Abstract: A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.

Abstract: A steam turbine of the type employing axial entry blades is provided with a plurality of generally tangentially oriented slots in the rotor steeples. Resilient, deformable pins are driven into the slots under the blade platforms so as to urge the blade roots radially outward.

Abstract: A method is provided for forming a circular array of rotatable blades from blades having an integral shroud with a leading planar surface and a trailing planar surface, the leading planar surface being generally parallel to an axial radial plane passing through the center of the root of the blade and the trailing surface, if extended, intersecting the axial radial plane passing through the center of the root of the blade to form an angle generally equal in degrees to 360 divided by the number of blades forming the circular array. Strict radial alignment is provided by assembling the complete blade row such that all blade center lines coincide with the groove center lines, with the shroud mating surfaces in complete contact and in tangential compression.