Patent Publication Number: US-10771004-B2

Title: System and method for installation and verification of fasteners

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/022,778 filed on Jun. 29, 2018, which claims the benefit of U.S. Provisional Application No. 62/530,665 filed on Jul. 10, 2017. The entire disclosures of each of the above applications are incorporated herein by reference. 
    
    
     FIELD 
     The present disclosure relates to power tools and systems and methods related to the control of power tools during the installation of fasteners. 
     BACKGROUND 
     Many power tools, such as drills, drivers, and fastening tools, have a mechanical clutch that interrupts power transmission to the output spindle when the output torque exceeds a threshold value of a maximum torque. Such a clutch is a purely mechanical device that breaks a mechanical connection in the transmission to prevent torque from being transmitted from the motor to the fastening mechanism of the tool, such as a spindle or a pulling mechanism. The maximum torque or maximum pull force threshold value may be user adjustable, often by a clutch collar that is attached to the tool between the tool and the tool holder or chuck. The user may rotate the clutch collar among a plurality of different positions for different maximum torque settings. The components of mechanical clutches tend to wear over time, and add excessive bulk and weight to a tool. 
     Some power tools additionally or alternatively include an electronic clutch. Such a clutch electronically senses the output torque or output force (e.g., via a transducer) or infers the output torque or output force (e.g., by sensing another parameter such as current drawn by the motor). When the electronic clutch determines that the sensed output torque exceeds a threshold value, it interrupts or reduces power transmission to the output, either mechanically (e.g., by actuating a solenoid to break a mechanical connection in the transmission) or electrically (e.g., by interrupting or reducing current delivered to the motor, and/or by actively braking the motor). Existing electronic clutches tend to be overly complex and/or inaccurate and fail to include a method by which a user can verify if the installed fastener has been installed correctly. 
     This section provides background information related to the present disclosure which is not necessarily prior art. 
     SUMMARY 
     This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features. 
     In one aspect of the present disclosure, a method is presented for operating a power tool during installation of a deformable fastener. The power tool may include a collet for grasping the fastener and a drivable sliding sleeve with an anvil for swaging the fastener. The method includes: receiving measures of current supplied to a motor of the power tool during operation of the power tool; determining rate of change of the current during operation of the power tool; determining occurrence of the power tool engaging the fastener based on the magnitude of the current supplied to the motor; determining occurrence of the power tool swaging the fastener based on the rate of change of the current; determining completion of the power tool swaging the fastener based on the magnitude of the current and the rate of change of the current; and verifying quality of the installation of the fastener using the determination of the occurrence of the power tool engaging the fastener and the determination of the completion of the power tool swaging the fastener. 
     Upon determining that the swaging of fastener is complete, the rotation of the motor is altered (e.g., reversing or stopping rotation of the motor). Additionally or alternatively, an indicator for the quality of the installation of the fastener is generated by the power tool. The indicator for the quality of the installation of the fastener may be presented to a tool operator, stored in a data store and/or transmitted via a transceiver over a wireless network. 
     In one embodiment, the occurrence of the power tool swaging the fastener is determined by comparing magnitude of the rate of change of the current to a first rate of change threshold. The completion of the power tool swaging is determined by comparing the magnitude of the current to a second current threshold and comparing magnitude of the rate of change of the current to a second rate of change threshold, where the second current threshold is larger than the first current threshold and the second rate of change threshold is larger than the first rate of change threshold. 
     The quality of the installation of the fastener can be verified by determining a distance traversed by the sliding sleeve during swaging of the fastener, comparing the distance traversed by the sliding sleeve to known dimensions of the fastener, and generating the indicator for the quality of the installation of the fastener based on the comparison. 
     Advantages may include one or more of the following. The clutch control system enables the use of the power tool with a wide variety of fastener materials, fasteners of various material properties and fasteners with various modes of connection. Further, the clutch control system provides a method of verifying and providing feedback that a fastener has been properly installed. The system and related methodology can also provide feedback regarding other possible faults or failures that may occur during a fastening process or that may occur within the power tool itself. These and other advantages and features will be apparent from the description and the drawings. 
     Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. 
    
    
     
       DRAWINGS 
       The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure. 
         FIG. 1  a side view of an example tool in accordance with the present disclosure. 
         FIG. 2  is a cross-sectional view of the example tool of  FIG. 1   
         FIG. 3A  is an illustration of an example fastener prior to engagement with a tool of present disclosure. 
         FIG. 3B  is an illustration of the example fastener of  FIG. 3A  showing the tool engaging the fastener at the final stages of installation. 
         FIG. 3C  is an illustration of the example fastener of  FIG. 3A  installed in a workpiece after the tool has been removed. 
         FIG. 4  is a block diagram of one example clutch control system of the present disclosure. 
         FIG. 5  is a flow chart of one example method of fastener installation of the present disclosure. 
         FIG. 6  is a flow chart of one example method of installation verification of the present disclosure. 
         FIG. 7A  is an illustration of the current used by a tool as a function of time associated with the installation of a fastener using the example method of  FIG. 5 . 
         FIG. 7B  is an illustration of the rate of change of the current used by a tool with the current profile shown in  FIG. 7A . 
         FIG. 7C  is an illustration showing where on an example fastener the anvil would be positioned if the anvil were being driven by a motor using the current profile shown in  FIG. 7A . 
     
    
    
     Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. 
     DETAILED DESCRIPTION 
     Example embodiments will now be described more fully with reference to the accompanying drawings. 
     Referring to  FIGS. 1 and 2 , a power tool  100  includes a housing  108 , fastening mechanism  122 , trigger system  106 , transmission  118 , motor  110 , battery  112  and clutch control system  120 . Power tool  100  may be similar to the power tool described in U.S. Pat. No. 9,193,055, the contents of which are hereby incorporated herein by reference. 
     As shown, transmission  118 , motor  110  and clutch control system  120  are contained in housing  108 . In one embodiment, the motor  110  is a brushless or electronically commutated motor, although the motor  110  may be another type of brushed DC or universal motor. An output shaft extends from the motor  110  to a transmission  118  that transmits power from the output shaft to a fastening mechanism  122 . The power tool further includes trigger system  106  that includes a trigger mounted in housing  108  that permits a user to initiate or actuate motor  110 . 
     In one embodiment, transmission  118  is a multi-speed transmission having a plurality of gears and settings that allow the speed reduction through the transmission to be changed, in a manner well understood to one of ordinary skill in the art. Transmission  118  may include a multi-stage planetary gear set, with each stage having an input sun gear, a plurality of planet gears meshed with the sun gears and pinned to a rotatable planet carrier, and a ring gear meshed with and surrounding the planet gears. For each stage, if a ring gear is rotationally fixed relative to the housing, the planet gears orbit the sun gear when the sun gear rotates, transferring power at a reduced speed to their planet carrier, thus causing a speed reduction through that stage. If a ring gear is allowed to rotate relative to the housing, then the sun gear causes the planet carrier to rotate at the same speed as the sun gear, causing no speed reduction through that stage. By varying which one or ones of the stages have the ring gears are fixed against rotation, one can control the total amount of speed reduction through the transmission, and thus adjust the speed setting of the transmission (e.g., among high, medium, and low). Other types of multi-speed transmissions can also be used. 
     In the example shown in  FIGS. 1 and 2 , power tool  100  has a fastening mechanism  122  that includes collet  104 , anvil  102  and pulling mechanism  114 . Collet  104  is a gripping portion of the fastening mechanism  122  that is connected to pulling mechanism  114 . Collet  104  secures a fastener and pulls the fastener inward relative to the anvil  102  during use. In this manner, anvil  102  deforms a portion of the fastener in order to secure two work pieces together. It can be appreciated that fastening mechanism  122  can include other features and elements in connection with aspects of the present disclosure to secure various types of fasteners. 
     In the embodiment shown in  FIGS. 1 and 2 , power tool  100  is a handheld tool for use in connection with a fastener that undergoes permanent deformation to secure the fastener in position to a workpiece. More particularly, power tool  100  and the systems and methods of the present disclosure are suitable for use in connection with a deformable fastener that does not include a breakaway pin member. One example of such a fastener is a lockbolt sold under the trademark NEOBOLT®. Another example lockbolt is described in U.S. Patent Publication No. 2016/0215808, the contents of which are incorporated herein by reference. 
     Referring now to  FIG. 3 , an example deformable fastener  130  is shown in various stages of installation.  FIG. 3A  depicts fastener  130  inserted into holes of first workpiece  148  and second workpiece  150 . Fastener  130  includes head  136 , pin  134 , tail  132  and collar  138 . Collar  138  is removable from pin  134  and is positioned over pin  134  during installation of the fastener. Collar  138  and head  136  are positioned on opposite sides of the workpieces and will retain the first workpiece relative to the second workpiece after the installation of fastener  130  is complete. 
     As further shown in  FIG. 3A , collet  104  extends beyond anvil  102  of the power tool  100  prior to engaging fastener  130 . In this manner, collet  104  is placed over tail  132  of fastener  130 . Upon actuation of power tool  100 , collet  104  grips fastener  130  and begins pulling fastener  130  inward relative to anvil  102 . As shown in  FIG. 3B , the inside diameter of the anvil  102  is smaller than the outer diameter of collar wall  146  of collar  138  such that anvil  102  deforms collar  138  and swages collar wall  146  into the threaded or grooved portion of pin  134 . This deformation of collar  138  secures collar  138  relative to pin  134  to secure first workpiece  148  and second workpiece  150  together. 
       FIG. 3B  illustrates a position of anvil  102  when power tool  100  is in its final stages of securing fastener  130 . As shown, anvil  102  is positioned at or near corner  144  of collar  138 . In this position, anvil  102  has swaged the length of collar wall  146 . Upon reaching this position, the installation of fastener  130  is complete and collet  104  can extend back outward relative to anvil  102  and release the tail  132  of fastener  130 . Upon completion of the installation, power tool  100  returns to its original or home position as shown in  FIG. 3A . With the installation complete, the power tool  100  can be removed from the working position to leave the installed fastener  130  in the installed position as shown in  FIG. 3C . 
       FIG. 4  illustrates one example clutch control system  120  of the present disclosure. In this example, clutch control system includes controller  200 , memory  202 , clutch setting sensor  204 , motor position sensor  208  and current sensor  212 . Clutch control system  120  is also connected to fastener selector  206 , motor  110 , trigger system  106 , status indicator  210  and transceiver  214 . In other examples, additional sensors may be included in clutch control system  120  as would be known to one of skill in the art. 
     In this example embodiment, clutch control system  120  is connected to clutch setting sensor  204 . Clutch setting sensor  204  is, in turn, connected to fastener selector  206 . Fastener selector  206  can be a toggle switch, push button, dial switch or other user input device through which a user can select one or more fastener characteristics. For example, power tool  100  can include a toggle switch mounted to housing  108  that permits a user to select an aluminum, steel, and/or standard or high strength fastener. Clutch setting sensor  204  receives such user provided information from fastener selector  206  such that certain parameters and operating conditions of clutch control system  120  are determined in accordance with a user&#39;s input. 
     Clutch control system also includes motor position sensor  208 . Motor position sensor  208 , in one example, includes one or more rotation sensors that sense changes in the angular position of the motor output shaft and provides a signal corresponding to the angular rotation, speed, and/or acceleration of the motor  110  to the controller  200 . 
     In one embodiment, the motor position sensors  208  can be Hall sensors that are already part of a brushless motor. For example, the power tool  100  may include a three-phase brushless motor, where the rotor includes a four pole magnet, and there are three Hall sensors positioned at 120° intervals around the circumference of the rotor. As the rotor rotates, each Hall sensor senses when one of the poles of the four pole magnet passes over the Hall sensor. Thus, the Hall sensors can sense each time the rotor, and thus the output shaft, rotates by an increment of 60°. Motor position sensors  208  or controller  200  can use the signals from the Hall sensors to infer or calculate the amount of angular rotation, speed, and/or acceleration of the rotor. For example, the rotation sensing circuit includes a clock or counter that counts the amount of time or the number of counts between each 60° rotation of the rotor. Controller  200  can use this motor data to calculate or infer the amount of angular rotation, speed, and/or acceleration of the motor. 
     Clutch control system  120  also includes current sensor  212 . Any suitable current sensor can be used. In one example, a shunt resistor can be used that senses the amount of current being delivered to the motor  110  and provides current data corresponding to the sensed current to the controller  200 . The controller can then use the current data to determine when changes in current occur and calculate a rate of change in the amount of current being delivered to motor  110 . 
     In the example shown in  FIG. 4 , clutch control system  120  is also connected to status indicator  210 . Status indicator  210  is a device that can provide indications to a user about the operation of power tool  100 . For example, status indicator  210  can be a light, speaker, vibration source, LCD screen or other indicator. As will be explained in more detail below, clutch control system  120  can send a signal to a user via status indicator  210  that a fastening operation is complete, that a fault has been detected or that any other condition of power tool  100  is present. This type of visual, audible or tactile feedback to a user is particularly advantageous to verify that a fastening operation is successfully completed. 
     Clutch control system  120  may also be connected to a transceiver  214 . Transceiver  214  enables communication between clutch control system  120  and a communications network. Transceiver  214  can be any suitable communication device such as a Bluetooth transceiver, WiFi transceiver or cellular transceiver to enable wireless communications. In other embodiments, transceiver  214  can require power tool  100  to be connected to a desktop computer, laptop, smart phone or other processing device via a wired connection in order to send and receive information over a communications network. 
     Referring to  FIG. 5 , an example method of installing a fastener is shown. For purposes of illustration, the example method is explained in the context of installation of a deformable fastener, such as lockbolt fastener  130 . As can be appreciated, the steps, processing and methodology can be applied to other relevant fasteners as well. At step  300 , a user initiates the tool. Tool  100  is initiated by depressing the trigger of the tool. Upon receiving an indication of this action, trigger system  106  can send a signal to controller  200  that, in turn, provides power to motor  110  that actuates tool  100 . Upon initiation of tool  100 , controller  200  begins receiving tool data at step  302 . Tool data is information that describes operating conditions of the tool  100 . Tool data can include current data, force (or load) data, proximity data or any other information collected by the various sensors and modules that may be included in tool  100  and connected to clutch control system  120 . In the embodiment shown in  FIG. 4 , the tool data includes current data and current sensor  212  begins sending current data to controller  200  at step  302 . In addition to receiving current data, controller  200  also begins receiving motor data from motor position sensor  208  at step  304 . 
     The current data that is received by controller  200  enables controller  200  to monitor changes and a rate of change of the current flowing to motor  110 .  FIGS. 7A and 7B  illustrate a graphical representation of the current data being received by controller  200 . At t=0, tool  100  is initiated.  FIG. 7A  illustrates current I, as it changes over time after the initiation of tool  100 .  FIG. 7B  illustrates the rate of change of current over time, or dI/dt, after the initiation of tool  100 .  FIG. 7C  shows a profile of the example collar  138  and illustrates a position of the anvil  102  of tool  100  on the example collar  138  of fastener  130  over time after the initiation of tool  100 . 
     The current profiles shown in  FIGS. 7A, 7B  begin at the initiation of tool  100 . The next time that is indicated on the figures is t 1 . Time t 1  indicates the time at which the initial in-rush of current has ended and tool  100  has begun drawing fastener  130  into tool  100  toward anvil  102 . As can be seen, during this stage, current I is substantially constant until reaching time t 2 . 
     At time t 2 , anvil  102  begins to contact collar  138  at initiation end  140 . As this occurs, anvil  102  begins to swage collar  138 . This action creates a higher load on motor  110  that translates to the increase in current I shown in  FIG. 7A  between time t 2  and t 3 . After this sharp upward rise in current I, anvil  102  continues swaging collar  138  during the time period between t 3  and t 4 . Current I continues to slightly increase over time during this period due to the increased surface area of collar  138  being located in anvil  102 . At time t 4 , anvil  102  begins to contact corner  144  of collar  138 . As this occurs, current I again spikes upward as anvil  102  meets flange  142  of collar  138 . At time t 5 , current I and the rate of change of current dI/dt have met current thresholds Ic and (dI/dt)c as will explained in further detail below. At this position (at time t 5 ), the swaging of collar  138  is complete. 
     Referring back to  FIG. 5 , controller  200  receives fastener characteristics information at step  306 . Fastener characteristics information is data or information that describes one or more properties of a fastener. For example, fastener characteristics information may include a length of the fastener, a diameter of the fastener, the fastener&#39;s material, the fastener&#39;s hardness or grade or other information that describes or is relevant to the forces or time required to properly secure the fastener in a desired position. The fastener characteristics information can be input into tool  100  through fastener selector  206  or it can be automatically determined by controller  200 . 
     In one embodiment of tool  100 , fastener selector  206  is a dial mounted on housing  108 . A user is able to choose a desired type of fastener. The dial fastener selector can include options such as steel, aluminum, high strength or standard. A user is able to select the type of fastener. Controller  200  receives an indication of the selection from clutch setting sensor  204 . One or more tables or databases of information can be stored in memory  202  that includes various other properties of a fastener that correspond to the fastener that is selected on fastener selector  206 . For example, after receiving information from clutch setting sensor  204  that a steel fastener has been selected, controller  200  can retrieve fastener characteristics information such as the length of collar  138  and fastener installation requirements (e.g., current thresholds) from memory  202 . 
     In another embodiment of tool  100 , the type of fastener is automatically determined by controller  200 . As previously described, the profiles of current I and the rate of change of current dI/dt between t 2  and t 3  corresponds to a time when anvil  102  begins contacting collar  138 . These profiles of current I and the rate of change dI/dt are different between various types of fasteners. Controller  200  can analyze the profiles of current I and the rate of change of current dI/dt during this period and compare the profiles to known profiles and/or known current values, such as the amplitude of current I at time t 3  or the maximum rate of change of current dI/dt. If the profiles match a known profile, controller  200  can automatically determine a type of fastener such as the material of the fastener or whether the fastener is high strength or standard grade. Upon the determination of the type fastener, various other fastener characteristics information can be retrieved from memory  202  as previously described. 
     For example, a user may engage tool  100  to a fastener  130  and initiate the tool by depressing the trigger. Upon initiation of tool  100 , collet  104  grips fastener  130  and begins pulling fastener  130  into anvil  102 . When the initiation end  140  of fastener  130  contacts anvil  102 , the tool data being received by controller  200  sees the current I spike upwards as shown in  FIG. 7A  at time t 2 . The controller  200  also sees the parabolic shaped profile of the rate of change of current dI/dt as shown in  FIG. 7B  between times t 2  and t 3 . Since the amplitude of the spike I will be greater for steel fasteners than for aluminum fasteners and the local maximum of the rate of change of current dI/dt will be greater for steel fasteners than for aluminum fasteners, controller  200  can differentiate between the steel and aluminum fastener by comparing the current data between time t 2  and t 3  to known current thresholds or other current profile characteristics. Controller  200  can have the current thresholds or other current profile characteristics stored in memory  202  that indicate the characteristics of the current profiles for steel fasteners and aluminum fasteners. As can be appreciated, the same process can be used to automatically differentiate between standard and high strength grade fasteners or between other types of fasteners that exhibit a unique current profile upon engagement of the fastener by the tool  100 . 
     Whether the type of fastener is input by a user using fastener selector  206  or is determined automatically by controller  200 , controller  200  sets fastener installation requirements at step  308 . Fastener installation requirements are thresholds or other measurable parameters that controller  200  will use to determine when various stages of the fastening process have occurred. These events can correspond to the start of a fastening process, the end of the fastening process or to an interim engagement or deformation of the fastener. Controller  200  compares the data and information that it is receiving from various sensors in tool  100  to the fastener installation requirements to determine when these events occur. 
     In one example, the fastener installation requirements include current thresholds. Controller  200  sets current thresholds that correspond to current levels that controller  200  will use to determine when the swaging of collar  138  begins, when the swaging process is complete and whether the fastener has been installed properly or if a fault has occurred during installation. The current thresholds may include one or more thresholds of current I and one or more current thresholds of the rate of change of current dI/dt. 
     For example, a current threshold may be set that corresponds to (or is slightly less than) a current value of current I that occurs at time t 3 . A current threshold may also be set for the rate of change of current dI/dt at or near the value of dI/dt that occurs at time t 3 . These engagement current thresholds (not shown on  FIG. 7A or 7B ) can be used by controller  200  to determine when the tool  100  has engaged the fastener as will be explained further below. Similarly, controller  200  may set completion current thresholds that controller  200  will use to determine when the installation process is complete. As indicated on  FIGS. 7A and 7B , completion current threshold Ic and completion rate of change of current threshold (dI/dt)c have been set by controller  200  in this example. As shown, current I and rate of change of current dI/dt meet these thresholds at time t 5  indicating that the swaging process is complete. 
     As can be appreciated, controller  200  may set other fastener installation requirements to determine when other stages of the fastening process have occurred. In addition, other thresholds or parameters can be used in addition to or in place of current thresholds in examples of clutch control systems that are connected to other sensors. For example, proximity sensors, voltage sensors or other sensors may be used to determine when the engagement of a fastener has occurred. 
     Referring back to  FIG. 5 , controller  200  monitors the tool data during tool operation at step  310 . Controller  200  continues to receive tool data that includes current data from current sensor  212  and monitors the data. At step  312 , controller  200  compares the current data to the fastener installation requirements (e.g., engagement current thresholds) to determine when the anvil  102  engages collar  138 . As previously explained, controller  200  can determine that anvil  102  engages collar  138  when controller  200  observes that current I exceeds an engagement current threshold or exceeds an engagement rate of change of current threshold. If the tool data indicates that the tool  100  has engaged a fastener, processing continues at step  314 . If not, controller  200  continues to monitor the tool data at step  310 . 
     At step  314 , controller  200  sets a fastening start time. The fastening start time corresponds to time t 2 . This is when the anvil  102  engages collar  138  and begins to swage collar  138 . By setting the fastening start time, controller  200  will be able to determine the travel of anvil  102  relative to collar  138  to verify whether the entire collar  138  has been secured in position. 
     At step  316 , controller  200  monitors the tool data and motor data. Controller  200  receives motor data from motor position sensor  208 . At step  318 , controller  200  then compares the tool data to the fastener installation requirements to determine completion of the fastening process. As previously stated, controller  200  may set a completion current threshold and a completion rate of change of current threshold, Ic and (dI/dt)c, respectively. Controller compares the current data included in the tool data, in this example, to current thresholds Ic and (dI/dt)c. Controller  200  determines whether the current or the rate of change of current exceeds these thresholds. If the current and the rate of change of current do not exceed current thresholds Ic and (dI/dt)c, controller  200  continues to monitor the current data and the motor data at step  316 . If the current and the rate of change of current exceed the current thresholds Ic and (dI/dt)c, controller  200  stops the motor at step  320 . Controller  200  may stop the motor by interrupting power to the motor  110 . 
     In another embodiment, completion of the fastening process is determined soley by monitoring the number of motor rotations and comparing the number of motor rotations to a number (or range) of rotations needed to ensure proper installation of the fastener. Once the number of motor rotations exceeds the predetermine number or falls in the range of rotations, the controller stops the motor. In this embodiment, the rate of change in current could be used as a secondary check. For instance, when the number of motor rotations exceeds the predetermined threshold and the rate of change of current exceeds the completion rate of change of current threshold, the fastener installation is deemed successful. On the other hand, when the number of motor rotations exceeds the predetermined threshold but the rate of change of current did not reach the completion rate of change of current threshold, the fastener installation is presumed successful but the tool operator is advised to visually inspect the fastener. 
     At this stage, the installation of fastener  130 , in this example, is effectively complete. Clutch control system  120 , however, may also include the ability to verify the installation of the fastener.  FIG. 6  illustrates an example method of the verification of the installation of the fastener. The example method begins after the previously described fastener installation steps have been completed. 
     Referring now to  FIG. 6 , the method of verification begins at step  322 . If the tool has performed properly during the fastener installation described in  FIG. 5 , the anvil  102  has swaged the entire wall of collar  138  and is positioned at or near corner  144 . As previously described, the contact of anvil  102  to flange  142  at or near corner  144  would cause the spike in current I and in the rate of change of current dI/dt as shown in  FIGS. 7A and 7B  at time t 5 . At step  322 , controller  200  compares the motor data to the fastener characteristics information in order to verify whether the anvil is in the proper position and collar  138  has been sufficiently swaged. Controller  200  is able to use the motor data that it has received from motor position sensor  208  (e.g., rotary encoder) to determine the number of rotations of motor  110  from the fastening start time (i.e., time t 2 ) until the current has exceeded the completion current thresholds (i.e., time t 5 ). The controller  200  determines, based on the fastener characteristics information, the length of collar  38 . Given the length of collar  38 , the controller  200  can determine a number of rotations of motor  110  needed to properly swage the fastener. It is envisioned that this information can be in the stored fastener characteristics information or it can be calculated by controller  200 . 
     Controller  200  compares the motor data (i.e., number of motor rotations) to the required number (or range) of rotations needed to ensure proper installation of the fastener. If the motor data indicates that the number of motor rotations falls within a predetermined range, the anvil  102  has swaged a sufficient length of collar  138  such that it is securely fastened in position. If the motor data indicates that the number of motor rotations is less than the predetermined range, the anvil  102  has not swaged a sufficient length of collar  138 . If the motor data indicates that the number of motor rotations is more than the predetermined range, the tool has performed other than as anticipated and the fastener should be inspected to determine that it has been sufficiently secured in position. For example, for one type of lockbolt and one example tool  100 , it can be anticipated that motor  110  should turn between 80 to 100 times in order for anvil  102  to swage the length of collar  138  between initiation end  140  and corner  144 . At step  322 , controller  200  compares the number of motor rotations between time t 2  to time t 5  to the designate range. If the motor data indicates that motor  110  turned 92 times, then a satisfactory fastening process has been completed. If the motor data indicates that motor  110  turned 78 times or 103 times, a fault has occurred. In one embodiment, processing continues at step  324 . In an alternative embodiment, if the motor data indicates that the motor turned less than the lower bound of the designated range (e.g.,  78 ), the controller continues to drive the motor until the motor data indicates that the motor rotations fall within the designated range. In this way, the tool disregards the current metrics that swaging of the fastener is complete and overcomes potential false readings to ensure proper installation of the fastener. 
     At step  324 , controller determines whether a satisfactory fastener installation has occurred. If the motor data indicates satisfactory completion, controller  200  sends instructions to status indicator  210  to emit a signal to the user of satisfactory completion at step  328 . If the motor data does not indicate satisfactory completion, controller  200  sends instructions to status indicator  210  to emit a signal to the user of a fault at step  326 . Status indicator  210  can emit a signal of successful completion or of a fault by displaying a light, displaying a message, emitting an audible signal, vibrating tool  100  or via any other suitable method to the user. Alternatively or additionally, an indicator for the quality of the installation can be transmitted by a transceiver (e.g., RF or cellular transceiver) in the tool over a wireless network to a remote monitoring station. 
     At step  330 , controller  200  returns tool  100  to the home position. At the home position, the fastener  130  is released from collet  104 . At this stage, a user can move to a second fastener if desired or inspect the fastener if a fault signal was emitted by tool  100 . 
     The foregoing described method of verifying the installation of fastener can detect various types of faults or problems that may have occurred during the installation of a fastener. For example, if a lockbolt does not have sufficient lubrication or has not been hardened properly, controller  200  can detect that collar  138  has not been completely swaged and secured in position. Such indication of fault would be emitted by tool  100  and a visual inspection of the lockbolt could indicate the incomplete fastening process. 
     Another type of example fault that could be detected by controller  200  is a circumstance where the tail  132  of fastener  130  breaks (either prematurely or otherwise) during the fastening process. If the tail  132  of fastener  130  breaks during the installation process, the current data would not exhibit a profile as that shown in  FIG. 7A or 7B . The breakage could manifest itself into a sudden drop in current or an unanticipated spike in the rate of change of current during the swaging process in the period between time t 3  to time t 4 . In one example, a sudden drop in current can be determined by comparing the change in measured current during a single sampling period to a threshold. Similarly, a spike in the rate of change of current can be determined by comparing a change in the rate of change during one or more sampling periods to a threshold. Controller  308  can set fastener installation requirements or retrieve pre-set fastener installation requirements that correspond to variations to the anticipated current profiles. Such unanticipated variations from the anticipated current profiles can be detected by controller  200  and an indication of a fault would be emitted by tool  100 . 
     Additional protective features can be incorporated into the fastener installation process. For example, a secondary current threshold (e.g., I c  in  FIG. 7A ) can be implemented during the installation process. If at any time before the anvil contacts the collar (i.e., t 4 ) or the swaging in completed (i.e., t 5 ) the measured current exceeds the secondary current threshold, the load is assume to be larger than needed to install the fastener and the motor is stopped and/or the returned to a home position. This condition may occur when a tool component is broken, the fastener is mis-aligned, a faulty fastener or some other fault conditions. In this way, the tool and the fastener are protected against potential damage. 
     Still further, controller  200  can detect other faults as well, such as, breakage of collet  104 , material mismatches wherein a collar and a pin of a lockbolt are incompatible and wear or breakage of anvil  102 . These types of faults also would exhibit unanticipated changes, spikes in current I or in the rate of change of current dI/dt. Controller  200  can set fastener installation requirements or retrieve pre-set fastener installation requirements that correspond to these failures. As can be appreciated, fastener installation requirements can also be set for other types of tool data such as the data collected from proximity sensors, voltage sensors or other sensors than may be connected to clutch control system  120 . 
     The systems and methods of the present disclosure can also be applied to various types of fasteners and fasteners of various grades and materials. The systems and methods are useful for use in connected with deformable fasteners such as lockbolts, rivets and popnuts. The fasteners, such as lockbolts, can be made of various metals including steel and aluminum and can be made of various grades and hardness. As can be appreciated, the foregoing system and method can be used to install and verify lockbolts of both steel and aluminum and of standard to high strength grades. The current profiles of different materials would have different amplitudes and may exhibit different shapes but the current thresholds of the present disclosure, including both thresholds of current I and of the rate of change of current dI/dt, can be used according to the previously described methods. If we consider the profiles shown in  FIGS. 7A and 7B  to be profiles for an aluminum lockbolt, the current profiles for a steel lockbolt would look similar but would have higher current amplitudes that result from the higher loads required to swage a steel collar as compared to an aluminum collar. The same relative situation is the case if the current profiles of a standard lockbolt are compared with a high strength grade lockbolt of the same material. 
     While not shown in  FIG. 5 , tool  100  may store identification data and fastener status data in memory  202  upon completion of a fastening cycle. The identification data can assign a unique number to each installed fastener and the fastener status data can include whether satisfactory completion or a fault was determined at steps  328  and  330 . This information can be particularly useful if a project is being completed that requires a multitude of fasteners to be installed. The identification data and the fastener status data can be retained as evidence of completion of the projection or can be used to identify the cause of failures that may later occur in a secured joint. Still further, faulty fasteners and faulty joints can be identified for inspection and repair. The identification data and fastener status data can be stored in memory  202  for later use or can be transmitted via transceiver  214  to report status in real-time or for storage in other storage devices. 
     In one example embodiment, the identification data and/or fastener status data or elements thereof are displayed or otherwise visually represented to a user. The identification data and/or fastener status data can be displayed via the status indicator  210  in the form of a series of colored lights or on an LCD screen. In other examples, the identification data and/or fastener data can be transmitted to a mobile computing device and displayed to the user. As can be appreciated, other items of information and data previously described can also be stored, retrieved, transmitted or displayed. On examples of tool  100  with a LCD screen status indicator  210 , the LCD may display, for example, that a user just successfully installed a #6 fastener of high strength aluminum. 
     Spatial and functional relationships between elements (for example, between modules, sensors, circuit elements, semiconductor layers, etc.) are described using various terms, including “connected,” “engaged,” “coupled,” “adjacent,” “next to,” “on top of,” “above,” “below,” and “disposed.” Unless explicitly described as being “direct,” when a relationship between first and second elements is described in the above disclosure, that relationship can be a direct relationship where no other intervening elements are present between the first and second elements, but can also be an indirect relationship where one or more intervening elements are present (either spatially or functionally) between the first and second elements. 
     In this application, including the definitions below, the term “controller” or the term “module” may be replaced with the term “circuit.” The term “controller” may refer to, be part of, or include: an Application Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog/digital discrete circuit; a digital, analog, or mixed analog/digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system-on-chip. 
     The controller may include one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces that are connected to a local area network (LAN), the Internet, a wide area network (WAN), or combinations thereof. The functionality of any given controller of the present disclosure may be distributed among multiple modules that are connected via interface circuits. For example, multiple controllers may allow load balancing. In a further example, a server (also known as remote, or cloud) controller may accomplish some functionality on behalf of a client module. 
     The computer programs that may implement the functionality described in this disclosure include processor-executable instructions that are stored on at least one non-transitory, tangible computer-readable medium. The computer programs may also include or rely on stored data. The computer programs may encompass a basic input/output system (BIOS) that interacts with hardware of the special purpose computer, device drivers that interact with particular devices of the special purpose computer, one or more operating systems, user applications, background services, background applications, etc. 
     The computer programs may include: (i) descriptive text to be parsed, such as HTML (hypertext markup language), XML (extensible markup language), or JSON (JavaScript Object Notation) (ii) assembly code, (iii) object code generated from source code by a compiler, (iv) source code for execution by an interpreter, (v) source code for compilation and execution by a just-in-time compiler, etc. As examples only, source code may be written using syntax from languages including C, C++, C #, Objective C, Swift, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, Javascript®, HTML5 (Hypertext Markup Language 5th revision), Ada, ASP (Active Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, Visual Basic®, Lua, MATLAB, SIMULINK, and Python®. 
     Numerous modifications may be made to the exemplary implementations described above. These and other implementations are within the scope of this application. 
     The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.