m m 

o CI 

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n 
Appendix C 

QT cam calculations 

Preload comparison calculations : 

Comparison of a 1/2" bolt and a 112" QT cam made of the 

same materials. 

bolt: 1/2-20 UNF 

Preload depends on extension of bolt and compression of 

material in joint. 

bolt extends a distance 6b and a material compression 

distance of 6m 

l/aN turn on nut after snug - nut travel = 0.00625" = Gtotal 

For the same preload as the bolt, Gb (shaft extension) of the 

QT cam fastener must also equal 0.00417". 

112 QTcam specs for comparison (refer to Figure 2, 

Appendix A) 

cam dia.= 1.0" 

total cam width- 112" hinge pin dia.= 1/4' 

shaft dia.= 112" 

hinge pin offset=l/4" 

is compression of cam of QT 

assume &=Gb 26msGc 

55 
~~ 

2.56~ =6totaI 2.5(0.00417) = 

--- 

0.01042 

Cam geometry from QT cam fastener. 

(rlcos5 - .25)2 +@sin25 = 0.25 

0.0625 - 0.25 + r20.9924 + 0.0076r2 - 0.4981r = 0 

r2 - 0.4981 r - 0.1875 = 0 

56 
Since rl is determined by the lock angle, $1 = 5", ri = 0.7486 

then 

Ti = 0.7382 

- 1 /2r iCOS$i + 0.0625 + r2cos2+i + Psin2qi = 0.25 

0 = -1/2riC0S$i + 0.0625 - .25 + r2 

-1/2(0.7382)~0~$i - 0.1875 +(0.7382)2 = 0 

Thus, 

+i = COS-1 (0-3574/0.3691) = 14.48" 

The QT can achieve the same preload as that of a 

comparably sized bolt by using a moderately sized cam and 

small range of motion. 

57 
Sealed Thread Blind Fastener 

This fastener is escentially a prethreaded bolt in a sleeve 

with an expandable nut for blind side bearing surface. Thus 

the preload for this bolt is the same as for a normal bolt. 

Therefore the preload depends on the bolt extension 6b past snug. 

6total = (number of turns on the head)(threads per inch) 

Therefore the preload on a sealed thread blind fastener adheres to 

the same equations as bolts do. 

58 
Calculations for Magnetics 

Pulling force for a Disengagable Magnet Latch: 

Force of the magnet depends on the volume of the magnetic 

material, maximum BH Product of the magnetic material from the 

hysteresis loop characterisics, and the distance separating the 

surfaces . 

For Iron Cobalt Sinter max BH product = 7000 N/,2 

Typical fastner magnet volume = 5.53 * 10-5m3 

Typical distance between surfaces including dust =.0013 m 

F = 17000)(5.53 *10-5) = 304.8 N = 68.8 IbS 

(.0013) 

Therefore a magnet of moderate size has enough holding force even 

with a dust layer. 

59 
APPENDIX D 

PROGRESS REPORTS 

60 
lunar-rated FASTENERS 

ME 4182 Pmgress Report 

3october1988 

-IIyde 

DanMcKiUip 

Lindsay Gupton 

BrYanPlayer 

Greg Smith 

The topic of this group project - lunar-rated fasteners - is outlined in detail in the 

problem statement submitted today. Generally, it includes the research into any 

and all existing fasteners and classification as to suitability for lunar-based use, 

taking into account the many unique design constraints inherent to the moon; 

and the development and proposal for a general-duty fastener applicable for 

construction equipment on the lunar surface. 

During the first week of 

group meetings, a tentative 

schedule of project goals and 

progress was developed. The 

various stages of the effort 

can be categorized into data 

accumulation and categorization, design development 

and refinement, and project 

finalization, including the 

technical paper and presentation. The time schedule is 

only an estimate, however, 

and is subject to revision. 

To date, all team work has been focused on research and accumulation of a data 

base of any information related to fasteners, the lunar environment, suitable 

materials, and so forth. The depth and variety of information on fasteners 

themselves is substantial and is now being compiled from various sources, which 

include textbooks, handbooks, NASA technical publications, and vendor catalogs. 

The lunar environment, surface condition, and material composition is being 

studied through a series of geotechnical publications and maps as well as test 

results of the Apollo regolith samples. Specific attention is being focused on 

radiation characteristics and regolith particulate size and their effects on the 

performance of fasteners. However, at this time this research has only served to 

substantiate the existing general lunar design conditions, without many new 

developments. Additionally, the subject of materials appropriate to the design 

criteria is being investigated, again through a general literature search and 

vendor catalogs / interviews. 
MECHANICAL DESIGN ENGINEERING 

ME 4182 

LUNAR RATED FASTENERS 

This week, the focus of our group was on new fastener designs. The 

designs centered around the limitations of robotic installation of the 

fasteners. These confines include: one sided operation (i.e. no need to 

reach around and hold a nut), low tolerance fit of fasteners to fastening 

medium, and the exclusion of high torque requirements. 

In a brainstorming session, the group came up with a few ideas for a 

fastener that would meet the confines of robotic installation. The main 

style of fastener we talked about is one that could be inserted into a hole 

and then twisted or somehow activated as to catch in a mrichincd groove or 

the back surface of the hole. The fastener could be tightened (or 

preloaded) by a cam, wedge, or screw method. One design we came up 

with can be seen in this weeks graphic. The device is inserted in a hole, 

turned a quarter turn, and then the two wedge pieces are driven between 

the top pegs and the surface of the metal. The fastener can be removed by 

splitting the wedges with a chisel and then pried out from under the pegs. 

As far as individual activity goes; Steve, Greg, and Bryan tried to get 

familiar with the Versacad package on the Macintosh: Lindsey came up 

with a number of renderings of possible fasteners that were evaluated 

during the brainstorming session. Dan went to some local fastener 

distributors and obtained some catalogs and other information that we 

could add to our fastener database. 
MECHANICAL DESIGN ENGINEERING 

ME 4182 

10/25/88 

LUNAR RATED FASTENERS 

This week, team effort was concentrated on refining last weeks 

fastener designs, introducing new ideas for lunar rated fasteners and 

preparing for the mid-term presentation. 

A team meeting resulted in approximately three fasteners that 

have the potential to meet our design criteria. Two of the possibilities 

are essentially structural fasteners for applications that require a 

preload. The preload on one is cam actuated, and the other is wedge 

actuated. These two fasteners represent refinements of ideas 

discussed in last weeks brainstorming session. We are also 

considering a light duty blind fastener that would possibly supplant 

the need for lunar rated rivets, This light duty fastener fastens by a 

simple push in and turn ninety degrees type action. It locks on a pin 

on the blind side of the connection. 

Along with the individual imagineering of fasteners by each of 

the team members, Brian obtained a catalog of fasteners and 

continued his vendor catalog search. Dan has been researching the 

available high performance solid lubricants. Greg is sifting through 

the vendor catalogs and is continuing to get familiar with the 

Versacad package. Lindsey is designing the visuals for this weeks 

presentation, and Steve is continuing to get familiar with Versacad. 
ME 4122 MECHANICAL DESIGN ENGINEERING 

LUNAR !?ATE? FASTENERS 

11- 1 -8f 

This week, our group foc~sed or: several major tasks, 

including adding to our database of existing fasteners, more 

effectively categorizing our database according to mcde of 

application, finalizing our selection criteria and weeding out 

unsuitable designs from our existing database. Our d3ta search 

of library sources is now well under way, and of course the team 

is cor.tinuing to develop fastener designs of its own. 

We have begun to categorize our expanding databtse bv 

sppllcarlon. These categories include: covers. tind hstct~ez, 

wheels. gears and pcllevs. Searir.gs, f.vdraulic and ~.neumatic 

c~1~lr.llr.g.r~ -r and drilling ancflors. slcln,r witti t.'e usus: rerieyalpurpzse light-duty and preloaded structural fasteners. We Lre 

now z.1~~. beginning the prelir?.in&ry selection process sccordin~ 

to criteriti whic.F1 include t.t'ern5.l stresses and reaction to 

teFper2tuz-e extremes, resistance to dust contzminatiun, ease of 

robotic use, resistance to vacuuTn seizure, availability and cost. 

Some examples of existing designs which at the moment look 

proKisizg are presented in this week's graphic. 

With regard to individual activity, Dan is keeping tabs 

on the dstabase search and is researching lubrication methods and 

materials, Greg and Sryan are cor:tinuing. to obtain catalogs and 

along with Steve and D3n are working or, categorizing and weeding 

ClJt deeFgns. 2nd E.\rerysrle is bJc.r;rir:g C'T: -e- cinsl &sfgr:s. Lindsey 

k:& tc ~"s. to Califcrnia an2 WEE r.st zble tc meet with the group 

frjr IT.CE: rjf this week. 
lunar-rated FASTENERS 

ME 4182 Group ## 6 

Progress Report W/E 8 November 1988 

McKillip Player Smith Hyde Gupton 

.......... ...............o..........................

The group efforts this week have been concentrated on the compiliation of a spreadsheetbased comprehensive analysis and rating of fastening methods, as well as the utilization of 

the results of the on-line data base search. Additionally, work continues into original 

fastener design and development, now with an eye towards verification of the designs' 

uniqueness, as well as CAD practice and ongoing research. 

The spreadsheet analysis and rating is being conducted for existing fasteners in a variety of 

categories and for a variety of criteria. The various factors are rated on a scale of 1 to 10, 

the results weighed appropriately, and totals determined to provide a more comprehensive 

picture of the viability of fasteners considered for the specific applications. The categories 

include: panels, hatches, bearings, fabrics, structural, etc. The evaluation criteria includes: 

thermal properties; vacuum welding potential; robotic installatiodremoval ease; tension, 

torsion, and shear strength; relative size; effect of dust particles; maintenancehervicability; 

and reusability; among others. 

The results of the on-line data base search were received this week and include some 

thirty-four pages of material ranging from technical abstracts to patents. The criteria used in 

the search were: robotic application, blind fasteners, and extreme environment, with the 

majority of information turning up positive in the frst two categories. One hundred thirtyfour patents were found relating to fasteners and their applications as well as other descriptions of NASA-sponsored patent applications and research. Robotic installation design 

criteria and lists of approved robotic-capable fasteners were found, as well as specifics into 

robotic tool design and operational algorithms. Composite material fastening received a 

good deal of coverage, as well as repair techniques and on-site maintenance. Extreme 

environment design guidelines, including various fasteners which operated by vacuumwelding properties, were also encountered. 

Individual efforts into various topics include: Dan, working with database and research into 

solid-film applications; Steve, research into out-gassing properties and the NASA material 

received; Greg, work into the computer-based spreadsheet analysis; Bryan, spreadsheet and 

CAD work and Lindsay, original fastener development and patent research. 

This week's graphic illustrates one promising type of fastener encountered during the 

evaluation and analysis efforts, the Dzus quarter-turn fastener. Manufactured in a very wide 

variety of stud and head designs, spring-loaded recepticle types, materials and applications, 

the Dzus scored relatively well due principally to its installation ease. 
Progress Report: Week ending Nov 15, 1988 

Design Group #6: Dan McKillip 

Lindsay Gupton 

Steve Hyde 

Bryan Player 

Greg Smith 

We have made significant progress toward completion of a 

final project. We have identified several possible fasteners 

for several different specific fastening applications. We 

have also identified the individual parameters from which to 

objectively select certain fasteners. 

output onto a spread sheet for easier reading and for 

reference on the final report. Our specific categories have 

been broken down to: Panels, hatches, and covers; wheels, 

gears, and pulleys; bearings, anchors for the items needed to 

be fastened to the surface of the moon, and general joint 

fasteners that can be preloaded. For the categories used for 

rating the fasteners individually refer to the spreadsheets. 

and the effects that it may have on load bears fasteners and 

non-metal fasteners. 

with Dan HcKillip on the data base search concentrating 

on blind fasteners and robotic applications. 

Bryan Player is looking into more information on ar.chors 

and is looking for more technical specifications and drswings 

for the Chounard Camalot. 

The Graphic of the week is of a snap ring. Upon first 

inspection it appears that snap rings have fair well in the 

selection process. 

As a whole, the group has set a goal of having the 

report finished before the Thanksgiving break due to the 

final report deadline of November 29, 1988. 

Greg Smith and Steve Hyde have worked on putting this 

Steve Hyde has also looked into the area of outgassing 

Lindsay Gupton is continuing the patent search along 
lunar-rated FASTENERS 

ME4 182 Group #6 22 November 88 

McKillip.Player*Smith*Hyde*Gupton 

Attention this week has been concentrated on fmalizing all aspects of the project and preparation of 

the final document. The fastener ratings were tabulated and recommendations made from the 

results of this finding. Research continued into areas necessary to answer various questions, 

including patent and technical report searches. Additionally, the evaluation study was used to 

provide criteria for the development and/or refinement of original fastener designs, in areas where a 

marked improvement over existing fastener designs was possible. 

The effects of this week's work will be seen in a rough draft presented for appraisal today. The 

group has been working to prepare the CAD drawings and text necessary for the final document, 

which will be comprised of two volumes: a catalog of suitable lunar-rated fasteners for a variety of 

applications, and an accompaning volume with summaries, research findings, and more detailed 

explanations of our recommendations. 

This week's graphic is an example of the CAD drawings being prepared for the final document. 

Although the entire group has been involved in the compilation of the document this week, 

individual efforts include: Dan, research into materials specifications and document text; Bryan, 

fastener development and CAD drawings; Greg, CAD drawings and spreadsheet compilation; 

Steve, text development and materials research; and Lindsay, fastener development/CAD and 

patent research. 
APPENDIX E 

DISCLOSURE FORMS 

69 
UTC Na Record of Invention Na 

GEORGIA INSTITUTE OF TECHNOLOGY 

A. DISCLOSURE OF INVENTION 

1. Title (Caution: titles may be published Do not reveal unique details) 

Technical Title: L vN&g -am mzNeS 

Layman's Title (34 characters maximum, including spaces): S%!?&E 

Inventor($: (Correspondence, patent questions etc will be directed to the first-named inventor) 

A. .Signature 

Printed Name &/VDwv ,LC Fint M~ddle Last 

Home Address 72 ? &MY446 mKZS clfe Citizenship fls& 

City mfhsaM State FL Zip Code 3038G 

School or Laboratory Mm E/t/G'N-NC3 Campus Phone L;/by-876-5235' 

B. Signature A ,,&$g* Revenue Share % 

PrintedName ik~ie-t -C<A&~ /Clcck;*//~ 

First Middle Last 

Citizenship a4 

State k. Zip Code 3060 6 

School or Laboratory MtCL(. h~i< campusphone 904‘ 8~2 39S? 

C. Signature d~* & Revenue Share % 

Printed Name hHIIJ m??dY &/fl S. S. 

Fint ~iddle' Last 

Home Address /fl% k/m Citizenship b'd 

city f)7/m;b73+/~h/ State & Zip Code 23f1s 

School or Laboratory &&%%&% ~~~'~'cv Campus Phone yay 6 76 -+/COO 

Page 1 of 7 
UTC Na 

~ 

Record of Invention Na 

k DISCLOSURE OF INVENTION (continued) 

2. Statement of Invention: 

Give a complete description of the invention If necessary, use additional pages drawings diagrams etc 

Description may be by reference to a separate document (copy of a report a preprint grant application or 

the like) attached hereta Ifso, identify the document positively and be sure it is signed andwitnessed Base 

the description on the best mode presently contemplated for making the apparatus or material invented or 

for carrying out the process invented 

$#E&%& nmE4Ls A? P" me fAsm== 

#yy?P" @A? UE UNHE BVw- 

$€€ WE AvxwD -, "Fp =-, 

(ompi! a57mU &w VEQfIC" 

Witnesses must be technically competent and must understand the invention 

1U87 Page 2 of 7 
vfc No. 

~~ ~ 

Record of Invention Na 

A. DISCLOSURE OF INVENTION (continued) 

3. Results Demonstrating the Concept Is Valid. 

Cite specific results to date Indicate whether preliminary research, laboratory model, or prototype testing 

has been completed 

~MSPW+ML?~~ j??,W?Yl$W‘~t~df~

/26 L49aMwy Amuiz ae mE E57m.f ///ps &=vmeaw, 

mom d%E&%mmmo/em &Zm=avm* 

4. Variations and Alternative Forms of the Invention: 

State all of the alternate forms envisioned to be within the full scope of the invention List all potential 

applications and forms of the invention, whether currently proven or not (For example, chemical inventions should consider all derivatives analogue% etc) Be speculative in answering this section Indicate 

what testing if any, has been conducted on these alternate forms 

*“-meEw wD-im“-”= 

”-W mmn~m-”~” 

*p~i.&ZE”i~ mwhJIC3A/pLE --E 

AN0V”nb - RHi?rWWN@ 

‘‘W$ $Es&ILs’; H”DN E 

&” /%E /N” mfumc 4” 

/w&&ae iwmeom~ E, 

@Esa%%im /” -2=LeEmr* 

8 WEW @”@a 

4 

,. . 

Inventor (r) 

Page 3 of 7 12/87 
UTC No Rccord of Invention Na 

A. DISCLOSURE OF INVENTION (concluded) 

c Has the scientific literature been searched with spect to this invention? Yes No 

Has a patent search been performed? Yes 2- No lfyes in eithercasc indicate what 

pertinent information was found andenclosecopies ifavailable Also indicate any other art ofwhich 

you are aware, either in the literature or the technology used by others, that is pertinent to the invention Enclose copies of descriptions if available 

$E€j%BiBl/d2!3 dm9 me- sEwWer-Izr< 

Em" /"* 

Inventor (s) Date 

Date 

Witnesscs Date Hm Date 
UfC Na Record of Invention Na 

B. SUPPORTING INFORMATION 

1. On what date was the invention first conceived. 3 lo/'/B Where is this date documented 7 /MA!imT 

Give physical location and reference numbers of laboratory records but do not enclose 

L&3"?~Em/Euwas 2. #E #3MDmW , 

2. List, with publication dates any publications such as theses reports preprints reprints etc pertaining to 

this invention Include manuscripts (submitted or not), new releases, feature articles and items from 

internal publications Supply copies if possible 

3. Should this invention be reviewed from the standpoint of federal security regulations? 

NO 

4. Give date, place, and circumstances of any disclosure If disclosed to specific individuals give names 

and dates 

mi5meW wlN7MS-r 

5. Was the work that led to the invention sponsored by an entity other than Georgia Institute of 

Technology? Yes -&, No 

a If yes have sponsors been notified of the invention? Yes No 

b. Sponsor Name (s): /VASA GIT Project No.( s): 

6. What firms may be interested in the invention and why? Name specific persons within the companies if 

possible 

Page 5 of 7 
~ 

UTC Na Record ofInvention Na 

B. SUPPORTING INFORMATION (continued) 

7. List all products you envision resulting from this invention For each indicate whether the product could 

be developed in the near term (less than 2 years) or would require lonptenn development (more than 

8. 

a 

From a strictly objective viewpoint what are the greatest obstacles to the adoption of this invention? 

mnG ANP WD/M /3k ”mG 

9. Alternate technology and competition: 

a Describe alternate technologies which accomplish the purpose of the invention 

$E km2GVwms. 

b List the companies and their products currently on the market which make use of these alternate 

tec hnologies 

sEE” eZ%f+* 

12/87 

c List any research groups currently engaged in research and development in this area 

Page 6 of 7 
UTC Na Record of Invention Na 

B. SUPPORTING INFORMATION (concluded) 

10. Future research plans 

a What additional research is needed to complete development and testing of the invention? What 

time frame and estimated budget is needed for the completion of each step? 

Pme3123fMG MO WN6 /NAn/#?PMem BVr/"e* 

b. 

c 

d 

Is this additional research presently being undertaken? Yes - No 

If yes is it being externally sponsored? Yes - No ,-, 

- 4 

Should corporate sponsorship be pursued? Yes - % No - 

Suggested corporation(s) flflM 

11. Attach any additional materials that would assist in understanding or marketing this invention Enclose 

sketches drawings photographs and other materials that help illustrate the description (Rough artwork 

flow sheets, Polaroid photographs and penciled graphs are satisfactory as long as they tell a clear and - 

understandable story.) Please identify. 

/N"/NHmM/l- B&=wz%3@ 

12. For student inventors provide the name of the faculty member most closely related to the invention 

m9" KwrmzzL 

13. Please print names and addresses of witnesses 

14. This invention is presumed to be the property of the Georgia Institute ofTechnology in accordance with 

the Patent Policy as stated in the Faculty Handbook Ifthe inventors believe that this invention should not 

be the property of the Institute please explain below to provide a basis for further review. 

12/87 Page 7 of 7 
APPENDIX F 

DESIGN ALTERNATIVES 
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