Abstract: Apparatus for mounting and positioning an associated device such as a camcorder which includes a transmitter for producing a control signal, a substantially fixed platform and a control apparatus including a plurality of sensors disposed in a plane at angularly spaced intervals about a first axis. Each of the plurality of sensors is constructed to receive a first control signal radiated by the transmitter. The apparatus also includes structure to discriminate which of the plurality of sensors is receiving the control signal from the transmitter and utilizes that information to drive the servomechanism.

Abstract: A work station which has a work table top (30) in truncated "U" shape with end panels (32) and a rear panel (34) each having height adjusting angular legs (38) and (40). A pair of side skirts (36) are abutted against the panels enclosing one side of the work station. The height is adjusted by linear actuators (44) attached between the legs and panels controlled electrically, allowing a physically challenged or developmentally disabled person to utilize the work station while sitting in a wheelchair with the ability to adjust the height to an optimum level. Other embodiments provide manual adjustment of the height and platform enclosures (88), (98) and (102) mounted on top of the work station allowing material placed thereupon to be at a convenient angular position relative to the work table top (30).

Abstract: A gyroscope erection system uses an electrolytic tilt transducer (21) to modulate oscillator signals (OSC, OSC) originating from a signal conditioning circuit (27). The signal conditioning circuit (27) receives the modulated oscillator signal and compares one unmodated oscillator signal with the modulated oscillator signal from the tilt transducer (21), to provide a demodulated signal. The demodulated signal is used to provide direction and amplitude signals to a pair of multipliers (45, 47). Output from the multipliers (45, 47) are amplified in order to drive a torquer (25).

Abstract: A mobile station antenna attitude control apparatus comprising an antenna, a drive mechanism, a receiving level detecting means, a first device information setting means, an attitude detecting means, a second drive information setting means, a drive information correcting means and a control means. With such structure, the antenna is driven and controlled with the first dirve information and the drive information which has been obtained by correcting the second drive information depending on change on time thereof. Thereby, the antenna is capable of accurately tracking the signal source even if an automobile moves quickly. Moreover, since such tracking is based on the feedback control, structure and control can be very much simplified.

Abstract: A parametrically controlled active vibration isolation system comprises a damper having a servovalve fluidically coupling a load supporting actuator to an accumulator. The servovalve includes a variable orifice arrangement which regulates the flow therethrough of a hydraulic fluid in response to a command signal derived from response sensors. In this manner the damping coefficient is modulated so as to approximate a "sky-hook" damper.

Abstract: The location of a vehicle itself is detected on the vehicle in combination with an attitude control of an antenna mounted on the vehicle so that the antenna is directed toward a geostationary satellite. The antenna is driven for rotation about both a horizontal and a vertical shaft. A mean running speed MVb and a mean azimuth MQd of the vehicle over a time interval t.sub.2 are used to calculate corrections .DELTA.Px and .DELTA.Py to the vehicle location, which corrections are added to vehicle location data corresponding to the starting point of the interval t.sub.2. A mean azimuth MQd, a mean speed MVb, a mean roll angle MQr and a mean pitch angle MQp are used to control shifts .DELTA.Qdpo and .DELTA.Qppo which occur in the antenna attitude relative to the geostationary satellite as a result of the running of the vehicle over the time interval t.sub.2, and these shifts are used to correct the antenna attitude.

Abstract: A stabilization aid for a vehicle- or vessel-borne search unit comprises two servomechanisms for stabilizing the observation part (3) of the search unit about two mutually perpendicular axes (S.sub.1 and S.sub.2) mounted on the part of the search unit which rotates about the search axis (1). The stabilization aid comprises a computer (7) for determining, from the instantaneous angle of inclination (.alpha.) of the platform (2) supporting the search unit with respect to an earth-fixed reference axis and the instantaneous angular position (B) of the search unit about the search axis (1), measured in the plane of the platform (2), input signals for the servomechanisms. A portion of these input signals are compensating signals for the control errors in the servomechanisms.

Abstract: An electronic levelling apparatus using an inclinometer mounted to a platform for sensing deviations from the horizontal and generating an output signal representative thereof, filtering the inclinometer output signal to remove electromagnetic and radio frequency interference, level-shifting the filtered inclinometer output signal to establish both positive and negative threshold voltages, determining positive and negative voltage level shifts to generate a level control signal therefrom and transmitting the level control signal to an actuating mechanism for maintaining the platform level.

Abstract: A space-referenced, rate-stabilized gimbal platform system for use in a vehicle. The system includes a master gimbal mounted to the vehicle frame and having a master platform that is pivotable with respect to a first axis that is perpendicular to the longitudinal axis of the vehicle and pivotable with respect to a second axis that is perpendicular to the first axis; a two-axis rate gyroscope mounted to the master platform; and a slave gimbal having a slave platform for supporting directional apparatus, such as an antenna or sensor. The slave platform is pivotable with respect to a third axis that is parallel to the first axis and pivotable with respect to a fourth axis that is perpendicular to the third axis.

Abstract: A device used as an electro-mechanical converter includes a body having a spherical outer surface, a structure peripherally surrounding the spherical body and electromagnetic means spatially located from the body to cause a rotational displacement of the body. The body is connected to a static support and all rotational motions are relative thereto.

Abstract: A control system for adjusting an antenna rotatably mounted on a vehicle to directly receive a transmitting signal from a geostationary satellite so as to apply it to a receiving equipment on the vehicle. The control system comprises a first sensor for sensing a first difference between a standard direction and a travelling direction of the vehicle, a second sensor for sensing a second difference between the travelling direction of the vehicle and a direction of the antenna, a microcomputer programmed to determine a third difference between the travelling direction of the vehicle and a direction of the satellite in accordance with the first difference on a basis of a predetermined difference between the standard direction and the direction of the satellite and to determine an adjustment angle for rotation of the antenna in accordance with the second and third differences, and an actuator for effecting for rotation of the antenna with the adjustment angle.

Abstract: A robotic positioning system is provided which comprises a base portion; a plurality of interconnected arm members mounted on the base portion and having respective axes of movement; a hand member carried at a distal end of the arm members for supporting a functional member; a plurality of drive means associated respectively with the plurality of arm members and operable by respective drive signals for moving the arm members along the respective axes so that the functional member reaches a target spacial position and there assumes a target spacial orientation; and a gyro assembly having a frame mounted for joint movement with one of the members and a rotor supported in the frame to rapidly spin about an axis set to orient in a predetermined direction, which is invariable relative to the base portion, whereby to provide a directional reference for monitoring a spacial orientation assumed by the one member upon a movement along the corresponding axis of movement.

Abstract: A controller for producing electrical control signals has a relatively stationary supporting section providing an upwardly facing hand supporting surface and an upward projection, and has a stick-like control section mounted on a first gimbal joint on top of the projection, to swing about pitch and roll axes. A second gimbal joint is spaced along the roll axis from the first one and rotates about said roll axis and about a gimbal axis parallel to the pitch axis. A gimbal ring of the first joint is rigidly connected to a gimbal member of the second joint for unison rotation about the roll axis. A second gimbal member of the second joint is caused to rotate about said gimbal axis in unison with swinging of the control section about the pitch axis by a linkage connection between them. A signal generator for each of the pitch and roll axes and a stick force generating means for each of those axes are connected with respective gimbal members of the second joint.

Abstract: A first stage adapted to be moved in predetermined directions by a first driving device is provided in a machine base supported from a foundation by an intermediary of resilient means. This first stage is provided a second stage adapted to be moved in the directions at right angles to the directions of movement of the first stage by a second driving device. Upon movement of these respective stages, vibration of the machine base is excited by reaction forces exerted upon the machine base as a result of acceleration and deceleration. These reaction forces are offset by resistive forces generated by first and second force generators respectively. The first and second force generators establish an electromagnetic coupling between the foundation and the machine base.

Abstract: The control is mounted on the turntable of a conventional motor grader or similar scraper, in a direction parallel to an axis through the points of attachment to the turntable of the rods of two rams which control the angle of the blade of the scraper to the horizontal. The control is used to hold the blade angle at a first angle when the scraper is moving in one direction and at a second angle when moving in another direction. In the control are two vials mounted side-by-side and adjustable by a motor to be centered at the aforesaid first and second angles. A control box on the cab enables the operator to selectively adjust the electric current of the device to respond to one vial or the other depending on the direction of movement of the scraper. If the blade is off the desired angle, a signal from the vial actuates a hydraulic valve control to energize one or both rams to raise or lower and thus restore the blade to the preselected angle.

Abstract: A device for positioning and position stabilizing an inert mass supported for sluing on a base, comprising two driven portions (11,15) adapted to be driven by a motor (1) by way of controllable friction clutches (9,13) is furnished with a single rotor (5) driven by the motor (1) and cooperating with the two friction clutches to transmit a coupling torque in the same sense of rotation. Each driven portion (11,15) acts through separate power transmissions each (16-18,20-23) on the mass, one of the power transmissions effecting a reversal of the direction of rotation.

Abstract: A pair of interval timer units including a lower right timer (LRT) and a lower left timer (LLT) for controlling a pair of D.C. motors (RM, LM) to drive a pair of load devices accurately and consistently a predetermined lowering distance. The load devices are raised together until stopped by limit switches (LS1, LS2) but can be lowered individually under the interval timer (IT) control. Each timer unit (LRT) includes a voltage regulator (ZD1, ZR1) to provide a constant voltage to a ramp voltage generator (RG) and a reference voltage to a voltage inverter (VI). The ramp voltage is applied through a buffer (IC1B) to one input of a comparator (IC1C). The variable supply voltage is also applied to the voltage inverter (VI) that provides a time reference voltage that varies inversely with respect to variation in the supply voltage.

Abstract: A vibration compensation system for actively attenuating the vibration of a machine. The machine has a housing, with respect to which vibration is to be damped, and at least one body moving within the housing. The vibration compensation system includes a countermass capable of being linearly reciprocated relative to the housing in a direction parallel to the motion of the moving body within the machine. A motor, coupled to the housing, drives the countermass. Elements are provided for sensing the position, or any time derivative or time integral thereof, relative to the housing of the moving body and the countermass. control elements supply power to the motor in response to the signal outputs from all of the sensors so that the acceleration of the countermass is in a direction opposite the acceleration of the moving body. The magnitude of the acceleration of the countermass is equal to the product of the acceleration of the moving body multiplied by its mass divided by the mass of the countermass.

Abstract: A precision drive system including a base plate; track means and an air bearing means movable relative to one another, one of the means being fixed to the base plate and the other being movable for carrying an object to be moved relative to the base plate; means for moving one of the track and air bearing means; means for driving the moving means; and a control circuit including a power circuit for operating the means for driving; a velocity sensor for detecting the velocity of the movable one of the track and air bearing means, and a velocity feedback circuit for introducing velocity error signals into the power circuit to correct velocity; a position sensor to detect the position of the movable one of the track and air bearing means and a position feedback circuit for introducing position error signals into the power circuit to correct position.

Abstract: Apparatus for controlling the pointing position of the payload platform of a dual-spin satellite. A torque motor which controls the relative position of the payload platform is controlled by means of a closed-loop feedback system which points the line-of-sight of the platform at a predetermined position on the earth. The control circuitry comprises position and rate sensing devices which monitor the relative position of the line-of-sight and the relative rotational rate of the payload platform. The line-of-sight of the platform is compared to signals indicative of the angular subtense of the earth. If the line-of-sight is pointed at the earth, then position command signals control the torque motor. If, however, the line-of-sight of the platform is not directed at the earth, then rate command signals are summed with the position command signals and subsequently applied to the motor.

Abstract: A rotatable member, such as a turret at a weapons station, is controllable about an azimuth axis. A weapon is carried in the turret with the weapon being controllable therewithin about an elevation axis. The moments of inertia of the turret and weapon about the azimuth axis and of the weapon about the elevation axis are relatively high. The disclosed system provides for elevation and azimuth control through elevation and azimuth drive trains having reflected drive train inertias which are at least two orders of magnitude smaller than the inertia of the turret and weapon about the azimuth axis and at least one order of magnitude smaller than the inertia of the weapon about the elevation axis. Further, the system senses spurious torque applied about either axis, as for example due to the recoil of the fixed weapon, and provides automatic repositioning of the controlled members about either axis to compensate for angular displacement caused by the spurious torque.

Abstract: System for positioning and maintaining position stabilization of a mass such as a barrelled gun supported on a base such as a tracked vehicle. The system employs oppositely rotating disks with fluid actuated clutches for moving the gun barrel mass in a single degree of freedom as determined by a deviation from a predetermined setting.

Abstract: Electromagnetic method and apparatus to accurately control the orientation of a platform according to two axes wherein pivoting of the platform about two orthogonal axes passing through its center is effected by electromagnetic means, with the servo-control being obtained by using a detector responsive to the angle of deviation from a reference direction, an amplifier, a low-pass filter, a phase lead filter and power amplifiers supplying currents to the electromagnetic devices. The method and apparatus is particularly adapted to the orientation of platforms carrying means such as aerials or inertia wheels intended for piloting a space vehicle.

Abstract: An axial gap, permanent magnet motor. The motor includes a stator affixed to a motor housing. The stator has two sets of series connected coils wound in quadrature. Each set of coils is disposed in an annular configuration about a spin reference axis, with the principal axis of each coil being substantially parallel to the reference axis. The motor further includes a rotor which is adapted for continuous rotation about a spin axis. The rotor includes a set of permanent magnets and a member for supporting the magnets in a substantially annular configuration about the spin axis. The magnetic moment of each of the magnets is substantially parallel to the spin axis, with the magnetic moment of adjacent magnets being oppositely directed. The rotor is positioned with respect to the stator with the configuration of magnets being adjacent to the configuration of coils so that flux from the magnets is coupled to the coils.

Abstract: Apparatus and a related method for detecting failures of control elements, such as skewed-axis reaction wheels with closed-loop speed control, used in satellite attitude control systems, and for compensating for such failures and thereby maintaining continuity of operation. The apparatus includes a wheel loop model for simulating operation of each of the reaction wheels and speed control loops in the satellite, and for deriving an estimated wheel speed from a command speed for each wheel. By comparing the estimated speed of each wheel with the corresponding actual or observed speed, the apparatus determines whether a failure was occurred in the wheel, or in its control loop.

Abstract: A laser generating tube and associated optical system is mounted on a laser support which is mounted to pivot relative to a cradle about a first axis. The cradle is mounted to pivot about a second axis (transverse to the first) relative to a frame. First and second levelling motors control the angle of the support relative to the cradle and of the cradle relative to the frame. Thus the slope of the laser beam emitted from the optical system is controlled in two planes. Fixed to the laser support is a grade control device consisting of a base and a grade plate which is tripod mounted relative to the base, two of the three support points being on screws which are driven by first and second grade motors so that the slope of the grade plate relative to the base (and then to the laser support) may be adjusted in two planes. First and second potentiometers are arranged to adjust as the screws are turned.

Abstract: Apparatus for supporting a body on a carrier in a desired angular position while the carrier is mounted on a moving base, such as a ship, includes an electrically operated drive for angularly moving the carrier relative to the base about a normally horizontally extending axis. The control device for controlling the drive includes a first signal generator which senses the rate of angular movement of the carrier in a plane perpendicular to the afore-mentioned axis and generates a first signal indicative of the sensed rate. A second signal generator includes a mercury switch and generates a second, constant, D.C. signal indicative of the absence or presence of a predetermined angular position of the mercury switch in plane perpendicular to the axis. A circuit connected to the signal generators and the drive transmits to the drive an electrical operating signal in response to the first and second signals and thereby causes the mercury switch to be moved by the drive into its predetermined angular position.

Abstract: A circuit for applying rate feedback to the pitch and yaw canard commands a guided projectile or missile to stabilize the airframe. The circuit demodulates and differentiates the signal from the gyro cage coil to obtain a signal representative of the airframe movement at its natural frequency. Phase detectors provide a phase reference by comparing the cage signal carrier with the output of hall effect elements in the speed sensing circuitry. The rate amplitude from the differentiator is then multiplied by the phase references to resolve the rate into pitch and yaw command components. Summation circuits then scale and subtract the rate commands from the guidance commands to provide negative rate feedback.

Abstract: Satellite tracking apparatus for use on board ship as part of a maritime communications satellite terminal is disclosed. A directional antenna which is adapted to be trained in the direction of the satellite so as to be in communication therewith is mounted so as to be positioned about three axes, namely train, elevation, and cross-level axes. The mount also has a fourth axis which is parallel to or collinear with one of the other axes. This fourth axis may be a level axis which is movable with the antenna. A stable platform is movable with and rotatable about the level axis. Sensors on this platform provide outputs to servo controllers which rotate the antenna about the elevation and cross-level axes to maintain the platform stable. An azimuth sensor such as a gyro compass and sensors responsive to angular motion with respect to the train axis may also be mounted on the platform and provide outputs to a servo controller which controls the bearing or azimuth position of the antenna.

Abstract: A reflector of an optical system has its position controlled by piezoelecc devices operating at three points of the reflector disposed at the apices of an equilateral triangle. These are driven by summing amplifiers each of which has an input to which a signal for producing displacement of the reflector without change of tilt is provided and one or more inputs connected to the output of a matrix circuit responsive to signals for producing tilt of the reflector about two mutually perpendicular axes both perpendicular to the direction of displacement produced by the previously mentioned inputs.

Abstract: The invention concerns stabilized platform arrangements of the kind utilized, for example, to carry a rotatable ship's radio antenna, which requires to be stabilized against pitch and roll. A control system is provided which includes means for relating error signals representative of deviations in pitch and roll to orthogonal axes fixed with respect to the antenna, by conversion to angular errors in two orthogonal planes, the elevation and cross elevation planes, containing the reference axis about which the antenna rotates.

Abstract: A system for providing a stable caging loop for two-degree-of-freedom dry tuned gyros used in a strap-down inertial navigation system. The system provides satisfactory noise rejection and good navigation accuracy using cross axis torquing only with extremely simple analog shaping circuits in place of the combination of cross axis and direct axis torquing with complex shaping circuitry that is normally required with these gyros in such an application. A 64 Hz bandwidth loop is provided with less than 1.degree. phase lag below 5 Hz, 10 db attenuation of rotor spin rate noise, and at least 35 db attenuation of all higher frequencies. Its performance is such that it can be used in a navigation system requiring accuracy on the order of one nautical mile per hour in a typical missile environment.

Abstract: A four-axis gyro stabilized inertial reference system. The system comprises a nested gimbal configuration, which includes a platform and three successively larger and concentrically disposed inner, middle and outer gimbals and an outer casing. The platform and inner, middle and outer gimbals are each configured to permit rotation about an associated axis with that axis being perpendicular to the corresponding axis of the neighboring gimbal or platform. The system further includes a platform stabilizing means for maintaining the platform in a substantially fixed spatial orientation, independent of the spatial orientation of the outer casing and over a predetermined range of angular rates.

Abstract: A satellite tracking antenna system for use on board ship as part of a maritime communications satellite terminal is disclosed. The system has a directional antenna which is continually trained in the direction of the satellite so as to receive signals therefrom and transmit thereto in spite of the continual rolling, pitching and turning movement of the ship as it travels along its course, even in heavy seas. The system includes a platform which is adapted to be mounted at the head of the mast of the ship. A servo control unit receives position and angular rate signals from roll and pitch sensors mounted on the platform, and serves to drive stepper motors through drive units therefor which counteract pitch and roll without the need for gyroscopic stabilization means and without requiring tachometers or other feedback control in the drive units so that the platform always remains level regardless of the pitching and rolling of the ship.

Abstract: A stabilization system for a platform suspended in a gimbal frame comprises a motor tachometer combination mounted on the frame for tilting the platform about an axis, a gyro suspended on the platform and driving a synchro to provide a servo loop for controlling the motor, a preamplifier and an amplifier with a negative feedback via the motor-tacho combination to align the platform, and an angular velocity indicator mounted on the frame to produce outside the servo loop a correction signal for the tacho feedback signal.

Abstract: The instant system describes a heading and attitude reference system for an aircraft in which slaving of the directional gyro to the magnetic compass and roll erection of the vertical gyro is cut off during turns which exceed a predetermined rate. A unique feature of the system is the manner in which the turn rate cutoff rate signal is generated from the directional gyro without incorporating either rate gyros or rate generators. The turn rate cutoff signal is generated from the directional gyro heading signal by converting the heading signal electrically into a signal proportional to turn rate. In one embodiment, the heading signal from the directional gyro which is representative of the heading shaft angle (.theta.) is converted into a plurality of signals proportional to the sine and cosine of shaft angle .theta.. These signals are first differentiated and then vector summed to produce a signal directly proportional to the rate of shaft rotation (d.theta.

Abstract: An improved second order gyroscopic attitude and heading reference system including separate variable time constant accelerometer integrators for independently controlling the velocity error signals associated with respective east and north acceleration signals to provide velocity damped output signals so that a high acceleration input signal of dubious accuracy will have minimal precessional authority while a lower acceleration input signal of greater accuracy will retain nominal control.

Abstract: In a stabilisation system a platform is stabilised about two perpendicular axes by means of a gyro-controlled servo system. The vertical gyro being used in the stabilisation system is cardanic suspended in a gyro housing mounted on said platform. In a first step the spin axis of the vertical gyro is brought, to some extent, from a random orientation to a position vertical with respect to the earth surface by means of two synchro transmitters coupled to the gyro, first control circuits connected to each of these synchro transmitters, and two torque motors, and in a second step the vertical gyro is held in said vertical position by means of two accelerometers mounted on the platform to be stabilised, second control circuits connected to each of these accelerometers, and the abovementioned torque motors.