Abstract: A parallel link mechanism includes three or more link mechanisms that couple a fixed base and an end-effector base. The end-effector base has a facing surface facing the fixed base. The link mechanisms each include a proximal-end joint, a proximal link, an intermediate joint, a distal link, and a distal-end joint. The proximal-end joint is rotatably coupled to the fixed base. The proximal link is coupled to the proximal-end joint. The intermediate joint is provided to the proximal link. The distal link is rotatably coupled to the proximal link via the intermediate joint. The distal-end joint rotatably couples the distal link to the end-effector base. The point of intersection at which the extensions of the axes of rotation of the proximal-end joints, the extensions of the axes of rotation of the intermediate joints, and the extensions of the axes of rotation of the distal-end joints intersect is the center of rotation of the end-effector base.

Abstract: A readout circuit for a MEMS gyroscope having a seismic mass. The readout circuit includes: an analog amplitude-/phase-locked loop for monitoring the vibrating motion of the seismic mass and for generating a driver signal to excite and maintain a defined vibrating motion of the seismic mass, a selectively activatable sensing front end for providing measured values of the MEMS gyroscope, a selectively activatable phase-locked loop for providing a demodulation clock signal for the sensing front end, and an energy-management unit, which is designed to set a sensing operating mode for the MEMS gyroscope, in which measured values are acquired with the aid of the sensing front end, or to set a standby operating mode for the MEMS gyroscope, in which no measured values are acquired, the energy-management unit activating the sensing front end and the phase-locked loop in the sensing operating mode and deactivates them in the standby operating mode.

Abstract: In one example, a vehicle includes a platform and a yaw sensor mounted on the platform. The yaw sensor provides an indication of a yaw rate of rotation of the yaw sensor. The vehicle also includes an actuator that rotates the platform. The vehicle also includes a controller coupled to the yaw sensor and the actuator. The controller receives the indication of the yaw rate from the yaw sensor. The controller also causes the actuator to rotate the platform (i) along a direction of rotation opposite to a direction of the rotation of the yaw sensor and (ii) at a rate of rotation based on the yaw rate of the yaw sensor. The controller also estimates a direction of motion of the vehicle in an environment of the vehicle based on at least the rate of rotation of the platform.

Abstract: A stabilization system is provided with at least one sensor to measure and correct orientation of a platform relative to an inertial reference frame. A roll motor is affixed to a platform for pivoting the platform about a roll axis and an elevation motor is configured to rotate the platform about an elevation axis. A rotation motor pivots the platform about an azimuth axis. A control system using the sensor measurements, actuates the roll motor, elevation motor and the rotation motor to maintain a substantially constant orientation of the platform relative to the inertial frame of reference. The rotation motor, the elevation motor and the roll motor are spaced apart from each other along the azimuth axis.

Abstract: A hang-off gimbal system is disclosed. The hang-off gimbal system comprises a gimbal assembly. The gimbal assembly includes a gimbal frame with a passage therethrough. A first gimbal module is disposed within the passage of the gimbal frame. The first gimbal module comprises a passage therethrough. A second gimbal module is disposed within the passage of the first gimbal module. The second gimbal module comprises a passage therethrough. The second gimbal module extends upwardly beyond the gimbal frame and first gimbal module. An adapter sleeve is disposed in the passage of the second gimbal module. The adapter sleeve comprises a passage therethrough. The adapter sleeve protrudes upwardly and protrudes above the second gimbal module.

Abstract: A gyroscopic rotational monitoring system may be utilized for monitoring one or more properties of rotatable container or vessel, and/or one or more properties of a displaceable material contained in the rotatable vessels. An exemplary aspect relates to the use of a gyroscope and periodicity sensor (e.g., accelerometer) to determine rotational speed of a concrete mixing drum, so that the slump or other property of the concrete can be monitored or adjusted such as by dosing with water, chemical admixtures, or mixture thereof.

Abstract: A vibrator element has a first vibration mode in which first and second detection portions perform flexural vibration in opposite directions in the opposite phase to first and second driving portions which vibrate in opposite directions according to a Coriolis force, and a second vibration mode in which the first and second detection portions perform flexural vibration in opposite directions in the same phase as the first and second driving portions which vibrate in opposite directions according to a Coriolis force. A ratio r=R2/R1 of equivalent series resistance R2 at the time of the second vibration mode to equivalent series resistance R1 at the time of the first vibration mode is set between 0.15 and 6.0.

Abstract: Methods and devices for determining a noise variance of an axis of a gyroscope are described. In one aspect, the method includes: representing a plurality of gyroscope readings for the axis in a histogram, the histogram including a plurality of bins associated with respective ranges; determining a bias for the axis of the gyroscope by identifying a concentration of the gyroscope readings within the histogram; and determining a noise variance for the axis of the gyroscope based on the histogram and based on the identified concentration of gyroscope readings.

Abstract: Embodiments of the present invention eliminate the high bandwidth buffer from the analog chopper circuit. In some specific embodiments, the buffer is replace with a comparator-based loop that can be used to apply offset correction and achieve N-bit settling performance with sharp (up to 1 ns) rise and fall time with significantly lower power than with a buffer. Other specific embodiments include overcharging circuitry in combination with the comparator-based loop or in lieu of the comparator-based loop. Still other specific embodiments include an array of capacitors in place of the single large capacitor Clarge and use decoding/switching circuitry to selectively couple one of the capacitors into the circuit based on the DAC input code. Importantly, exemplary embodiments result in total power dissipation around the theoretical limit needed to charge the capacitor to the DAC output voltage.

Abstract: Gyroscopic systems to stabilize vehicles and provide kinetic energy recovery are disclosed. The gyroscopic system uses gyroscopic forces to maintain a vertical orientation at zero and low speeds, as well as maintain stability at all speeds. The gyroscopic forces are also be used to affect the bank angle of vehicles in turns, and to improve cornering by shifting forces to the inside wheels. The gyroscopes are also used to store kinetic energy, which is later used to accelerate the vehicle.

Abstract: This invention provides an improved Retail Display Cabinet with built in Gyroscope and servomotors to be primarily use at retail stores to showcase an item behind a transparent LCD. The Retail Display Cabinet has inside enough diffused light to better help the clear LCD display better quality images and/or videos. It has a built in gyroscope that identifies the position of the unit to determine the screen layout relevant to the aspect ratio of the screen to direct the lighting where is required. It also has built in servomotors to better show the product inside by rotating the product according to the pre-programmed commands.

Abstract: Spherical mechanical linkages may include a yoke defining a first axis and a second axis, a crank rotatably coupled to the yoke about the first axis; a deflecting member that defines a plane and that is coupled to the crank along a third axis, and a rocking frame slideably coupled to the yoke in the plane defined by the deflecting member and rotatably coupled to the yoke about the second axis. One or more components of the spherical mechanical linkage may be symmetric about an axis. A payload, such as a mirror or a camera, can be mounted on the linkage as part of a multi-axis tracker.

Abstract: An anti-rolling gyroscopic stabilizer for boats provides a stationary frame fixed to the hull, an oscillating frame and a flywheel. The angular velocity of oscillation of the oscillating frame is limited by hydraulic dampers. Elastic return elements are coupled to the dampers and urge the oscillating frame so as to orient the axis of rotation of the flywheel towards a given angular position in which the gyroscopic device acts with maximum efficiency.

Abstract: A method comprises computing a metric based on the accelerometer signal to remove an acceleration due to gravity. A bandwidth of a gyroscope filter is set based on the accelerometer signal and the computed metric. The gyroscope filter uses a low-pass filter to filter a signal from the gyroscope.

Abstract: A gyroscope system comprises a MEMS gyroscope coupled to a drive system and a sense system. The drive system maintains the MEMS gyroscope in a state of oscillation and the sense system for receiving, amplifying, and demodulating an output signal of the MEMS gyroscope that is indicative of the rate of rotation. The gyroscope system further includes a phase-locked look (PLL) which receives a reference clock (REFCLK) from the drive system and produces a system clock (CLK). Finally, the gyroscope system includes a controller operating on the system clock sets an operating state of the drive system and the sense system and also controls a state of the PLL. One or more system state variables are maintained in a substantially fixed state during a protect mode thereby enabling rapid transitions between a low-power mode and a normal operating mode of the gyroscope system.

Abstract: System for stabilizing an offshore horizontal axis wind turbine having a tower, the system comprising sensors for generating signals representing detected movements of the tower, and gyroscopes. Each gyroscope has a spinning axis, an input axis and an output axis, and a flywheel rotatable about the spinning axis. The system further comprises an actuator for each gyroscope, said actuator being arranged with its related gyroscope in such a way that this actuator can apply a torque about the input axis of the gyroscope. The system also comprises a control unit for receiving the signals representing detected movements of the tower, and for providing the actuator with suitable control signals for said actuator to apply a torque about the related gyroscope input axis, said torque about the input axis producing a torque about the output axis of the same gyroscope that at least partly dampens the detected movements of the tower.

Abstract: The illustrative embodiments provide a method and apparatus for stabilizing an electronic rack structure. In one embodiment the apparatus comprises an enclosure with a user interface panel. The apparatus also comprises a gyroscope, sensor system and controller attached within an enclosure. A sensor system associated with the gyroscope is capable of detecting a tilt of an electronic rack structure. A controller is also located within the enclosure and is capable of detecting the tilt of the electronic rack structure and controlling an orientation of the gyroscope to counter the tilt of the electronic rack structure in response to detecting the tilt. In another illustrative embodiment, a method for stabilizing an electronic rack structure is provided.

Abstract: Provided is a control moment gyroscope, in which a pair of momentum wheels are symmetrically disposed, thereby reducing torque noise and vibration, increasing output torque, and reducing its size. The control moment gyroscope includes a gimbal rim, a wheel frame having a first wheel frame located inside the gimbal rim and a second wheel frame having the same structure as the first wheel frame and symmetrically coupled with the first wheel frame, a first momentum wheel coupled to the first wheel frame, a second momentum wheel coupled to the second wheel frame corresponding to the first momentum wheel, a gimbal motor installed on an outer circumference of the gimbal rim and connected with first ends of the first and second wheel frames, and an angular velocity sensor installed on the outer circumference of the gimbal rim, connected with second ends of the first and second wheel frames.

Abstract: A system for gyroscope dynamic motor amplitude compensation during startup comprises various program modules, including an a-priori motor amplitude module configured to generate an a-priori motor amplitude signal based on a model of gyroscope motor amplitude growth during startup; a steady state scale factor module configured to generate a steady state scale factor signal; and a dynamic motor amplitude compensation module configured to receive the a-priori motor amplitude signal, and the steady state scale factor signal. During startup, rate motion is sensed by the gyroscope and a sensed rate signal is output by the gyroscope. The dynamic motor amplitude compensation module receives a measured motor amplitude signal from the gyroscope, the a-priori motor amplitude signal, or a combination thereof, and outputs a time varying scale factor that is applied to the sensed rate signal to produce an accurate sensed rate from the gyroscope during the startup phase.

Abstract: An apparatus and method are described for utilizing internally generated angular momentum for supplementing the propulsion of a mobile spherical vehicle capable of motion by rolling over terrain, thereby enabling such vehicles to climb steeper inclines and overcome larger obstacles. Torque generated by counter-rotating gyroscopes was used to supplement gravity generated torque produced by a pendulum drive propulsion system. Precession torque may be generated along a desired axis by changing the angular momentum of the gyroscopes while leaving its magnitude unaffected.

Abstract: A self-contained momentum control system (MCS) for a spacecraft is provided for small satellites. The MCS features a miniaturized gyroscopic rotor with a rotational speed in excess of 20,000 RPM. The MCS includes at least three control moment gyroscopic mechanical assemblies (CMAs) rigidly mounted within a single enclosure, where each CMA mounted in an orientation whereby the longitudinal axis of each CMA is either orthogonal to every other CMA or is parallel to another CMA but in the opposite orientation. In order to further reduce the size of the MCS, an electronics package that is configured to interface command and control signals with and to provide power to the CMAs is included within the MCS enclosure. A plurality of shock isolation devices are used to secure each of the CMAs to the enclosure in order to reduce the launch load upon the CMAs thereby allowing the use of smaller rotor spin bearings. The MCS enclosure surrounding the CMAs and support structure is hermetically sealed.

Abstract: A vehicle behavior control apparatus includes a rotary body formed as a part of a power plant installed in a vehicle, and a shaft deflection unit that sets a vehicle behavior target value for obtaining a target vehicle behavior, and deflects a direction of a rotary shaft of the rotary body relative to a vehicle body in accordance with the vehicle behavior target value. Thus, the vehicle behavior can be controlled appropriately by using a pre-existing vehicle constitutional component such as an engine or a motor as the rotary body, and using a gyro moment generated by deflecting the direction of the rotary shaft of the rotary body.

Abstract: A control moment gyroscope (CMG) is provided for deployment on a spacecraft. The CMG includes a stator housing, an inner gimbal assembly disposed in the stator housing, and a torque motor coupled to the stator housing and at least partially disposed around an intermediate portion of the inner gimbal assembly. The torque motor is configured to rotate the inner gimbal assembly about a gimbal axis.

Abstract: A rotor assembly is provided for deployment within the inner gimbal assembly of a control moment gyroscope (CMG). In one embodiment, the rotor assembly includes a rotor shell, a rotor shaft fixedly coupled to the rotor shell, and a rotor rim. The rotor rim includes an annular body and a strain relief member. A first end portion of the strain relief member is fixedly coupled to the annular body, and a second end portion of the strain relief member is fixedly coupled to the rotor shell to form a rim-shell joinder interface. The strain relief member has a flexibility sufficient to reduce the mechanical stress experienced by the rim-shell joinder interface during operation of the CMG.

Abstract: A method of de-saturating a control moment gyroscope that leverages a torque on an aircraft that is generated by airflow over the aircraft. As an aircraft navigates through an airspace, the aircraft may destabilize and reorient to form a sideslip angle that forms the airflow torque on the aircraft. The control moment gyroscope may be de-saturated into a neutral position that in turn exerts a torque on the aircraft that counters the airflow torque. A scissor pair of first and second control moment gyroscopes can be used for generating a torque in a single plane.

Abstract: An inner gimbal assembly is provided for use in a control moment gyroscope assembly and of the type that includes a stator housing and a spin motor disposed within the stator housing and on a shaft.

Abstract: An ambulatory vehicle having legs and configured for transporting a load is disclosed. The ambulatory vehicle includes a load that is able to shift the center of gravity of the ambulatory vehicle along a transverse axis and a longitudinal axis of a beam assembly. Additionally, leg assemblies of the ambulatory vehicle are configured to exchange places along the length of the beam assembly. Further, the vehicle is able to perform a number of gaits including a slow stable gait and faster dynamic gaits comprising striding, trotting, and bounding. The ambulatory vehicle is able to navigate rough terrain and steep slopes and navigate submerged.

Abstract: A self-contained momentum control system (MCS) for a spacecraft is provided for small satellites. The MCS features a miniaturized gyroscopic rotor with a rotational speed in excess of 20,000 RPM. The MCS includes at least three control moment gyroscopic mechanical assemblies (CMAs) rigidly mounted within a single enclosure, where each CMA mounted in an orientation whereby the longitudinal axis of each CMA is either orthogonal to every other CMA or is parallel to another CMA but in the opposite orientation. In order to further reduce the size of the MCS, an electronics package that is configured to interface command and control signals with and to provide power to the CMAs is included within the MCS enclosure. A plurality of shock isolation devices are used to secure each of the CMAs to the enclosure in order to reduce the launch load upon the CMAs thereby allowing the use of smaller rotor spin bearings. The MCS enclosure surrounding the CMAs and support structure is hermetically sealed.

Abstract: A precessional device having independent control of the output torque generated by the device and the oscillation rate of the device is disclosed. The device comprises a rotor supported by an axle wherein the ends of the axle are supported by a circular race. The circular race is rotatable, and may be driven by a motor or other means, thereby controlling the oscillation rate of the device independently of the output torque arising from the rotation rate of the rotor. The motor may be controlled by a control program that adjusts the rotation rate of the circular race to modify the shape of the resistance curve.

Abstract: An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.

Abstract: A stabilization apparatus and a method for controlling stability of a suspended platform are described. System includes pivotally mounted gyro with an axis of rotation substantially orthogonal to the suspended platform's plane and adapted with the use of servos to convert precession of the gyro into a tilt of the platform. Described stabilization apparatus works in combination with the platform's main propulsion system. Apparatus is capable of providing high level stability for pitch, roll and yaw angles. Platform's orientation control can be optimized by changing modes of operation to control at any time any two of three angles defining position of the suspended platform. It would be advantageous to use such stabilized suspended platform as a camera pod and also in the flying models industry. Idea can be accommodated in the personal transportation vehicles, robotic vehicles both in airspace and outer space.

Abstract: A control system for adjusting the attitude of a spacecraft comprises a set of control moment gyroscopes (CMGs) configured to allow null space maneuvering. The control system further comprises a momentum actuator control processor coupled to the set of CMGs and configured to determine a mandatory null space maneuver to avoid singularities and determine an optional null space maneuver to increase available torque. The mandatory null space maneuver can be calculated based upon certain gimbal angles, and can be implemented by augmenting the inverse-Jacobian control matrix.

Abstract: The illustrative embodiments provide a method and apparatus for stabilizing an electronic rack structure. In one embodiment the apparatus comprises an enclosure with a user interface panel. The apparatus also comprises a gyroscope, sensor system and controller attached within an enclosure. A sensor system associated with the gyroscope is capable of detecting a tilt of an electronic rack structure. A controller is also located within the enclosure and is capable of detecting the tilt of the electronic rack structure and controlling an orientation of the gyroscope to counter the tilt of the electronic rack structure in response to detecting the tilt. In another illustrative embodiment, a method for stabilizing an electronic rack structure is provided.

Abstract: The resonator comprises a shell 1 a having a pole 2 held by a support rod 3, the shell having an annular edge 4 defined by an inside surface 5 and an outside surface 6 that are geometrically similar and that extend around a common axis of revolution R, the inside surface and the outside surface being offset relative to each other along the axis of revolution in such a manner that the shell presents a thickness E along the annular edge 4 that is greater than the thickness e that it presents in the vicinity of the pole 2.

Abstract: An attitude control system for a spacecraft is disclosed that includes a scissored pair of control moment gyroscopes for delivering an output torque to the spacecraft along a an output axis, wherein each gyroscope has a spin motor for spinning a rotor about a rotor axis and a gimbal torque motor for rotating the rotor about a gimbal axis, and wherein the system includes a generator for extracting kinetic energy from the rotors during rotor deceleration to power the gimbal torque motors of the gyroscopes.

Abstract: A controlled relative motion system having a base support, an output structure and a plurality of securing links each rotatably connected at a first end thereof to a selected one of the base support and the output structure with a circumferential motion pair of those securing links having each member thereof rotatably connected at an opposite second end thereof to that remaining one of the base support and the output structure so as to have the second end of each member rotate in a corresponding rotation plane. These second ends also rotate about a common symmetry rotation axis perpendicular to the rotation planes. In addition, there is a force imparting member that is coupled to a selected coupling one of said first and second ends of a selected one of said circumferential motion pair of securing links, and is capable of directing said coupling end to rotate.

Abstract: A control moment gyroscope (CMG) is provided for deployment on a spacecraft. The CMG includes a stator housing, an inner gimbal assembly disposed in the stator housing, and a torque motor coupled to the stator housing and at least partially disposed around an intermediate portion of the inner gimbal assembly. The torque motor is configured to rotate the inner gimbal assembly about a gimbal axis.

Abstract: Disclosed is a non-reaction torque drive which can be called Reaction Free Drive or suspended support comprising: a Rotor, a Stator, two gyroscopes which are placed in side two frames, two high speed electro motors which rotate the two gyroscopes, and four 24v DC magnets which are used as actuators. The Drive not only conveys the torque to the output shaft, but also it removes a large percentage of reaction torque (about 95%) and does not pass the torque to its shell and support.

Abstract: A rotor assembly includes a shaft; a mass; and a plurality of adjustable struts. The struts have a first end coupled to the shaft and a second end coupled to the mass such that the mass is movable with respect to the shaft.

Abstract: A control system for a mechanical oscillator having a sinusoidal drive signal with a frequency that is a fractional multiple of a frequency of a signal of the mechanical oscillator. The drive signal may be in phase and in registration with the signal from the mechanical oscillator. A sense signal may be picked off from the oscillator and be demodulated to obtain a parameter sensed by the oscillator. The drive signal to the oscillator may be selected or blanked out while receiving and demodulating the sense signal.

Abstract: Gyroscopic Torque Induced Unidirectional Engine is a combination of five engines with a center bi-directional torque motor controlling torque speed, direction and timing of both upper and lower pair-sets of Gyro engines attached to center motors upper and lower drive axles. By electronically manipulating the power to the bi-directional torque motor and the gyros', the force factors are controlled between the upper and lower sets. With the first phase of upper gyros operations repeated by the second phase of lower gyros inducing torques speeds and directions 180 degrees out of phase with the upper gyros. Timing is synchronized for gyros to support one another through its push-reach, pull-reach, “crawl” through space like a twisting caterpillar to obtain an overall combined total engine thrust in a single direction overcoming accelerated Gravity's weight plus POWER to create engine speed in any of the controlled directions.

Abstract: The present invention is a combination of three interconnected gyroscopic ring-like rotating masses, with each of the three ring-like masses being configured to rotate in various planes, depending on the desired orientation. Regardless of the orientation of the three rings, each of the three interconnected rotating masses will share substantially the same center of gravity and generate a separate yet interactive kinetic energy and angular momentum in each of the three planes, thereby providing resistance to rotational forces from external sources. This is known as “equal force presence.” Additionally, a series of pedestal supports for supporting the three ring-like masses is disclosed.

Abstract: According to an aspect of the present invention, there is provided an autonomous mobile apparatus including a movable body, a control moment gyro that generates a torque, a gyro unit that pivotably supports the control moment gyro about a first axis and a gimbal that pivotably supports the gyro unit about a second axis and is pivotable to the movable body about a third axis that is different from the second axis.

Abstract: An apparatus correcting a bias of a gyroscope that is mounted on a mobile robot and that measures an angular velocity of the mobile robot. The apparatus includes: at least one encoder respectively measuring a traveling velocity of a respective at least one wheel of the mobile robot; a modeling unit calculating an angular velocity of the mobile robot by using the measured traveling velocity; a bias presuming unit determining a confidence range by using difference values between the calculated angular velocity and the measured angular velocity, and calculating a presumed bias by using a value in a confidence range among the difference values; and a bias removing unit removing the presumed bias from the measured angular velocity.

Abstract: Method for fabricating a gyroscope including: fabricating a SMS wafer where a first wafer, a metal film, and a second wafer are sequentially stacked; forming a cantilever or a bridge shaped-structure on the relevant portion of the first wafer through the photolithography process; attaching to the surface of the first wafer, a first cap made of glass and having a predetermined space for sealing the movable structure in a vacuum state; separating and removing the metal film and the second wafer from the first wafer; and attaching to the backside of the first wafer, the second cap which is structurally and materially symmetric to the first cap. The SMS wafer is fabricated by depositing the metal film on the second wafer and bonding the first wafer on the metal film using metal paste or material of polymer series. With lower material costs, improvements in performance and characteristics can be achieved.

Abstract: A precessional device having independent control of the output torque generated by the device and the oscillation race of the device is disclosed. The device comprises a rotor supported by an axle wherein the ends of the axle are supported by a circular race. The circular race is rotatable, and may be driven by, for example, a motor, thereby controlling the oscillation rate of the device independently of the output torque arising front the rotation rate of the rotor. The motor may be controlled by a control program that adjusts the rotation rate of the circular race to modify the shape of the resistance curve.

Abstract: The gyroscopic actuator is a new device based on a mechanism designed to make us of the conservation of the kinetic momentum, so that it supplies a torque (momentum) to the platform where it is located. Thus it can orientate this platform in pitching, rolling or yawing, so that it achieves the attitude that a control system requires. Its scheduled use is in aeronautical fields (operation control in aeroplanes), automotion (stabilization of any type of land vehicle), naval (maneuvers and stabilization of naval platforms) and aerospace (satellite attitude control).

Abstract: A momentum-control system for a spacecraft is disclosed. The momentum-control system comprises an attitude-control system. The attitude-control system receives data concerning a desired spacecraft maneuver and determines a torque command to complete the desired spacecraft maneuver. A momentum actuator control processor coupled to the attitude-control system receives the torque command. The momentum actuator control processor calculates a gimbal rate command comprising a range-space gimbal rate required to produce the torque command and a null-space gimbal rate required to maximize the ability to provide torque in the direction of a current torque. At least four control-moment gyros are coupled to the momentum control actuator control processor. Each of the control-moment gyros receives and executes the gimbal rate to produce the desired maneuver.

Abstract: An apparatus is described which reduces a time delay and a resultant phase shift in a gyroscope motor drive signal. The motor drive signal originates from a numerically controlled oscillator whose output is sampled at a predetermined rate. The apparatus includes a first element which upsamples the oscillator output signal samples and a band pass filter configured to receive an output from the first element and remove spectral components from the output of the first element. The apparatus further includes a third element which generates a tuning parameter, ??o, for tuning of the band pass filter and a scaling multiplier configured to normalize an output of the filter.

Abstract: Gyrostabilizer methods and apparatus having simultaneously counter-revolving masses that do not require physical shafts or axles. The stabilizer can have dual counter-revolving concentric rings, or tracks filled with weights such as spherical balls, that are propelled in orbital fashion by fluid pressure or electromagnet propulsion. The rings can include rigid contiguous rings, such as metal, plastic, composites, and the like. Additionally, the rings can include liquids and/or gasses. Still furthermore, the rings can include flexible, bendable contiguous materials, such as chains and ropes. The concentric ring diameters can be a few inches to more than ten (10) feet. Without an axle or shaft the weight of the gyrostabilizer is shifted to the perimeter where most of the momentum is generated at a fraction of the weight of gyrostabilizers that spin on an axle. The gyrostabilizer can dampen unsteadiness such as tremors, vibrations, sway, pitch, roll, and yaw.