Methods and apparatuses for stabilizing payloads, including airborne cameras, are disclosed. In one embodiment, the apparatus employs a gimbal system in which the camera is mounted, together with suitable motors for pointing the camera by actuating this gimbal system and suitable sensors for deriving a signal to drive these gimbal motors. The gimbal axes can be arranged in a sequence that can provide for camera stabilization while reducing complexity, avoiding gimbal lock, increasing redundancy and enhancing performance.

Method and apparatus for stabilizing payloads, including airborne cameras

This invention provides a support device (510) that allows the adjustable, yet rigid placement of a probe (560) or other medical instrument against a region of interest/treatment on a patient. The system and method of rigid fixation, positioning, and adjustment contemplated herein is useful for a broad array of medical procedures including, but not limited to, ultrasound- guided anesthetic delivery. In an exemplary embodiment of the present invention, a flexible armature (550) is attached to a rigid stand (530) placed upon the floor, or attached to another stable surface such as a bed rail, wall, ceiling or piece of equipment. A joint connects the armature to an instrument holder (558) able to accommodate and rigidly attach an ultrasound sensing probe or other medical device. The medical device then remains rigidly attached to the described invention during the procedure. Furthermore, this set position is resistant to minor patient motion or other disturbances. If required, small alterations can be made by the operator during the procedure with minimal effort. In this manner, the primary operator is able to maintain a 'hands-free' approach.

Biomedical positioning and stabilization system

Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods. In one embodiment, an aircraft system can include a turret assembly having a payload with a line of sight to a target and a gimbal system carrying the payload. The gimbal system can include (a) a first support coupled to a first actuator to rotate about a first axis, and (b) a second support carried by the first support and coupled to a second actuator to rotate about a second axis generally transverse to the first axis. The turret assembly can also include a controller configured to direct movement of at least one of the first actuator and the second actuator such that the line of sight is pointed away from a point of impact before the turret assembly contacts the ground or another external structure during landing or capture operations.

Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods

An assembly (102) for a gas turbine engine (1) comprising an accessory gearbox (100) comprising a drive gear (171) and a starter/generator (101) mechanically mounted to the accessory gearbox (100). The starter/generator (101) comprising a rotatable shaft (170), a pinion gear (150) carried by the shaft (170), a main machine (172) carried by the shaft, a permanent magnet generator (PMG) (174) carried by the shaft (170) and an exciter (176) carried by the shaft (170).

Accessory gearbox with a starter/generator

A method and system for stabilizing images being taken by a video camera using electromechanical stabilization. The stabilization system performs inter-frame stabilization based on the velocity of a vehicle on which the video camera is mounted and the pen rate of a line-of-sight controller of the video camera, The inter-frame stabilization is performed by a software component by moving a display area (or viewport) within a larger image area. The stabilization system converts an inter-frame stabilization adjustment into a pen rate adjustment so that the line-of-sight controller will keep the desired object within the image area of the camera.

Cooperative nesting of mechanical and electronic stabilization for an airborne camera system

In a system for controlling the inclination angle and rotation angle of a body, a rotary actuator is coupled to a base. A pivot actuator is coupled to an output shaft of the rotary actuator. The rotary actuator controls the angular position of the pivot actuator. A displacement member is coupled to an output shaft of the pivot actuator. The pivot actuator controls the linear position of the displacement member. A support shaft is pivotably coupled to the displacement member. A spherical bearing includes a socket that is coupled to the base and a ball that is coupled to the support shaft. In this manner, the angular position and linear position of the displacement member is translated to a corresponding rotation angle and inclination angle in the support shaft. This system provides for a continuous range of rotation of the upper body and a continuous range of inclination angles in the upper body relative to the lower base. An optional system for deploying the legs provides for continuous, controlled motion in their release. In doing so, the present invention provides a system with a higher degree of flexibility, precision and reliability.

Positioning system with continuous-range inclination and rotation angles

Method for positioning a body along continuous-range inclination and rotation angles

In a system for controlling the inclination angle and rotation angle of a body (22), a rotary actuator (52) is coupled to a base. A pivot actuator (50) is coupled to an output shaft of the rotary actuator (52). The rotary actuator (52) controls the angular position of the pivot actuator (50). A displacement member (34) is coupled to an output shaft of the pivot actuator (50). The pivot actuator (50) controls the linear position of the displacement member (34). A support shaft (48) is pivotably coupled to the displacement member (34). A spherical bearing (37) includes a socket that is coupled to the base and a ball that is coupled to the support shaft (48). In this manner, the angular position and linear position of the displacement member (34) is translated to a corresponding rotation angle and inclination angle in the support shaft (48). This system provides for a continuous range of rotation of the upper body (22) and a continuous range of inclination angles in the upper body (22) relative to the lower base. A corresponding method is also disclosed.

Salvatore Cianciolo

Papers

Positioning system with continuous-range inclination and rotation angles

Method for positioning a body along continuous-range inclination and rotation angles

System and method for positioning a body along continuous-range inclination and rotation angles