Abstract: A method for compensating for bias of a gyroscope. In one embodiment, bias measurements for a plurality of drive angles are generated using the gyroscope. A set of equations for the bias of the gyroscope is identified using a model for motion of the gyroscope. The set of equations includes a set of parameters for the bias of the gyroscope. A set of values for the set of parameters is identified using the bias measurements and the set of equations.
Abstract: A method for operating a sensor system that includes a rotation rate sensor and an electronic component includes generating, by the rotation rate sensor, a sensor signal as a function of a rotation rate measured about a rotational axis, comparing the sensor signal to at least one first threshold value, and, for controlling the electronic component, outputting an interrupt signal to the electronic component as a function of the comparison of the sensor signal and the at least one first threshold value.
Abstract: In one embodiment, a ball turret assembly for supporting a camera includes a first shaft rotatable about a first axis relative to a first fixed point, the first shaft having an axially-extending interior region in communication with an exterior of the first shaft by way of a first exit port. A first guide disposed at least partially circumferentially on the first shaft proximally to the first exit port is provided, and a cable extends along the interior region of the first shaft and exits the first shaft at the first exit port, the cable looping at least partially around the first shaft and affixed at the first fixed point.
Abstract: A vehicle incorporating a plurality of control motion gyroscopes (CMTs) contained within a support structure is described. Optionally, a mass shifting mechanism may also be incorporated in the vehicle. The vehicle and its CMTs are configured to have a plurality of gravitationally stable states on a sloped surface.
Abstract: Disclosed is a combination of six substantially identical interconnected rotating masses, with a pair each of the rotating masses being configured to rotate in one of each of the three planes (X, Y, and Z). Regardless of the orientation of the six masses, each pair of the six interconnected rotating masses may 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.” In one embodiment, the rotating masses are ring-like masses. In alternative embodiment, the rotating masses are solid masses, similar to flywheels.
Abstract: The present technical solution solves a problem of keeping a given direction by use of an element stabilized in a given plane of inertial space, irrespective of disturbing torques, precessions of gyroscopes, and turns of a movable object in the given plane of inertial space when the current technical solution is used on the movable object. This solution is based on forcing precessions of two one-axis gyrostabilizers in opposite directions. The gyrostabilizers are connected with each other by a connection unit comprising a stabilized element. Since in the present solution low precision gyroscopes can be used, then the proposed solution can be implemented in a small-size version.
Abstract: Provided is a system and process of controlling motion. The system and process provide a force to substantially maintain a relative position in response to an external force being applied to at least one of one or more movable members or generate an internal force to adjust the relative position.
Abstract: Disclosed herein are two separate processes that do not require a propellant and do not produce an equal and opposite reaction against any external form of matter in the Local Inertial Reference Frame and do not violate Newton's Laws in the Universal Reference Frame. The first process produces horizontal motion, relies on the earth's gravitational field as an external force, and has been successfully tested. The second process produces vertical motion and relies only on the aether. It has been successfully tested considering the effect of the earth's gravity. Due to the law of conservation of angular momentum, the first process is considered by some to not be possible, but with the proper use of an external field (for example, gravity) and the phenomenon of precession, it is clearly possible. A clear distinction is made between a simple rotor and a gyroscope which is a far more complex device.
February 11, 2011
September 15, 2011
Harvey E. Fiala, John Emil Fiala, John-Arthur Fiala
Abstract: A multi-axis gimbal has each axis defined by a respective spherical shell driven by a flat, compact motor attached to the driven shell and to a next outer shell (or to an external mounting platform, in the case of the outermost shell). The shells rotate about respective axes. In one configuration, the outermost shell is referred to as the “azimuth” shell because in use it rotates about a vertical axis. The next inner shell is an elevation shell that rotates about a first horizontal axis that is orthogonal to the axis of the camera or other sensor payload. An optional third shell can be used to provide “roll” motion, such as rotating a camera about its axis to obtain a particular rotational orientation with respect to a target.
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: Systems, including apparatus and methods, for driving airflow along a surface of a gimbal. The systems may comprise a gimbal apparatus including a payload and also including a gimbal mount supporting a first gimbal and a second gimbal. The first gimbal may be coupled pivotally to the gimbal mount. The second gimbal may be coupled pivotally to and supported by the first gimbal. The second gimbal may be coupled to and may support the payload. The gimbal apparatus may orient the payload by pivotal movement of the first and second gimbals relative to the gimbal mount about at least two nonparallel axes. The system also may comprise a fan mounted to the first gimbal. The systems also may comprise operating the fan to drive airflow through a gap disposed between the first and second gimbals.
February 17, 2006
Date of Patent:
March 2, 2010
FLIR Systems, Inc.
Bruce Ellison, John L. Miller, Gerard A. Morelli, Bruce A. Dickerson
Abstract: A stabilizing and vibration-isolating mount to facilitate the manual operation of a camera from mobile platforms such as aircraft, motor vehicles, and watercraft. The camera mount comprises a carriage assembly that allows the roll axis of rotation to pass through the optical axis of the camera lens, thus eliminating the pendulum or over-the-center phenomenon that characterizes moving images filmed while the camera is moving about the roll axis. Movement around all three axes of rotation can be stabilized by gyrostabilizers that can be adjustably positioned through the centerlines of the pan, roll, and tilt axes.
Abstract: Methods and apparatus are provided for reorienting control moment gyros (CMGs) to compensate for CMG failure or change in spacecraft (S/C) mass properties or mission. An improved CMG comprises a drive means for rotating the CMG around an axis not parallel to the CMG gimbal axis. Releasable clamps lock the CMG to the spacecraft except during CMG array reorientation. CMGs arrays are combined with attitude sensors, a command module, memory for storing data and programs, CMG drivers and sensors (preferably for each CMG axis), and a controller coupling these elements. The method comprises determining whether a CMG has failed or the S/C properties or mission changed, identifying the working CMGs of the array, determining a new array reorientation for improved spacecraft control, unlocking, reorienting and relocking the CMGs in the array and updating the S/C control parameters for the new array orientation.
Abstract: A vehicle stabilising means comprising a cradle (23) supported from a mounting (17) to lie to one side of the mounting, a rotor (19) supported from the cradle between a pair of spaced supports (25) to be rotatably supported by the supports, a drive coupled to the rotor enabling the rotor to rotate at a substantially constant angular velocity, the rotor being rotatable about a first axis, the supports located to the side of the cradle remote from the mounting, the cradle further comprises a base (31) which is rotatably supported from the mounting to be rotatable around a second axis which is perpendicular to the first axis of rotation of the rotor and which intersects the first axis of the rotor, the mounting intended in use to be fixed to the vehicle such that in operation the mean orientation of the first and second axes are substantially perpendicular to the direction of the axis of stabilisation.
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: There is provided a motorized cycle comprising a frame, a seat mounted upon the frame, a plurality of suspensions mounted to the frame, a plurality of wheels each coupled to a suspension wherein the operation of the motorized cycle is based on the physical position and movements of the rider. Also provided is a suspension system for a motorized cycle comprising a plurality of suspensions each coupled to the frame of the motorized cycle, and a plurality of wheels each coupled to a suspension such that each wheel is able to move relative to the other wheels and the frame. According to another aspect, there is provided a rider positioning system for a motorized cycle comprising handle bars and a seat wherein the movement of the handle bars affects the movement of the seat.
Abstract: Methods and systems are provided for attaching and detaching a payload device to and from, respectively, a gimbal system without requiring use of a mechanical tool. The gimbal system includes a gimbal assembly that includes a payload socket arranged to attach a payload device to the gimbal assembly. The payload socket is preferably arranged to allow any of a plurality of payload devices to attach to and detach from the payload socket without requiring use of a mechanical tool.
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.
July 11, 2005
July 3, 2008
Robert Monte Prichard, Robert Kraft McClelland
Abstract: A momentum-control system comprising a plurality of momentum actuators and a platform upon which the plurality of momentum actuators are mounted. The momentum control system further comprises a plurality of active struts mounted on the bottom side of the platform. The active struts are configured to produce a force to steer the plurality of momentum actuators and the platform to produce forces and moments for spacecraft attitude control and disturbance suppression.
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. Additionally, a series of pedestal supports for supporting the three ring-like masses is disclosed.
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: 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 (stabilisation of any type of land vehicle), naval (manoeuvres and stabilisation of naval platforms) and aerospace (satellite attitude control).
Abstract: A dynamic unbalance compensation system that compensates for dynamic unbalance of a rotating assembly on a vehicle, such as a spacecraft, to compensate for the presence of a dynamic unbalance moment. The system includes a vehicle, such as a spacecraft, a rotational assembly mounted on the vehicle and rotatable about an axis of rotation relative to the vehicle, and one or more momentum devices mounted on the rotational assembly and generating a momentum vector component perpendicular to the axis of rotation. The one or more momentum devices generate a compensation torque during spinning of the rotational assembly so as to compensate for dynamic unbalance of the rotational assembly.
February 22, 2002
Date of Patent:
August 10, 2004
Honeywell International Inc.
David A. Osterberg, Christopher J. Heiberg
Abstract: A reaction wheel system is provided that includes at least two rotors. The first rotor is the primary rotor that provides the large output torques to the vehicle. The second rotor is a vernier control rotor. The primary rotor and vernier control rotor each rotate about a common axis. The vernier control rotor has an inertial mass that is less than the inertial mass of the primary rotor, and rotates independently of the primary rotor. Because the vernier control rotor can be rotated independently from the primary rotor, it can be used to significantly improve the performance of the reaction wheel system. Specifically, the vernier control rotor is used to provide relatively small output torques. These relatively small output torques can be used to reduce the disturbances created by motor ripple, provide precise torque output control and/or reduce the disturbances created by static friction.
Abstract: A gyrostabilizer without a physical shaft or axle is constructed. The stabilizer has dual counter-revolving concentric rings filled with weights such as spherical balls that are propelled in orbital fashion by fluid pressure or electromagnet propulsion. The diameter of the concentric ring can vary from 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. Also without an axle or shaft the space between the center of revolution and the revolving balls is usable or void. When properly mounted in a vehicle or structure unsteadiness such as tremors, vibrations, sway, pitch, roll, yaw can be dampened.
Abstract: According to the preferred embodiments of the present invention, an apparatus and method for creating directional movement using the natural forces of rotational energy in a gravitational field is disclosed. The present invention is a combination of three interconnected gyroscopic ring-like rotating masses, with each of the three ring-like masses rotating in a separate plane. 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. At high enough levels of angular momentum, outside cosmic forces, including the gravitational force of the environment, will cause the interconnected rotating masses to seek equilibrium by moving away from the strength of the gravitational force.
Abstract: A precessional device featuring a pair of axles each containing at least one flywheel forming a pair of rotors. The pair of axles are each mounted on circular track assemblies in which they rotate and generate a precessional torque that provides variable resistance along a first axis and a balancing of the precessional torque along a second axis.
Abstract: A two axis (azimuth and elevation) stabilized common gimbal (SGC) for use on a wide variety of commercial vehicles and military vehicles which are employed in combat situations capable of stabilizing a payload of primary sensors and of mounting a secondary sensor payload that is independent of the moving axes. The SCG employs three gyroscopes, inertial angular rate feedback for providing gimbal control of two axes during slewing and stabilization. In addition the third (roll) gyroscope is used for performing automatic calibration and decoupling procedures. In this regard, the SCG provides an interface for the primary suite of sensors comprising one or more sensors having a common line-of-sight (LOS) and which are stabilized by electronics, actuators, and inertial sensors against vehicle motion in both azimuth and elevation.
January 5, 2001
Date of Patent:
May 28, 2002
Engineered Support Systems, Inc.
Thomas W. Ellington, Bruce E. Exely, Jeffrey S. Folmer, William S. Lambros, Thomas D. Linton, John P. Buck, Jr., Russell R. Moning, Peter M. Ellis, Kenneth A. Roseman, James R. Marshall
Abstract: A gyroscopic motion device constructed for relative motion over an external support structure. The device includes a frame structure configured to support a pair of spaced apart gyroscopes. The device also includes a substructure operatively interposed the pair of gyroscopes which initiates a precessing effect, which results in a change in the angular disposition of the axes of rotation of the gyroscopes to cause the device to move relative to the external support structure.
Abstract: A turntable acceleration generating apparatus includes a first servo motor, a large-diameter turntable rotated by the first servo motor, and a small-diameter turntable being mounted on the large-diameter turntable at a position offset from the central axis of the large-diameter turntable such that the small-diameter turntable is rotated by a rotary shaft. Furthermore, the turntable acceleration generating apparatus includes a signal line for deriving signals from an acceleration sensor located on one of the sides of the large-diameter turntable, and a control signal line for applying control signal to a second servo motor located on the other side of the large-diameter turntable, wherein the large-diameter turntable is grounded such that the large-diameter turntable prevents noise leakage from the control signal line to the signal line.