§1. Flame straightening and residual stress [00:04]
In flames, we use flames for straightening things a lot of times. You put something together and you start looking at it and it just doesn't fit. Here's a drawing — this comes out of a National Shipbuilding Research Program. Twenty years ago, August 1991, they had a program funded by the Navy and the Maritime Administration to take best practices in shipyards and try to publish them and let people know how to build ships. I used to get these regularly for free.
Here's a situation — probably a real situation. You have some valve body down here, and they basically do all the piping and find the things don't fit together. These are big pipes and big flanges; you don't just push them with your hand to get them in place. So what do you do? You could cut this out and put a longer piece in, or you can do flame straightening or bending. What this handbook tells you is, if you want to bend pipe, you basically make a flame heating with a little V shape at different locations.
One rule in residual stresses that you should always remember, and I've never seen it fail yet: if you heat the thing up, by heating it you cause it to expand in one direction, and by the time it cools down it always ends up taking a residual strain in the opposite direction. So if I heat a triangle like this, it's going to expand more on the outside than on the V point of the triangle. While it's hot, it's going to expand and cause this thing to bend over to be even worse out of alignment.
But what actually happens is, the colder part at the bottom of the V and the hot part up top — the hot part's trying to expand but gets compressed, and you get above the yield point of the hot material, and it gets compressed while it's hot. The left side is non-yielding, it's not hot enough to yield. So this material, as it expands, actually is compressed compared to its room-temperature state. And when you let everything cool back down, the wide part of the V shrinks, the bottom of the V never changed its shape, and the thing pulls back into alignment. In the relaxed state, you get residual stresses because you have temperature gradients in the material and you get to temperatures where the material is getting above its thermal yield strength.
So welding, we get residual stresses. Pipe bending, we put residual stresses in. There was a guy who used to be head of the Welding Department at Ohio State University — Roy McCauley, an expert, passed away now — and he told me that when they were building the Cincinnati Reds Stadium, back when Pete Rose was still playing, so a long time ago, they had the world's largest I-beams for part of the roof section. While they were trying to erect this, one of the cables on a crane broke and the beam came crashing down right across the big concrete wall, and they ended up with a beam bent rather than straight. It was a year and a half lead time to get a new beam from the steel mill, because they don't roll that size every day, and you can't go to some hardware store and pick one up.
So what were they going to do? They were either going to have to fabricate one out of plate, which would still take six months, or — Roy came in, showed them how to flame straighten it. They took something that had like a thirty-degree angle on an I-beam and he straightened it right out by applying heat. You can apply the heat over and over. They generally like to limit the heating to three heats when practical. You can do this and keep jacking it over three times. You can do it more times, but you cannot do this on heat-treatable materials because you'll destroy the heat treat. So on carbon steels — most of your piping is just plain old carbon steel — you can do it. You can't do it on the HY steels, you can't do it on your heat-treatable aluminum alloys in most cases.
This is another book by a practical guy on flame-straightening technology. He did a lot of work on castings. He had a casting shaped like an I-beam, and after it came out of the mold it had a high spot. You put the heat on top of the high spot and make the high spot higher while it's hot, but when it cools back down, it straightens out. This book has the potential to save the metalworking industry millions of dollars, which is in fact true. The difference between that book and the Maritime Administration books is, this one's quantitative. There's actually some science behind it. There's a lot of practical art behind the other one — the guy worked in the foundry and had to straighten things all the time.
§2. Residual stresses in pressure vessels and submarines [06:44]
Student: [question about residual stress relief requirements]
It depends. The ASME boiler and pressure vessel code does not require residual stress relief of welds less than about an inch and a quarter thick. When you get above an inch and a half, you have to stress-relieve the welds, because otherwise you'll get brittle fracture from the residual stresses and you'll get fatigue cracking. If you're below half an inch there's no need to relieve residual stresses — most structures have enough flexibility when the walls get that thin. Residual stresses and distortion are sort of a trade-off. The thinner the material, the more distortion; the thicker, stiffer material, the more residual stress you build up. It's basically caused by the same thing — contraction, temperature gradients, and the material yielding in one area locally compared to another.
Student: [question about submarines]
If you're thinking about submarines — you don't stress-relieve the walls of submarines. When you cut out a hatch, you put in an insert plate. If it's more than an inch thick, you should probably think about some sort of stress relief. There's stress relief by mechanical means, not always by thermal means. We can't talk in here on videotape about how thick the hull is of a submarine, but we all know it's more than an inch thick, and everybody around the world does too. In fact, they have to cover the modules down at Electric Boat, because satellites can actually measure the thickness of the hull from a satellite within a fraction of an inch. If they know the outside diameter and the wall thickness, they know what the depth capability is. I happen to know what some of those numbers are, but it's classified.
Nuclear submarine hulls are not stress-relieved in the conventional sense. You create all kinds of residual stresses, but they are stress-relieved — the first deep dive stress-relieves the welds mechanically. If it was a surface ship of that shape or thickness, you'd have tremendous residual stresses.
[Tom produces a section of weld from a forging press.] This actually brings me to a reason I brought this in. This is not part of a battleship — it is an arc weld on a fairly thick plate, came off a huge forging press. We can pass this around. This is about a thirteen-inch-thick weld made with — I think I estimated five or six or eight hundred SMAW, manual metal arc welding passes. The weld is here, this lighter area, and it goes all the way down. This was a forging press made in the 1950s. It developed a crack. If you had to rebuild this 7,000-ton press, it'd probably cost you a hundred million dollars. So they wanted to repair the casting. They brought in some good old boys — this is happening in Erie, Pennsylvania — and you can actually see the weld beads on the top here.
[Tom hands the sample around with a rag.] You can pass it around with this old rag to keep from cutting yourself or scratching the table. That's the type of weld they used to put in armor plate on battleships. You don't use battleships anymore, but it wasn't that many years ago — twenty or twenty-five — there was the guy who blew up his partner on the Iowa. This seaman had a boyfriend, they broke up, and he wanted to kill his boyfriend, so he lit off one of the charges inside one of the sixteen-inch guns on the Iowa. Did a fair amount of damage when you light that off inside the gun turret.
Back in the 80s I used to go down to David Taylor [Naval Ship Research and Development Center] in Annapolis during the summer, and they were trying to figure out how to repair it, because no one knew in 1985 how to make the welds they were making in 1945. What they used to do is weld a certain number of layers, then come in and mechanically peen the surface. Then more layers, peen again — that was their stress relief. They would mechanically stress-relieve every half inch or so. But no one really knew how many layers to put on before peening, or how to do the peening, or how long. They decided not to repair that gun turret on the Iowa.
Within five years they decommissioned all the battleships. In the mid 80s, the Missouri — the last battleship built, if I remember — they sent it over to Lebanon and they were shelling the Palestinians or the Arabs with sixteen-inch shells. Those shells had been made in the 1940s. They kept that ordnance pretty well. Battleships became sort of an anachronism. They had sixteen-inch armor, not a lot thicker than this. They would just have a bunch of little welders go all over that ship putting on weld passes with stick electrodes. Tremendous expense if you tried to do it by today's technology. But it doesn't really matter, because all you need is the right shape-charge weapon to go right through it. The molten copper would just eat right through it.
§3. Shape charges and tank armor [14:25]
I've seen down at Aberdeen Proving Ground where a shape charge went all the way through thirty-six inches of steel. I meant to bring in my shape-charge thing this morning, I forgot. Does everybody know how shape charges work?
Students: Vaguely.
Shape charges were discovered in the 1880s by a guy working — I think at the U.S. Navy Brooklyn Navy Yard — on ordnance and explosives. He found that if you have things in the right configuration and set off an explosive, you can actually cut right through metal, or you can emboss metal in another metal. There's a picture from the 1880s — I used to have a book but I loaned it to one of your predecessors and he never returned it — of "USN" embossed into a piece of steel using a shape charge.
The improvised explosive devices in Iraq and Afghanistan are basically just steel pipes. They started out with four-inch-diameter pipe, and they put a piece of copper in there, very precisely machined copper — more precisely machined than any Iraqi machine shop could be. They were importing these from somewhere — I could tell you which country, but I couldn't do it on videotape, and I couldn't really do it without violating some classified information. You take a steel pipe, put the copper piece in, and put your explosive underneath.
When you set it off, the copper inverts — it flexes. You remember the little clickers in high school? Basically the metal flexes and makes a clicking sound. The copper inverts, and when it inverts, the copper starts to heat from the force of the explosion, gets concentrated, and that copper starts to melt, and you actually get a jet of liquid copper shooting out. A rocket-propelled grenade nowadays often has a shape like this, with the rocket back here to transport it. The head is basically just nothing more than copper, very precisely machined, that when the charge lets go, it inverts the V and shoots out a stream of copper in front.
The kinetics of copper cutting — I told you yesterday about someone trying to use liquid copper jets for cutting. The idea comes from 140 years ago when this guy at the Brooklyn Navy Yard found that if you concentrate all the explosive energy and have it converge to the center of something circular, you can cause it to melt and shoot out the jet of copper. There have been debates on whether it is liquid copper, or whether it's just the kinetic energy of all that copper being mechanically deformed. That's what they do at Aberdeen Proving Ground — try to design these things and make better, more efficient ones. I saw some work — and I'm not telling you anything — where they believe they proved it actually is a liquid jet. I've talked to the guys who did the research. You can call it spalling, but liquid copper will cut through steel in microseconds per inch.
So what have they done to improve armor against this? They start using ceramic armor, because liquid copper doesn't cut through ceramic. It melts through steel, but it doesn't melt through ceramics at higher temperatures. And what do they do to defeat ceramic armor? They use kinetic-energy penetrators — that's where you get your depleted uranium. You want a big heavy rod of material that you shoot at near-sonic velocity, and when it hits the wall, it'll break up the ceramic.
So what do they do to protect the ceramic? They layer with other stuff. They use what they call active armor — nothing more than a layer of explosive on the surface. So you've got your steel, your ceramic, and a layer of explosive on the surface. When the depleted uranium — or nowadays they're trying to use tungsten, because the Arabs got all upset in Kuwait about littering the whole desert with depleted uranium, slightly radioactive, people don't like radioactivity anymore — when it hits, it causes the active armor to explode, sending a shock wave down. It's so highly stressed that the extra stress causes the whole penetrator to just shatter.
So what do they do for that? They develop a sabot that has two sabots in one, like a two-car train. The first one hits the active armor, causes it to explode, and is sort of sacrificial. Then the second one behind it goes right into something that no longer has any protective armor layer, and it penetrates. The technology to armor something and then defeat the armor is tremendous. I've rarely seen that kind of sophisticated technology, but people don't really know much about it because a lot of it's classified. None of what I told you was classified — you can go to Scientific American type articles and read what I just told you.
But the whole idea of shape charges — they use shape charges to bring down buildings. If you go to this National Geographic special on the World Trade Center — they take a piece of copper, a rod, and they machine it so it's got a square quadrant cut out of it. They put a stick of dynamite in there, a long stick. When the dynamite goes off, it inverts this V, and you put this right up against the steel beam, and the inverted copper V cuts right through the steel beam. One stick of dynamite, one copper rod, properly machined, you can cut through a piece of steel. It helps to know what you're doing in a little more detail than that, but that's all it takes, and they've been doing it for 140 years.
That's what they did to shoot through tank armor. One of my students worked for the Army in the mid 80s, and they had just come up with better sabots that could penetrate multiple layers of armor. They did a study in the field, and some major or brigadier general was there in the Armored Division. They took three old tanks and lined them up, and they shot right through all six layers of armor — two layers on each side of each tank. Apparently this general just tossed his cookies right there on the battlefield, because obviously anyone in those tanks was a goner. But it doesn't really matter — when was the last tank battle we had?
Student: [Gulf War,] '91.
'91. We had them in Iraq, sort of. The real tank battle where we were really fighting other tanks — you're right, '91. Was it '72, the Suez War? The average lifetime of a tank when the tanks were of sort of equivalent capability was about two and a half minutes on the battlefield. Helicopter gunships with rocket-propelled grenades just wipe these things out in no time.
There's a book called Armored Cav[alry] by Tom Clancy. It's the only nonfiction book Tom Clancy's written that I know of. One chapter talks about the '91 Gulf War. So they start the tank assault, and one M1 Abrams gets stuck in some mud near a river, and the other tanks try to pull it out and can't. So they say, okay, you stay here, we'll send in a crane, and we've got to continue our drive toward Baghdad, which they never got to — they were called back.
While this guy's stuck in the mud, apparently three Soviet T-72 tanks come over and see this American tank stuck in the mud. The first one fires at the Abrams and his round just bounces off the American armor. The Abrams turns his turret, aims at him, wipes him out. The American ordnance was more effective against his armor than his ordnance was against the Americans. Another one fires, bounces off the American tank, the Abrams turns the turret, wipes him out. The third one decides discretion is the better part of valor, so he goes over the sand berm to the other side. The Abrams scans the sand berm, can see the heat from his exhaust on his infrared scanner, and shoots through the sand berm with his penetrator and wipes him out. Couldn't even see the tank — went through the sand.
So these things are pretty amazing capability. The last tank battle was '91. But it wasn't as exciting as the Suez War, where you had hundreds of tanks coming at each other like cavalry charges. The average lifetime of a tank was two and a half minutes on the field. Tanks are sort of like battleships — an anachronism in today's warfare.
Today's warfare is sort of an anachronism. As a kid, during Vietnam, you'd get a body count every day from Vietnam. The concern was how many Americans got killed; you didn't care about how many Viet Cong got killed. Over the years, it's become — not as many Americans get killed. There's still a count, but nowhere near as bad as the fifty thousand that died in Vietnam. Now you get the count of the enemy, and a lot of civilians believe you're not supposed to hurt the enemy in the war either. You're supposed to be able to incapacitate them without doing anything harmful, right. So war is not what it used to be. Of course, Clausewitz's definition of war — you guys must have taken some strategy — it's an extension of policy by other means. Anyway, let's go back to arc welding.
§4. Flame cutting vs. flame straightening [27:36]
Student: [question about flame cutting versus flame straightening]
In flame straightening, you're not going to have an oxygen jet. In flame cutting, you're actually burning with this oxygen jet. The flame you start flame cutting with, you just heat up the surface like you're doing flame straightening — that's about a thousand watts per square centimeter. A flame is good for straightening a pipe or plate at about a thousand watts per square centimeter. You don't want to melt the metal, you're moving it back and forth.
[Tom shows the handbook.] Flame straightening uses oxygen to burn the fuel, but not to burn the iron, in the oxidizing-and-reducing sense. You should use a neutral flame, so you don't screw things up — if you use a carburizing flame, you could be causing problems. These books in the beginning tell you about the different types of flames, and you want to use a neutral flame. You can use line heating. There are three different heating patterns — the weave back and forth to make your triangle, the line method, and spots across the surface. Just the twelve-o'clock position; you're not heating down at three or four o'clock.
In all of that, all you're using oxygen for is to burn the fuel. In flame cutting, you have the fuel coming down, but you have another thing in the middle that, when you've gotten the thing hot, you put pure oxygen in there. The pure oxygen burns right through the steel. So in flame cutting, we call it burning of the steel — it literally is burning the steel. You form iron oxide. The iron oxide is a liquid slag, it condenses. There's no boundary layer, so there's no limit to heat transfer across the boundary layer anymore, like there is in surface heating with flames.
When you're doing flame straightening, you've got a boundary layer there, you can only put in a thousand watts per square centimeter. You get rid of that boundary layer, and you can have a hundred thousand watts per square centimeter, which will cut just like the shape charges — liquid oxygen and liquid copper can cut right through steel. A jet of oxygen essentially burns as effectively, giving you a hundred times the heat-transfer coefficient to the surface, and just burns its way right through.
There's a video — I've got to find it — it was on the website. Someone did laser flame cutting. You can use other heat sources rather than just flames. Laser cutting of carbon steel is the typical way of stamping out steel sheet nowadays. They have automatic machines the size of this room, and they run in big sheets of steel instead of mechanical stamping to shear out little eighth-inch widgets. You have lasers that come along with an oxygen assist — the laser provides the heat to get the surface up to ignition temperature, and an oxygen jet follows along. You can cut at 200 inches a minute. So you can take a sheet of steel eight feet wide and as long as this room, and within five minutes turn it into all kinds of parts and scrap.
I had a situation out here in Western Massachusetts. One of these machines might cost two or three million dollars, and you can run them lights out in the factory. You program them, the sheet is fed in, you turn off the lights and tell it what to do all night. You come back the next morning, you've got thousands of parts sitting there. One of these machines caught fire in the middle of the night in a lights-out factory and destroyed the million-dollar machine. People looked at the remains for three days and couldn't find the ignition source. The people who wanted to sue the company that made it, to get their money back on their messed-up machine, said okay, we think it was the metal powder that ignited. Very finely divided metal powder has a lot of surface area, and if it gets hot enough it can ignite.
It's a problem in metal powders — this powder can go off just like in a sparkler. There have been many fires in barges carrying machine-shop turnings or grindings. If they ignite, it's like a flare going off, and it might be a ten-ton flare. It'll burn for a while, and it burns really hot, because it's a solid fuel. So I was asked — after someone else had done the fire investigation — they wanted to go to mediation. I called up the company in Finland and asked, well, is this oxygen-assisted cutting? They said yeah. I said, oh, well there's the answer.
We went to the mediation. The other side comes in and says, well, all the metal powders formed from the cutting operation got down on the bottom of the machine and ignited. Then they asked me to make a presentation. I said, well, that's all very interesting, but they used an oxygen cut, so all those metal powders are already iron oxide. You can't burn wood twice — it's already ash. It's already oxidized. Eventually we got them to withdraw their lawsuit, because they didn't have a clue what started the fire. It wasn't metal powders burning because they had already been burned.
But — kind of a long-winded answer. The difference between flame heating and flame cutting is, you have a big oxygen source. In a steel mill, you don't even need the flame to bring the hot steel up to temperature when it comes out of the continuous caster — it's glowing yellow-white hot. All you need is an oxygen jet. You don't need to get it to ignition temperature, it's already there. You put a pure oxygen jet on, and you can cut right through. The steel's coming down the line continuously, and they have an oxygen jet that goes with the speed of the steel, moving across — so in a sense the path is diagonal, but the cut in the steel is straight across.
Another of the lectures talks about continuous casting of I-beams, and you see the flame cutting. They cut the I-beams with just a straight oxygen jet. In the old days — forty years ago when I worked for a steel company — they'd have guys go in with their hot suits on and an oxygen jet, standing on some platform next to a hot piece of steel and spraying jets of pure oxygen on it and cutting right through it. Lots of sparks. OSHA usually makes them keep people out of those environments nowadays.
§5. Arc physics: boundary layers and electron heating [35:40]
I told you, I'd rather tell stories in the lecture. The thing in arc is an electrically augmented flame. Even with a jet burner I can get high enough velocities coming out to blow that boundary layer — [overhead projector malfunctions] — well, I'll have to fix that another time. I have to go to the old-fashioned way, chalk.
[Tom moves to chalkboard.] A jet of gas coming down against the surface, and you have a boundary layer. The higher the velocity across here, the thinner that boundary layer. You can go to jet burners where you have near-sonic velocity of the gas coming out, and you still have a boundary layer that's a fraction of a millimeter or a millimeter thick. That limits your heat transfer. The maximum you can get is about 2,000 watts per square centimeter.
It turns out you can defeat this if you add electrons. We talked about this the other day. If you have an ionized gas, even though the flame might be at three thousand degrees Centigrade for an oxy-fuel flame like oxyacetylene, and the arc may be at ten thousand — the gas is not going any faster. It's going about 500 miles an hour, not quite sonic velocity but pretty fast. You don't really get that much thinner a boundary layer. With either one of these, with no electrons, you get about 2,000 watts per square centimeter.
My abbreviation for electron is an E with a minus sign. If I have electrons — if this is a plasma arc — and I have enough voltage across the cold boundary layer — the cold boundary layer may be on the order between 1500 Centigrade (the melting temperature of steel) and the free-stream temperature of three thousand or ten thousand. Out here let's just call it three thousand Centigrade. This is a non-ionized gas, too low a temperature to give off ions. So the electrons have to punch their way through with pure voltage and kinetic energy.
I'd put up this overhead before. A welding arc looks something like this, with gas coming off the surface because of electromagnetic forces — we'll talk about later — that cause a 500-mile-an-hour wind coming off. If you plot voltage versus distance, you get something like this, depending on whether this is the anode or the cathode. That's the voltage necessary to strip the electrons out of the metal and get them into the plasma phase. This is the plasma column. This is the anode voltage drop. The plasma column is about 10 volts per centimeter. This is about 5 volts, and this one's about 3 to 5 volts, depending on the material.
Because of the higher mobility of the electrons compared to the ions, in the plasma 99% of the current's carried by the electrons. The big heavy ions are 100 times slower. You've got a voltage gradient, an electric field — positive ions trying to go up, electrons trying to go down. In terms of winning the race, you get 99 electrons down here for every one ion that ends up going into the electrode up top. So most of the flow can be considered electron flow.
You guys probably didn't bring your notes? And my overhead's not working. I'll skip that and maybe tomorrow I'll tell you how a fluorescent light works. I usually call this my fluorescent-light lecture, but I need the graph to do it.
There's a paper in your notes by Metcalf and Quigley if you want to read it. This comes right out of that paper by Metcalfe, Quigley, Swift-Hook, and Gick. It's the heat flow to the surface due to electric current flow. The total heat flow Q is Q of the electrons, plus convection, plus radiation.
This is pretty basic heat flow. Any mechanical-engineering heat-flow course will tell you have heat transfer by conduction, convection, and radiation. Conduction is — if I had a piece of copper and wanted to see how fast heat went through, that's conduction through solid copper. If the air is completely still, there's conduction through the air, but conduction through air is a lot slower. Conduction through a gas is a lot slower than conduction through a liquid or solid. Why, anybody know?
Student: [response about atom spacing]
Yes, proximity of the atoms. Does anybody know the relative density of water versus steam at 100 degrees Centigrade? About 800 or a thousand to one if you calculate it. That means water molecules in liquid water at 100 Centigrade are basically in contact with each other. They're touching; you can't get them any closer except under extreme pressures, and even then not much closer. The vapor, the steam, is — let's just use a thousand, because I can take the cube root of a thousand in my head.
So if the gas phase is a thousand times less dense, the separation between gas molecules in steam at 100 Centigrade is ten atomic distances, ten molecular distances. That's a worthwhile thing to know, because if I start asking how high a pressure can I really get by compressing a gas — you can get about a thousand times compression at room temperature, because then you can't tell it from a liquid. You actually get to a point thermodynamically where they call it the critical point, and you can't tell the difference between the gas and the liquid. From a thermodynamic point of view, it's completely compressed. About 15,000 psi is the maximum type of pressure you can generate in steam systems — some go to twenty thousand, but let's not worry about a full significant figure.
In terms of heat transfer, heat is transferred by the molecules. Each molecule carries a certain amount of heat. So liquid heat transfer is about a thousand times faster than gaseous heat transfer. In terms of conduction through a gas — gases are great insulators — this is going to be a low value. Convection is the gas stirred up and moving. Even convection is on the same order as conduction in these types of systems.
Radiation — how much radiant heat is there between me and the wall? Not much. Radiation is even less. We're going to take a break in a second. But of the total heat, conduction is about 4%, convection is about 2% — this is all out of that paper by Metcalfe and Quigley — radiation is 1%, and the electron flow is about 50% of your total heat in the arc. Not 100% of the heat gets into the workpiece surface — some goes off in hot gases that heat up the welder. Just like with flames, 90 to 98% of the heat was wasted. In an electric arc, about 40% of the heat is wasted. Only about 60% of the heat actually gets to the workpiece. But the bulk of it, 80% of the heat that does get to the workpiece, is due to the electron flow. We're going to talk about that when we come back from break. I'll go get my shape charge.
§6. Electron flow and the work function [47:12]
[After break.] We just talked about the total heat in the arc — only about 60% actually gets to the workpiece, but 80% of that 60% comes from the electron flow. And the electron flow Q_electron — all in the Metcalfe and Quigley work — is equal to the current times the work-function voltage, plus the anode voltage drop, plus the Thompson voltage.
The Thompson voltage is named for Thompson — Lord Kelvin. The electron-flow heat is clearly proportional to the number of electrons, that's the amperage, the current. So the more current, the more heat. This is current times voltages. This is the work-function voltage. This is the anode voltage drop, which we talked about — that's the 5 volts, about 5 volts. And this is the Thompson voltage.
The Thompson voltage — if the electrons are up in this plasma that's hot, like 10,000 or 12,000 degrees — I want to know what the Thompson voltage is. I know that Boltzmann's constant times temperature equals some energy in electron volts. The thermal energy equals some voltage — or if you want voltage, it's kT over the electric charge e. k is Boltzmann's constant, T is temperature, e is electric charge. Temperature is on the order of 12,000 degrees.
I'm using 12,000 for a reason. Any EEs in here? You're an EE. Do you know what kT is in terms of the equivalent noise voltage at room temperature? There's thermal noise in electrical circuits, and when you do those calculations, room temperature at 300 Kelvin roughly equals 25 millivolts. So without writing out Boltzmann's constant and e — 0.025 volts equals 300 Kelvin. If you put the electric charge in coulombs, Boltzmann's constant, temperature in Kelvin, and voltage in volts, you'll show that 25 millivolts equals 300 Kelvin.
So if I have 12,000 Kelvin and divide by 300, I get a factor of 40. By ratio and proportion, the Thompson voltage is 40 times 25 millivolts, which is one volt. That's the electrons up in this plasma above the ground-state energy. The ground state of an electron is defined as just an electron sitting there in space doing nothing. But at 12,000 Kelvin, it's not doing nothing, it's whipping around with a lot of thermal energy. How much? At 12,000 Kelvin it has the equivalent of one volt of energy — one electron volt. The voltage going into this equation, the Thompson voltage, is one volt.
If I think of some energy state for the electrons, the zero of energy is an electron at rest. I have some electron here at 12,000 degrees — this is an energy scale, 12,000 degrees is one volt of kinetic energy. That electron is going to go from up in the plasma column down to the anode surface. But it's got to punch through this neutral region. That's on the order of 3 to 5 volts — let's say the anode voltage drop is somewhere in between, 4 volts. So on the order of 4 volts to punch through the boundary layer from the hot plasma in the plasma column.
Then it has to drop down to being an electron in the metal. We're taking an electron up in a hot gas, punching it through the boundary layer, and letting it relax and become one of the electrons in the metal. There's something called the Fermi level, which is the highest energy state of electrons in the metal. The electrons are bound to the metal, they're at a lower energy state in the metal than if they were in the gas. The highest energy state in the metal is the Fermi energy. The difference between the Fermi energy and the zero electron state is called the work function. The work function is on the order of 5 volts. It can be 3 volts for phi. But with one, four, and five, the voltage in the arc has a total of 10 volts to get the electron from the hot plasma in the middle of the arc down condensed into the metal.
That electron loses 10 volts of energy potential. Times the current gives me the total amount of heat from transferring the electron from the plasma into the metal. Now you can reverse this and say — if I've got my electric arc, this is my cathode and this is my anode — my cathode is losing electrons, they're coming out of the cathode and going into the anode. The heat into the anode is about 10 volts times the current. The electrons coming out of the cathode are actually evaporating out of the electrode. If you evaporate off particles that have some energy, you're losing the heat of vaporization. They were bound into the metal by the work function, and to pull them out I had to pull them with the cathode voltage drop. As they evaporate out, they carry away the heat of vaporization. So the electrons coming out of the cathode — we have electron cooling of the cathode.
This is going to be important when we talk about when to use reverse polarity versus straight polarity. This is what we call straight polarity in welding — the electrode is negative. Most of our welding when we have a consumable electrode is done with electrode positive, which we call reverse polarity. If this is a tungsten electrode — gas tungsten arc welding is usually done with straight polarity. We like to use tungsten. [Tom holds up tungsten electrodes.] Here's a big tungsten and I have some other tungsten here. I'll pass them around if you want, they're not all that interesting — just tungsten rods that would be used for gas tungsten arc welding.
In the old days we sometimes used pure tungsten, but usually we used thoriated tungsten with 2% thorium oxide powder. That was very common in the United States. I don't know exactly why they started using thoriated tungsten, but thorium oxide is a very easy electron emitter. It gives up its electrons very easily, and it cools down the surface of the tip of the cathode by lowering the phi voltage — the work-function voltage. This has been noted in various experiments. People put pyrometers on the electrode in gas tungsten arc welding, and if they measure — temperature versus distance — they find it's very hot, and then it actually cools off at the surface where the electrons are coming out. The electrons cool the tip of the electrode, and they heat the surface of the anode as a result.
About two-thirds of the heat, 60% or whatever, goes to the anode, and some is lost to the air. Only about 20% gets into the cathode from conduction, convection, and radiation. The rest is lost to radiation and hot gases coming off.
If you stand next to a gas tungsten arc, you can get a sunburn. I went to a conference back in the 1980s in New Orleans, and I had stopped in Pittsburgh the day before at Alcoa, where they were welding these great big liquid-natural-gas container spheres for LNG ships. They had to weld four-to-eight-inch-thick aluminum for these huge spheres. They developed a welding process they could use up to 600 amps and really put metal in there and make these big thick welds in aluminum. They asked me to look at it. They gave me a handheld torch — didn't give me any gloves — and I held the torch and watched this plasma arc, watched it for fifteen or twenty seconds. The next day at the conference, I had this big red burn on the lower half of the outside of my hand, and I thought, how'd I get a burn? It was all red like a sunburn. It was a sunburn. Aluminum, very reflective, and a 600-amp radiation in fifteen seconds — I had gotten a sunburn from holding it. The reason it wasn't on the upper part was the torch shielded it. They should have given me a glove to keep from getting sunburned. In fifteen seconds I developed sunburn, which didn't show up until the next day.
There is a lot of radiation and heat loss and hot gases coming off. But two-thirds of the heat is at the anode, 20% is at the cathode, and some fraction is off as radiation and hot gases. That's the portion of heating between cathode, anode, and the air.
Student: [question about the work function being a drop below the anode voltage]
Right. The anode voltage essentially — if you thought of the electron coming from whipping around at very high velocity to being stationary right on the surface — stationary is the zero energy state. If I then go into the metal, it's actually whipping around and has some velocity in the metal. But the appropriate way to think of the energy in the metal is that the lowest energy — or the highest energy state the metal will allow — which is the Fermi energy in solid-state physics. So it drops from being an at-rest electron to being part of the metal, bound to the metal atoms. It gives up that energy.
Student: A lot lower than I would have guessed for the arc going from the tip of the electrode without the metal. So it's only about 10 volts to have an arc, 30 volts —
Well, go ahead.
Student: Machines a lot higher than that.
That's because — there's two things going on. If you run a gas tungsten arc, the power supply will be putting out 10 or 12 volts. You might lose a couple of volts in the electrical leads going up to the arc, but if you have big heavy copper cables, you're not going to lose more than a couple of volts. You don't want to be heating up copper cables, right. So you use big heavy copper cables. When you run a gas tungsten arc, your actual operating voltage — probably a TIG arc is about 12 volts. When I run reverse polarity, you're putting all your heat in here and you might be running 25 to 32 volts.
The power supply has a load line. If you look at the voltage-current characteristics of the power supply, it might have 80 open-circuit volts — with no current flowing the power supply puts out 80 volts. It's a drooping characteristic, and the operating point is where the plasma load line crosses. For a straight-polarity TIG arc it could be 12 volts; for reverse polarity it might be 30 volts. A lot less than the open-circuit voltage, because when you draw down on the power supply, it drops the voltage because of its own internal resistance. That's what we call the power-supply load line. The manual that comes with the power supply will show you the load line.
For different types of welding, we use what we call a constant-current power supply or a constant-voltage power supply. Constant voltage will have a drooping power supply; constant current will be more steady. Constant current can have less slope. When you do TIG welding you'll run a constant-voltage power supply; for a lot of your MIG welding you'll use constant current. Nowadays with fancier power supplies, inverter power supplies, it's just a flick of a switch to change the electrical characteristics. In the old days you had to change 500 pounds of copper transformers and inductors, so it was a different power supply for one or the other. Nowadays it's the flick of a switch in a silicon-controlled rectifier, an SCR.
§7. Polarity choice and arc constriction [65:59]
All I wanted to do is say: the heating is not uniform. The electrons cool the cathode and heat the anode. In gas tungsten arc welding, I'm not trying to consume my tungsten electrode, I'm trying to melt the workpiece. So I use straight polarity — electrode negative — because I'm not trying to melt the tungsten, I'm trying to keep it cool. I use tungsten because it has the highest melting point and won't melt off on me, and I want to put all my heat into the workpiece. When I'm using a wire electrode that I'm trying to consume, I switch the polarity because I want to put most of my heat into the anode, because I'm trying to melt this off and fill up a groove.
In gas tungsten arc, I'm trying to melt the edges of the sides of the plate, so I put the anode as the plate. In gas metal arc, or MIG welding, I'm trying to fill up a little V-shaped groove. I need enough heat at the cathode to melt the edges, but I don't need to melt very deep. I'm trying to take drops up here and spray them into that little groove to create the weld, and I want most of my heat at the anode, so I flip the polarity when I use gas metal arc welding. It sort of makes sense in physics and even in electrical engineering — not that the two are that different.
As far as gas tungsten arc welding goes, you can do some things to constrict the current path. If you have a current path that's very broad as opposed to very narrow, you'll get a higher heat intensity on the surface with a narrower current path.
I mentioned two days ago, just in passing — our electric arcs are very strange beasts in the sense that if you cool the outside, it gets hotter on the inside. If you cool the outside, you're condensing some of those electrons, turning them back into neutrals. In order to get the current that you're imposing on the power supply, that current has to concentrate in the core. You get a higher density in the core and the temperature goes up. So an electric arc plasma is a strange beast — if you cool the outside, you get higher temperatures in the center and a higher heat intensity on the surface. Counterintuitive, but it makes sense if you realize you're condensing the electrons where you're cooling it, and they're going back and combining with ions. That forces you to ionize more of the center, which lowers the resistance of the center, which allows more current density through there — more heat intensity, because the heat intensity equals the current density on that surface, directly proportional to the current.
One of the things that comes out of this is: you don't control the voltage in welding. You might impose some voltage on the power supply, but the heating comes from the work function, and you don't have much control over that — that's a material property. The anode voltage drop is a plasma property, you don't have much control. The Thompson energy, the temperature of the plasma, you don't have much control. What you have control over is current — you can dial up the current. If you want more heat, you get more current. The heating value of an electric arc is directly proportional to the current. You'll have all kinds of explanations out of welding handbooks about how something happens because you increased the voltage — you don't have control over the voltage. Nature picks the voltage, in terms of the Thompson voltage (temperature of the plasma), the anode voltage drop, and the work-function voltage.
You do have some control. There are different types of electrodes. The cathode voltage drop from a pure tungsten electrode may be 5 volts. From a thoriated tungsten electrode it might be two and a half or 3 volts. So you actually could do less cooling of the surface — it's easier to strip the electrons out of that cathode with the thorium in there. You can run twice the current density with 2% thorium oxide mixed in with the tungsten. Twice the current through that electrode for a given size.
But people don't like thorium, because it's slightly radioactive — just like they don't like depleted uranium all over the ground in Iraq. People have learned to not like radiation as much as they used to. Back in the 1920s, really wealthy people used to drink radium because they thought it gave them an upper, made them feel better. Some people started finding health effects after a little while of drinking radioactive radium. There was one very wealthy guy — some people started getting aches and pains and bones started breaking — but this guy was convinced and drank it until the day he died, and he hardly had any bones left in his body when he did die. He died of radiation poisoning. I don't know what the cost was, but it was hundreds of dollars per drink — he would drink some radium every day. People used to like radiation when they first discovered it. They thought it was a good thing. Nowadays they think it's a bad thing.
So people have gotten rid of the thorium. The Japanese about thirty years ago did a lot of work on this, and they have cerium oxide, lanthanum oxide, and yttrium oxide — very high-melting oxides. The oxides emit the electrons easily, they're easy electron emitters. So instead of 2% thorium, nowadays — it's hard to find thoriated electrodes — they have a different color on the tip. This big tungsten electrode I'll pass around tomorrow, but it has a red tip, if I remember — the red tip is thoriated tungsten. This one is probably good for 500 to 1000 amps. You don't see these this size very often. They were used for certain types of welding that's sort of interesting to the Navy.
§8. The Alpha submarine and titanium welding [73:36]
When the Alpha sub first came on the scene, 1980 — what's the Alpha sub, everybody know? You haven't seen The Hunt for Red October? Tom Clancy. The Alpha sub was the all-titanium attack submarine that the Soviets dropped on the world in 1980, and it was a real eye-opener for the U.S. Navy. The Navy had been looking at titanium for submarine hulls for thirty years — since the early 1950s. The full story probably goes back to World War II. Because of the Manhattan Project, MIT mechanical engineering developed very effective vacuum systems for what they called vacuum metallurgy. You could now melt reactive metals under a full vacuum, whereas they really didn't have the technology to do this on an industrial scale before that.
All kinds of new metals on the periodic table became available. Titanium — if you tried to melt it, you can't melt it under a flux because it'll react with the flux. You can't melt it in air because it will burn like a flare. But titanium, tantalum, niobium, molybdenum, tungsten — well, tungsten had been used before because of light bulbs, but they did it all in the solid state, they didn't melt it. All of a sudden these things became readily available, and they could do vacuum processing. My thesis advisor in the 1950s was growing tungsten single crystals and looking at the mechanical deformation of tungsten. He was growing these crystals in ultra-high vacuum, and when he sent his samples out for chemical analysis, the chemistry lab would keep the sample because it was purer than any tungsten they had — it had been melted under vacuum. They started using it as their standards.
Right after World War II, titanium became available. Over at Watertown Arsenal, which is now Watertown Mall — the Army had an arsenal there since the 1860s. They used to try to make cannonballs at Watertown Arsenal for the Civil War. People knew that if you had small drops of metal and you melted them and let them fall to the ground, they solidified in the air and would be nearly pure spherical shape. So during the Civil War, they tried to build towers to drop molten cast iron for cannonballs and see if they would hit the ground and solidify. They didn't know a lot about heat transfer in the Civil War, and they realized the tower they had to have was about fifty miles tall to get the heat transfer. They also didn't know about the ratio of surface-tension forces to gravity forces — they would get ellipses and not spheres. The surface-tension forces have to dominate, and that's only below about three millimeters in size. But they didn't know about dimensionless numbers, and chemical engineering had not yet been invented.
Does anybody know where chemical engineering was invented? MIT. That's another story. It wasn't invented until about the 1880s. So in the Civil War, they had a big government research project to try to make spherical cannonballs by dropping them from towers, and all they did was make a bunch of splats on the ground. They never could build a tower tall enough. Nonetheless, Watertown Arsenal after World War II came up with Titanium 6-aluminum 4-vanadium, which is the workhorse titanium alloy even today in the aerospace industry. It was all because of this vacuum technology that came out of MIT mechanical engineering. The building — one of the buildings is the Sloan School building now, originally the National Research Corporation, then Norton Research. And now there's a firm over here in Newton called H. C. Starck that makes tantalum metal for tantalum capacitors and other things. There's a whole technology of reactive metals.
The Alpha sub is made out of titanium. The Navy had been working since the early 1950s on trying to develop titanium for a submarine. You go down to David Taylor in Annapolis, and they would be welding four-inch-thick titanium in 1975. Titanium is very reactive in the air — gets contaminated with too much oxygen, becomes brittle. The Naval Research Laboratory had identified certain problems: when you go down a deep dive, you've got a lot of compressive stress, and something they called the creep-fatigue interaction. They had never really solved that problem. Titanium under continuous compression — if you put some cyclic load on it, it doesn't like it, and it will start forming fatigue cracks.
In 1980 I was flying back from a conference in Europe, and I read on the front page of the International Herald Tribune that the Soviets have the Alpha submarine — their new attack submarine. It could dive deeper than the collapse depth of our deepest depth charge. It could go faster underwater than the fastest destroyer on the surface. Some people were very concerned we'd lost this huge strategic advantage. The Navy was embarrassed before Congress because the Soviets had leapfrogged us in technologies, just like they did with Sputnik in '57.
Over the next few years there was a lot of hullabaloo: what do we care about HY steels if the Soviets have titanium subs? One of my friends at Colorado School of Mines, who used to work with Rocky Flats — a nuclear weapons facility out in Denver — when I told him about the problem of the depth charges, he said, not a big deal. Just hit them with the right type of depth charge, and you can hit them anywhere within three miles depth. I said, well, if you start using that type of depth charge — well, if you're shooting at their subs, you're probably already in that type of war anyway, so it was a moot point.
There was a real crisis for the Navy, and there were workshops held down at David Taylor Annapolis. I went to one, and one day was Navy day — a bunch of Navy guys talking about welding heavy-section titanium. The Navy guys came in and talked about welding one-inch-thick to four-inch-thick titanium on the first day. I was the only guy outside of the U.S. Navy on Navy day, because — I didn't bring it back with me, but I showed you one of my one-inch-thick titanium welds the other day from the mid 70s. My first research project was welding heavy-section titanium, one inch thick. That was all I could afford.
The second day, they had American industry come in to talk about heavy-section titanium. For them, the heaviest thing they talked about was 3/8 of an inch thick. These are Boeing and McDonnell Douglas and all these aerospace guys. For them, a heavy section was 3/8 of an inch. So you go to this workshop and it was completely disjoint between what the Navy thought of heavy section and what industry thought of heavy section. But I got to see some — we'd call foreign technology at that time, and now it's thirty-some years since I saw it, so it's probably — I don't even know if it's classified or declassified.
If I was trying to weld some heavy-section titanium and I looked in the scientific literature up to about 1972 from the Soviet Union, in the open literature, I'd find a guy named Gurevich at the Paton Institute in Kiev. He was Mr. Titanium in the Soviet Union. He would talk about electroslag welding of two-inch-thick titanium. I've got a piece of two-inch-thick titanium that was electroslag-welded, and maybe I'll bring it in tomorrow. He would also talk about gas tungsten arc — what he called semi-submerged arc — in the open literature. They would use huge tungsten electrodes and a thousand amps of gas tungsten arc current. They could weld two-inch-thick titanium in four passes — better than submerged arc welding of steel in terms of productivity. They did it with some of the physics of this gas tungsten arc process.
By 1972, all of a sudden Gurevich quit publishing. He was gone. That was probably the time they decided to start designing and building the Alpha sub, and he was not allowed to publish anymore. So in 1980 or so, President Carter had gone out because of the embassy thing in Iran, and Reagan was in. There had been an exchange program in electrometallurgy. It had been headed up by Professor Nick Grant at MIT, who had actually lived the first five years of his life in Russia. He had emigrated when he was five but still spoke some Russian because his parents did. He was head of this big national program in exchange with the Soviets under the Carter Administration.
The first exchange was like forty senior metallurgists from U.S. universities going over to the Soviet Union. The second one was six or seven people, and the National Science Foundation was running the exchange because it was headed up by the State Department under Carter. But the Reagan Administration was trying to slam the door on it. So the third exchange consisted of Professor Szekely from this department — he's passed away — and me. We were there. He wanted to go because he actually grew up in Hungary before the revolt in '56. He left Hungary in the revolt. I said, you weren't carrying a weapon? Oh yeah. I said, how did you get to the border? He said, I just took the train, got off the train, walked across. But he had a weapon with him — he was one of the revolutionaries in the 1956 Uprising.
He had learned some Russian, and he had a National Science Foundation contract, and he didn't want to go over there by himself. He said, do you want to go? I was a young thirty-year-old assistant professor, associate professor. I said, yeah, I'd love to see the Paton Institute. So I got to see the Paton Institute, and I spent two hours with Gurevich asking him how do you weld titanium. I didn't say, how do you weld the Alpha submarine, but I was asking him scientist to scientist about how to weld heavy-section titanium, because the U.S. Navy had been focusing on gas metal arc welding. I at that point was starting to do some gas metal arc welding in addition to submerged arc welding. When I showed him the gas metal arc — he said, oh, no, we don't use that. So whatever the U.S. Navy had been hanging its hat on, the Soviets didn't use, because it was an unstable process. We later learned over the next four or five years why it was unstable.
Gurevich was completely honest with me. He was just a scientist; he didn't care about politics. There was a KGB agent sitting right there in the room with us, and they were letting him answer every question I asked, because they wanted to keep the door open. The program had started under Carter, Reagan was trying to slam it, and this was politics at a higher level. I was just interested — and the Navy was interested in my learning whatever I could about how they built the Alpha sub, because the U.S. couldn't figure out how they could afford to do it. They couldn't figure out how the Soviets had solved the creep-fatigue interaction that the Naval Research Lab had identified as the Achilles heel of titanium submarines.
It turns out the answer to the Achilles heel and the creep-fatigue interaction came within two or three years — you're smiling, you know what happened. Yeah, they cracked. The Soviets never studied it. Apparently they didn't know about it. They built several submarines, and within three years they were taken out of service. The cracks made them so noisy that you didn't need any sophisticated sonar — you could hear them from miles away. The Alpha sub, which shows up in The Hunt for Red October — they sent the Alpha subs after Captain Ramius, who had stolen [the Red October] from the Soviets — the Soviet titanium sub became sort of a non-issue.
In the end, the U.S. Navy was right to be as cautious as they were. You could build one titanium sub for ten steel subs, so you have to ask yourself, would you rather have ten steel subs or one titanium sub? There are little trade-offs like that. Anyway, the Navy decided not to build titanium subs. Congress was livid that the Soviets had leapfrogged us. I can tell you other stories over the next five years about how Congress took away all the money for the SSN-21 when Millard Firebaugh was Captain — he was a graduate of your program — but he was designing the SSN-21 in the mid-1980s, and Congress zeroed his budget for the next year. They said, we will not build another steel submarine while the Soviets have titanium submarines, and we don't even want to build titanium submarines — we want to leapfrog, we want to build composite submarines. I went to a four-day workshop on that, and that was a laughing mess. Anyway, we'll see you tomorrow.