Apparatus, system, and method for simultaneous application of torque and lateral thrust by a partially actuated suspended load control system

Abstract

Disclosed are systems, apparatuses, and methods for and related to simultaneous application of torque and lateral thrust by a suspended load control system to a load suspended load on a suspension cable, wherein the suspended load control system is partially actuated.

Description

Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctAPPARATUS, SYSTEM, AND METHOD FOR SIMULTANEOUS APPLICATION OF TORQUE AND LATERAL THRUST BY A PARTIALLY ACTUATED SUSPENDED LOAD CONTROL SYSTEMFIELD

[0001] This disclosure is directed to improved apparatus, system, and method for and related to control of an partially actuated suspended load control apparatus and system, wherein the partially actuated suspended load control apparatus and system and a suspended load are suspended on a suspension cable beneath a carrier and wherein the partially actuated suspended load control apparatus and system may simultaneously apply both torque and lateral thrust to the suspended load.BACKGROUND

[0002] People, materials, and or equipment ("loads") may be suspended on a suspension cable, e.g. below a moving object, such as a helicopter, drone, crane, or the like, or below a non-mobile object (such as, e.g. a building, bridge, or the like). The suspension cable may be part of a hoist system, to raise and lower the suspension cable and load. Suspended loads are not typically buoyant, though may be. Cranes, helicopters, drones, and non- mobile objects, all with a suspension cable (and optionally with a hoist system), are referred to herein as "carriers". When a load is secured to a suspension cable beneath a carrier, it may be referred to herein as a "suspended load" or as a "load".

[0003] During operations with suspended loads, suspended loads may be subject to wind, impacts with or by other objects, movement by the carrier, change in the suspended load, and other external and internal disturbances or dynamics that may cause the suspended load to move. At times, such movement may be desired, but at times such movement may be undesirable. For example, the movement may move the suspended load away from a desired orientation or location or the movement may be unstable, unpredictable, and or hazardous.

[0004] Operators of carriers, such as helicopter crew, remote or robotic operators of a drone, crane crew, and building maintenance personnel, may use equipment that provides control of a suspended load, including equipment that provides suspended load control remote from the carrier, e.g. at or near the suspended load, including at or near a terminus of a suspension cable. Such suspended load control equipment may control suspendedDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct loads with powered fans, such as electric ducted fans ("EDF"), flywheels, reaction wheels, or the like (together, referred to herein as a "thruster"). Physical and logical components of a control system which provides suspended load control of a suspended load, wherein the suspended load is remote from a carrier on a suspension cable, is referred to herein as a suspended load control system ("SLCS").

[0005] Observed motion of suspended loads may include the following components: vertical translation (motion up and down) along the Z axis (referred to herein as "vertical translation"); horizontal translation along either or both the X and Y axis; and rotation or "yaw" about the Z axis. For a suspended load, horizontal translation includes a component of translation along the Z axis because as the suspended load translates horizontally it also leaves its lowest hanging position and undergoes an amount of vertical translation. Roll (rotation about the X axis) and pitch (rotation about the Y axis) may also occur, though if a load is suspended by a cable and is not buoyant, the typical motions are vertical translation, horizontal translation, and yaw. An example of axis, when discussed herein, are illustrated in Figure 1, axis 121. In axis 121, rotation about the Z axis or yaw is illustrated with an arrow; as noted, rotation about the X and Y axis may also occur, though is less common.

[0006] Vertical and horizontal translation and yaw of a suspended load may be caused by movement of the suspension cable, movement of the carrier, winding of a hoist winch up or down relative to a carrier, movement of the load, differences in speed and momentum between the suspended load and the carrier, by wind— including propeller wash, environmental wind, and the like— impacts, and external forces. Horizontal translation can manifest as lateral motion or as conical pendulum motion of the load, with the pivot point of the pendulum where the suspension cable is secured to the carrier ("pendular motion"). Because the carrier may have a relatively fixed elevation and because the suspension cable may have low stretch, pendular motion may include a component of vertical translation. Pendular motion may also be referred to as elliptical motion. Lateral motion may be understood as a special case of pendular motion, when the load swings only in a line along one arc; herein, lateral motion may be described as pendular motion.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0007] The foregoing may be described as occurring within degrees of freedom. The maximum number of degrees of freedom for an object in free space may be six, wherein three degrees of freedom are translation along the X, Y, and Z axis and wherein another three degrees of freedom are rotation about the X, Y, and Z axis. An SLCS and suspended load controlled thereby is described herein as being "fully actuated" when the SLCS is capable of simultaneously outputting horizontal thrust from thrusters to control yaw while also outputting horizontal thrust vectors to control pendular motion or to drive the SLCS to a target. A first example of a prior art "fully actuated" SLCS is illustrated in Figure 14A. A second example of a prior art "fully actuated" SLCS is illustrated in Figure 14B. Generally, fully actuated SLCS comprise three or more thrusters. An SLSC and suspended load controlled thereby is described herein as being "partially actuated" when it comprises fewer than three thrusters; heretofore, a "partially actuated" SLCS was not generally considered capable of simultaneously outputting thrust from thrusters to control yaw and to output horizontal thrust vectors. Thus, as used herein, a "fully actuated" SLCS is an SLCS with enough thrusters to control all the degrees of freedom that the SLSC may reasonably encounter, excluding degrees of freedom that are uncommon or unimportant, such as rotation about the X and Y axis, and also excluding "pure" vertical translation along the Z axis that is caused by the suspension cable, carrier, and / or a winch in a hoist (and is not a part of horizontal translation). An SLCS on a suspension cable may be limited in its the degrees of freedom that it may reasonably be said to encounter because, in typical configurations, a load suspended on a single suspension cable may reasonably be said to be free to translate in the X and Y axis (vertical and horizontal translation), and to rotate about the Z axis (or undergo yaw). A load suspended on a single suspension cable may reasonably be said to have severe limitations on the extent to which it can rotate about the X axis (roll) or rotate about the Y axis (pitch). Translation in the Z direction may be dominated by the carrier or by a winch and hoist. Though it may be possible to include thrusters that could theoretically address roll and pitch or which could translate the load in the Z direction irrespective of the carrier or hoist, there may be no practical point in doing so (outside of narrow applications, like in-flight aircraft-to-aircraft refueling systems), because physical limitations largely preclude roll and pitch and, with respect to translationDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct in the Z direction, because the mass of the load and the power of the carrier or of the hoist relative to power of thrusters at the load makes it impractical to use thrusters at the load to translate in the Z direction, when the power of the carrier or of the hoist is so much larger and may be readily available.

[0008] Thus, a "fully actuated" load control system may be said to have thrusters to simultaneously output thrust vectors to achieve, control, or influence horizontal translation as well as to achieve, control, or influence yaw (the three degrees of freedom that most loads suspended on a single suspension cable are subject to or which the load control system can control, apart from the carrier and the hoist). A configuration of thrusters for a fully actuated load control system may comprise the example illustrated in Figure 14A, which example comprises two pair of thrusters parallel to one another, e.g. on the X axis, and a third thruster orthogonal to the first two, e.g. on the Y axis, where the third orthogonal thruster may be located at or close to the center of rotation of the load (as used herein, thrusters are assume to be capable of outputting in both directions, whether through one reversible, symmetrical, fan or through a pair of generally irreversible, asymmetrical, fans aligned 180 degrees apart). A configuration of thrusters for a fully actuated load control system may comprise the example illustrated in Figure 14B which example comprises three or more thrusters generally symmetrical about the center of rotation of the load and aligned an equal number of degrees apart, e.g. 120 degrees apart in the case of three thrusters as illustrated in Figure 14B, or 90 degrees apart in the case of four thrusters.

[0009] Thus, it may be said that a fully actuated SLCS can output thrust vectors from the three or more thrusters to simultaneously address all of the degrees of freedom that the SLCS may reasonably encounter.

[0010] As used herein, a "partially actuated" SLCS and load controlled by thrusters thereof has thrusters to output thrust vectors to achieve, control, or influence horizontal translation, or to achieve, control, or influence yaw. A configuration of thrusters for a partially actuated load control system may comprise two pair of thrusters parallel to one another and generally (though not exclusively) spaced on opposite sides of a center of rotation; this example is illustrated in Figure 1 to Figure 5 and Figure 13. A configuration ofDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct thrusters for a partially actuated load control system may comprise one thruster that is generally (though not exclusively) off the center of rotation (not illustrated).

[0011] It was known that a partially actuated SLCS comprising two pairs of thrusters parallel to one another may produce thrust vectors to achieve, control, or influence horizontal translation, or to achieve, control, or influence yaw, though, unlike fully actuated systems, not simultaneously. For example, yaw control may be achieved by outputting opposing thrust from paired opposing-direction thrusters (e.g. thruster 106B and thruster 106C in Figure 2 to Figure 4). For example, "fly-to-target" or cancellation of pendular motion may be achieved by first using yaw control to orient the thrusters parallel to the target or parallel to a first axis of the elliptical pendular motion and then output parallel thrust vectors from paired same-direction thrusters (e.g. thruster 106A and thruster 106C in Figure 2 to Figure 4) to translate the load toward the target or to cancel the first axis of elliptical pendular motion. If the objective is to entirely cancel elliptical pendular motion and if a second axis of pendular motion remains after the first axis of pendular motion is cancelled, the partially actuated load control system can then use yaw control to rotate the thrusters parallel to the second axis of pendular motion and can then output parallel thrust vectors from both thrusters to cancel the second axis of elliptical pendular motion.

[0012] However, heretofore, it was not believed that a partially actuated load control system could simultaneously output thrust vectors to achieve a target yaw orientation while simultaneously controlling pendular motion or simultaneously flying to a target.

[0013] Furthermore, a fully actuated SLCS may be undesirable compared to a partially actuated SLCS because the fully actuated SLCS requires more thrusters than a partially actuated SLCS. More thrusters results in more complexity, higher manufacturing and maintenance costs, and a larger mass; the larger mass places more lifting demands on the carrier, which may not be possible, as is often the case with helicopters. Even if the carrier can accommodate the larger mass, the additional thrusters use more power and the larger mass generally requires more powerful thrusters (even without a suspended load). This results in higher power use, which, for a battery powered system, requires a larger batteryDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct pack. This can result in a feedback loop, wherein the fully actuated SLCS grows in size and may be unusable, compared to a smaller, partially actuated SLCS.

[0014] Yaw, lateral motion, and pendular motion complicate lift operations, cause delays, may cause injury or death of aircrew, crane operators, and of people on the ground, and may cause damage to the suspended load and or other objects. Yaw can produce dizziness and disorientation in humans and transported non-human animals. Yaw and lateral and pendular motion can also interfere with bringing a suspended load into a carrier and or with delivering a suspended load to a location. For example, delivery of a load to a deck of a ship may be complicated by pendular motion or yaw of the load, even if the deck is stable and is not also subject to heave, roll, or pitch, as it may be. For example, bringing a person in a litter into a helicopter or onto a helicopter strut may be hazardous if the litter undergoes yaw or pendular motion as it is drawn up to the helicopter. For example, moving construction materials around a construction site with a crane may be hazardous, may be slowed, or may result in damages and loss if the construction materials undergo yaw or pendular motion. For example, if an operation involves securing a suspended load to a target structure, it may be necessary to align the suspended load with the target structure before or as the suspended load is brought into contact with the target structure, in which case yaw or pendular motion may interfere with the operation.

[0015] One or more components of undesired motion of the load may increase in amplitude and or frequency and otherwise grow more pronounced as a load is drawn up to the carrier and the suspension cable shortens. Horizontal and pendular motion of a load can also interact with the carrier to produce dangerous reactive or sympathetic motion in the carrier. Yaw of a load can cause winding up or winding down of a suspension cable, unless the suspension cable is separated from the load by a low friction rotational coupling (low friction, relative to the capacity of the suspension cable to store torque as potential energy before the suspension cable develops a kink).

[0016] In addition, some suspended load operations may involve an obstacle, such as a surface, cliff wall, building, bridge, tree limb, overhang, or other obstacle that may interfere with one or more of carrier, load, and or suspension cable.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0017] In addition, attempts to induce yaw in, to stop yaw of, or to drive a suspended load to a location or position may result in the suspended load rotating or moving "too far" or "too fast". E.g., when rotating a suspended load to a target orientation, the suspended load may have angular momentum which either causes the suspended load to rotate "too far", past a target orientation, or "too fast", beyond an ability of a thruster to change the rotational momentum within a desired period of time.

[0018] In addition, a thruster used to impart torque or thrust on the suspended load may have limited power. Limitations on power available to the thruster may come from finite battery power or fuel, by finite remote power or fuel that may be transmitted, e.g. through a conduit, to the thruster, by heat production, heat exhaust, and the like.

[0019] Furthermore, a partially actuated SLCS, a carrier, and other components involved in control of a load secured to the SLCS may achieve a target orientation or position in a shorter time period, may achieve a target orientation or position more efficiently, may achieve or maintain a target orientation or position with reduced power, may achieve a target orientation or position in a manner which is easier for a human operator to control, may achieve a target orientation or position with less hazardous behavior, may dynamically modify behavior in response to changes in the load and the environment, and or use of the partially actuated SLCS may be made more likely if the partially actuated SLCS can simultaneously apply torque and lateral thrust to the suspended load.

[0020] Needed is a partially actuated load control system which may simultaneously control both orientation and pendular motion of a suspended load.BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 illustrates a perspective view a partially actuated suspended load control system ("SLCS"), a load, and a carrier, in which the partially actuated SLCS and load are in a starting position relative to a target orientation and are undergoing pendular motion, in accordance with one embodiment.

[0022] Figure 2 illustrates a top plan view of the partially actuated SLCS and load of Figure 1, further illustrating an example of a first set of thrust vectors output by the partially actuated SLCS to provide torque to the suspended load.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0023] Figure 3 illustrates a top plan view of the partially actuated SLCS and loadof Figure 1, further illustrating an example of a second set of thrust vectors output by the partially actuated SLCS to dampen pendular motion.

[0024] Figure 4 illustrates a top plan view of the partially actuated SLCS and load of Figure 1, further illustrating an example of a third set of thrust vectors output by the partially actuated SLCS to provide torque to the suspended load and to dampen pendular motion, in accordance with one embodiment.

[0025] Figure 5 illustrates a top plan view of the partially actuated SLCS and load of Figure 1, illustrating the partially actuated SLCS at a target orientation and remaining pendular motion, in accordance with one embodiment

[0026] Figure 6 schematically illustrates an example of operational components of a partially actuated SLCS, including a remote interface, in accordance with one embodiment.

[0027] Figure 7 illustrates an operational module of a partially actuated SLCS including multiple modes or command states, including a command state with simultaneous enablement of swing control and rotation control, in accordance with one embodiment.

[0028] Figure 8 illustrates a decision and control module of a partially actuated SLCS in accordance with one embodiment.

[0029] Figure 9 illustrates a data fusion and telemetry output module of a partially actuated SLCS, in accordance with one embodiment.

[0030] Figure 10 schematically illustrates electronic computer, hardware, and network connections among operational components of a partially actuated SLCS in accordance with one embodiment.

[0031] Figure 11 illustrates a simultaneous torque and lateral thrust module of a partially actuated SLCS, in accordance with one embodiment.

[0032] Figure 12 illustrates an oblique perspective view of a remove interface of a partially actuated SLCS, in accordance with one embodiment.

[0033]

[0034] Figure 13 illustrates an oblique parallel projection view of a partially actuated SLCS secured to a litter, in accordance with an embodiment.

[0035] Figure 14A is a plan view of a first prior art embodiment of a fully actuated SLCS.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0036] Figure 14B is a plan view of a second prior art embodiment of a fully actuatedSLCS.DETAILED DESCRIPTION

[0037] In various embodiments, as described further herein, a partially actuated suspended load control system or suspended load stability system ("SLCS"; when used herein, "SLCS" shall refer to a partially actuated SLCS, unless the context makes clear that a fully actuated SLCS is referred to), e.g. SLCS 105, independent from a carrier, e.g. independent from carrier 125, uses a control system of the SLCS, e.g. operational module 700, decision and control module 800, data fusion and telemetry output module 900, and simultaneous torque and lateral thrust module 1100 (and subroutines called therefrom), as well as logical components 601, operational components 1000, and thrusters, e.g. thrusters 106 (singular or plural, "thruster"), to simultaneously apply torque and lateral thrust to a suspended load, e.g. to SLCS 105 and suspended load 110.

[0038] Prior art disclosed that partially actuated SLCS, e.g. comprising fewer than three EDF (or equivalent thrusters), could control pendular motion in a step-wise process by first rotating the partially actuated SLCS to a first direction by activation of paired opposing- direction EDF (e.g. thruster 106B and thruster 106C in Figure 2 to Figure 4), where the first direction places paired same-direction EDF (e.g. thruster 106A and thruster 106C in Figure 2 to Figure 4) parallel to an angular movement of the SLCS, e.g. parallel to a component of pendular motion, which may be a major axis of pendular motion, then applying a first horizonal thrust vector out of the paired same-direction EDF to cancel that portion of pendular motion. Then, if necessary, the partially actuated SLCS would rotate by output of thrust from paired opposing-direction EDF (e.g. thruster 106B and thruster 106C in Figure 2 to Figure 4) to a second direction to place the paired same-direction EDF parallel to the then-current angular movement of the SLCS, e.g, generally perpendicular to the first direction, which may be a minor axis of the original pendular motion (though disturbances or other variation may cause the second direction to not be perpendicular to the first direction), and then apply a second horizontal thrust vector out of the paired samedirection EDF to cancel a second component of the pendular motion, e.g. to cancel theDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct minor axis of pendular motion. In contrast, and as noted, control of rotation by a partially actuated SLCS was known to involve output of equal thrust vectors from paired opposing- direction EDF, such as from thruster 106B and thruster 106C in Figure 2 to Figure 4. Simultaneous control of pendular motion and rotation by a partially actuated SLCS was taught away from by the step-wise process for controlling pendular motion, which required control over rotation, and due to the way that thrust vector output from paired samedirection thrusters and paired opposing-direction thrusters would cancel and further by the fact that it was well known that prior art fully actuated SLCS, with three or more fans, could simultaneously control both pendular motion and orientation. Furthermore, though computer modeling of a partially actuated SLCS attempting to control a combination of pendular motion and rotation could be performed, in practice, actual motion of suspended loads was considerably more complex and unstable than computer modeling, with significant pendular motion of suspended loads being caused by relatively small and unpredictable motions or vibration of the carrier, including in a sympathetic manner in response to movement of the SLCS, and with pendular motion also being caused if a partially actuated SLCS produced thrust vectors asymmetric relative to the center of rotation, e.g. "off balance" with a center of rotation provided by head block 120 or equivalent. Thus, it was unpredictable how to control a real partially actuated SLCS to simultaneously output both torque and lateral thrust vectors and it was also unpredictable how the partially actuated SLCS and carrier would respond if the SLCS attempted to simultaneously output both torque and lateral thrust vectors.

[0039] As disclosed herein, a system model performed by decision and control module 800 may estimate state information of the SLCS and any suspended load secured to the SLCS (herein, references to an SCLS should be understood to also include any load secured the SLCS unless the context makes clear otherwise). State information of the SLCS comprises, represents, or accounts for a state of the SLCS. The state of the SLCS represented in or by the state information comprises, for example, a pendular motion, for example, determined in simultaneous torque and lateral thrust module 1100, a number of thrusters, e.g. thruster 106, an orientation of the thruster, an absolute or relative direction of thrust of the thruster, a thrust output of the thruster, a distance between the thrusterDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct and a second thruster, a mass of the load, a distance between the thruster and a center of rotation of the load, and a hyperparameter. The hyperparameter may be of or may represent a normalized moment of inertia of the SLCS; the hyperparameter may comprise a ratio of a force command to the thruster and an angular acceleration of SLCS.

[0040] When the SLCS controls pendular motion, the state and configuration information may further comprise a cable length (between carrier and the SLCS), movement, position, and rotation of SLCS 105 and suspended load 110, and movement, position, and rotation of carrier 125.

[0041] The system model of decision and control module 800 may further estimate or account for disturbances, such wind force, impacts on the SLCS, and relative SLCS and carrier motion.

[0042] Simultaneous torque and lateral thrust module 1100 may determine an output of simultaneous torque and lateral thrust to apply to a suspended load (as used herein, "suspended load" comprises either or both of an SLCS and a load secured to an SLCS), wherein the output of simultaneous torque and lateral thrust drives the suspended load to a target orientation and cancels at least a portion of pendular motion.

[0043] Angular acceleration used to determine motion, rotation, angular motion and pendular motion may be obtained from a sensor such as, for example, a gyroscope, including a microelectromechanical ("MEMS") gyroscope, an accelerometer, such as in an inertial measurement unit ("IMU"), or the like. These are reliable, high speed, and low-cost sensors. The sensor may provide an angular rate, from which the angular acceleration may be determined, such as via numerical derivative of a filtered angular rate. If using an accelerometer, it may necessary to know the distance of the accelerometer to a center of rotation, so, depending on the sensor characteristics, it may be preferable to use a gyroscope.

[0044] Simultaneous torque and lateral thrust module 1100 may be implemented in the logical and physical components of the SLCS, such as in a control loop, to enable output of both simultaneous torque and lateral thrust from thrusters of the SLCS, e.g. thrusters 106 of SLCS 105. The result does not cancel all pendular motion, but experimental resultsDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct demonstrate that it does cancel a significant portion of pendular motion, including most of a portion of pendular motion that occurs between a starting orientation and a target orientation. Furthermore, residual pendular motion, both residual from an initial condition and residual pendular motion produced by asymmetric thrust vectors from the partially actuated SLCS, is often manageable for users of the SLCS, because the residual pendular motion is often along a long axis of the SLCS and load. Because the load secured to the SLCS may contact the ground along a long axis of the load, perpendicular to the orientation of thrusters, a likelihood of the load tipping over upon contact with the ground due to the residual pendular motion is reduced.

[0045] By way of example, Figure 1 illustrates SLCS 105 and load 110 suspended below carrier 125 on suspension cable 115 in a perspective view in scene 100 (as mentioned, SLCS 105 and load 110 may be referred to together as a "suspended load"). SLCS 105 has a target orientation 135, determined by operational module 700, and undergoes pendular motion 140 indicated by a path of broken line. For the sake of convenience, SLCS 105 is illustrated as hanging vertically below carrier 125, though when SLCS 105 undergoes pendular motion, such as pendular motion 140, it may not hang vertically below carrier 125 but would be off-set. Pendular motion 140 may be exaggerated in Figure 1. SLCS 105 comprises thrusters 106. As illustrated, carrier comprises trolly 130 and suspension cable 115. Suspension cable 115 may be secured to a rotary bearing, such as head block 120. The rotary bearing allows the suspended load to rotate without kinking suspension cable 115. Carrier 125 is an example of carriers. In embodiments, an SLCS may be secured to, for example, a rescue litter, e.g. SLCS 1305 secured to litter 1315 in Figure 13, and a different type of carrier, e.g. a carrier of SLCS 1305 and litter 1315 may include a helicopter, a drone, and a non-mobile object, and the like.

[0046] Figure 2 illustrates SLCS 105 and load 110 suspended below carrier 125 in a top plan view in scene 200. Illustrated in scene 200 are target orientation 135, pendular motion 140, thrusters 106A-106D, thrust vector 250 output by thruster 106C, and thrust vector 251 output by thruster 106B. Thruster 106C and thruster 106A may be referred to herein as "paired same-direction thrusters". Thruster 106B and thruster 106C may be referred to herein as "paired opposing-direction thrusters". Thrust vector 250 and thrustDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct vector 251 may be thrust vectors output by operational module 700 from paired opposing- direction thrusters to apply torque to rotate SLCS 105 and load 110 toward target orientation 135, without regard to controlling pendular motion. The illustrated length of thrust vector 250 and 251 may symbolize an amount of force output by thrusters 106C and 106B, may be equal, and may represent a maximum amount of force that thrusters 106 can output.

[0047] Figure 3 illustrates SLCS 105 and load 110 suspended below carrier 125 in a top plan view in scene 300. Thrust vector 351 from thruster 106C and thrust vector 353 from thruster 106A may be thrust vectors output by operational module 700 to apply horizontal thrust to load 110 to cancel a portion of pendular motion 140 or to drive SLCS 105 in a direction away from thrust vector 351 and 353, without regard to controlling rotation. The illustrated length of thrust vector 351 and 353 may symbolize an amount of force output by thrusters 106C and 106A, may be equal, and may represent maximum thrust output by thrusters 106. Thrust vector portion 350 within thrust vector 351 may represent approximately seventy-five percent of thrust vector 351. Thrust vector portion 352 within thrust vector 353 may represent approximately seventy-five percent of thrust vector 353. As discussed herein, simultaneous torque and lateral thrust module 1100 may modulate thrust from paired same-direction thrusters based, for example, on an extent to which the paired same-direction thrusters are aligned to output thrust vectors parallel with an angular motion or pendular motion of the SLCS. In the examples illustrated in Figure 1 through Figure 4, thrusters 106 are approximately 22.5 degrees or twenty-five percent out of alignment with pendular motion 140. Thus thrust vector portion 350 and thrust vector portion 352 may represent (down) modulation of thrust vector 351 and thrust vector 353 by twenty-five percent by simultaneous torque and lateral thrust module 1100. In this way, if pendular motion is along a line, with only one axis, and if thrusters are perpendicular to the line, then simultaneous torque and lateral thrust module 1100 will not output any thrust to cancel pendular motion, because the thrust output would be entirely misaligned to cancel any portion of the pendular motion.

[0048] Figure 4 illustrates SLCS 105 and load 110 suspended below carrier 125 in a top plan view in scene 400. A strict combination of thrust vectors from Figure 2 and Figure 3 isDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct illustrated with thrust vector 350 and thrust vector 250, thrust vector 251, and thrust vector 352 off to the sides of the respective thrusters 106. However, in this strict combination thrust vector 251 and thrust vector 352 would be opposing and would cancel, leaving a net twenty-five percent thrust vector from thruster 106B (not illustrated). Furthermore, in this strict combination, more than a maximum amount of thrust output would be output in the combination of thrust vector 350 and thrust vector 250. Seventy- five percent of the maximum amount of thrust might be subtracted from all of the thrust output to bring thrust within the capabilities of the motors and EDF, but then the (imaginary) net twenty-five percent thrust vector from thruster 106B would be converted into a fifty percent thrust vector from thruster 106A and the thrust vector from thruster 106C would be one-hundred percent. Such a result may apply more control of pendular motion relative to rotation control than may be desirable. Rather, simultaneous torque and lateral thrust module 1100 may allow thrust vector 451 to be maximum, while modulating thrust vector 455 to be, for example, twenty-five percent of maximum. The result will drive the suspended load toward target orientation 135, while dampening the portion of pendular motion that is parallel to the thrust vectors. Because simultaneous torque and lateral thrust module 1100 operates in a control loop at high speed, e.g. thousand of times a second, the portion of pendular motion that is parallel to the thrust vectors will span the portion of pendular motion 140 that can be opposed from the orientation of the SLCS 105 and load 110 in Figure 1 to the orientation of the SLCS 105 and load 110 in Figure 5. As illustrated in Figure 5, which will leave SLCS 105 and load 110 aligned with target orientation 135 and with remaining pendular motion 540, reduced, now, to back-and-forth motion along a line. The length of pendular motion 540 is not to scale. As noted, this residual pendular motion is an improvement, relative to pendular motion 140, and may be aligned with a long axis of load 110, or, similarly, of litter 1305, which may reduce a likelihood that such load will tip over upon contacting the ground or other surface. Asymmetric thrust vectors output by simultaneous torque and lateral thrust module 1100 may contribute some additional portion of residual pendular motion to pendular motion 540; however, when performed gradually, and across the entire pathDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct between the starting orientation and the target orientation, this contribution is generally manageable.

[0049] Simultaneous torque and lateral thrust module 1100 may thus both modulate lateral thrust based on an extent to which the angle of thruster vectors output by the thrusters is parallel to the pendular motion, as well as modulating lateral thrust and rotation control based on a mixture of rotation versus lateral control that users find desirable. Simultaneous torque and lateral thrust module 1100 may further disable lateral thrust and pendular control when uncontrolled rotation occurs, such that rotation control can be achieved more rapidly, before both simultaneous torque and lateral thrust then engaged.

[0050] In scene 100 through scene 400, thrusters of SLCS 105 comprise EDFs, though other sources of thrust, discussed herein, may be used to apply torque to rotate load 110 and or may be used to apply lateral thrust to achieve a position. In scene 100, using an interface, such as remote pendant 1100, logical components 601 and operational components 1000 of SLCS 105 may be instructed by an operator of SLCS 105 to moved SLCS 105 and load 110 toward target orientation 125. The instruction may be an instruction from a user of remote pendant 1100 to move in a direction (target orientation 125 may not be specified by the user), target orientation 125 may be specified in a coordinate system, or the instruction may comprise target orientation 125 in a functional mode or command state, e.g. functional mode or command state discussed in block 720, to move SLCS 105 and load 110 to target orientation 125. In another example (not illustrated), a position (or equivalently, a location) may be specified toward which SLCS 105 and load 110 are to move. In another example (not illustrated), an instruction may be made to implement a functional mode or command state in which undesired motion of SLCS 105 and load 110 is to be cancelled, such as rotation and or pendular motion. In another example, an instruction may be made to control orientation and to cancel pendular motion.

[0051] Thus, performance of an operation to move SLCS 105 and load 110 to target orientation 125 or position may be performed along with cancellation of at least a portion of pendular motion, may be made better, may dynamically adjust to changing circumstances, may be made less hazardous, may be performed with less training on theDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct part of the operator to address, may be performed more consistently, may be performed more quickly, and or may be performed with lower power use if simultaneous torque and lateral thrust module 1100 or the equivalent is executed.

[0052] Reference is made to the description of the embodiments illustrated in the drawings. While embodiments are described in connection with the drawings and related descriptions, there is no intent to limit the scope to the embodiments disclosed herein. On the contrary, the intent is to cover all alternatives, modifications and equivalents. In alternate embodiments, additional devices, or combinations of illustrated devices, may be added to, or combined, without limiting the scope to the embodiments disclosed herein. For example, the embodiments set forth below are primarily described in the context of crane operations, a helicopter sling load, and or search and rescue operations. However, these embodiments are illustrative examples and in no way limit the disclosed technology to any particular application or platform.

[0053] The phrases "in one embodiment," "in various embodiments," "in some embodiments," and the like are used repeatedly. Such phrases do not necessarily refer to the same embodiment. The terms "comprising," "having," and "including" are synonymous, unless the context dictates otherwise. As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. It should also be noted that the term "or" is generally employed in its sense including "and or" unless the content clearly dictates otherwise.

[0054] Reference numbers herein comprising a letter, e.g. thruster 106A, generally refer to one of a plurality of components, e.g. to thruster 106A and thruster 106B; one of or a plurality of components may be referred to with a corresponding reference number, without the letter; e.g. thruster 106, in which case the reference should be understood to encompass any of the components with the corresponding reference number without the letter. When a top-level component referred to herein comprises a sub-component, e.g. suspended load control system 105 ("SLCS 105") comprising decision and control module 800 in memory 625 and thruster 106, a reference to the top-level component may refer to one or more of the sub-components performing functions as described further herein; e.g.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct a reference to SLCS 105 applying thrust to suspended load 110 may also be understood as SLCS 105 and decision and control module 800 in memory 625, executed by processor 520 and implemented by suspended load control system logical components 601 and operational components 1000 to activate thrusters 106 to apply thrust to suspended load 110.

[0055] Figure 1 through Figure 4 are discussed herein, for example, above.

[0056] For the sake of convenience in discussing them, thrusters on a first side of an SLCS, such as thrusters 106A and 106B may be discussed as a first thruster group while thrusters on a second side, such as thrusters 106C and 106D, may be discussed as a second thruster group. The thrusters in each thruster group may propel thrust fluid (such as air) in fixed directions, such as fixed directions opposite each other, e.g. offset by 180 degrees. In the illustrated example, EDF in thrusters 106 comprise asymmetrical fan blades, which produce more thrust when rotated in a first direction relative to a second direction; in this example, to produce thrust in opposing directions out of one thruster group, two EDF are contained in each thruster group, facing opposite directions; e.g. EDF in thruster 106A and 106B each rotate in only one direction and produce thrust "outward", out of each thruster, in opposite directions. In alternative embodiments, one symmetrical fan may be contained in a thruster group, wherein the one symmetrical fan may be rotated in either direction and produce equivalent thrust in either direction.

[0057] In embodiments, thrusters, such a first thruster group, e.g. thruster 106A and 106B may move further from or closer to a second thruster group, e.g. thruster 106C and 106D. This may be accomplished by mounting the thrusters on a different spreader bar or by hardware designed for this purpose, e.g. by a spreader bar designed to expand or contract. For example, referring to Figure 13, SLCS 1305 comprises thruster group 1310A and 1310B secured to litter 1315 with brackets 1320. Thruster group 1310A and 1310B and brackets 1320 may slide along grooves in plate 1325A and 1325B, allowing thruster group 1310A and 1310B to be further or closer together.

[0058] EDF (or other thrusters) in individual of the thrusters may be activated separately, with different power, to produce thrust vectoring or thrust vector control of an assembly of thrusters. For example, to produce clockwise yaw (relative to looking down on a top ofDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pctSLCS 105 in Figure 2), an EDF in the first thruster group, such as thruster 106B may be activated by itself or in conjunction with an opposing EDF in the second thruster group, such as thruster 106C. To produce lateral translation of SLCS 105 or to produce lateral force opposing pendular motion, EDF in both thruster groups with a same orientation may be activated, such as thrusters 106A and 106C.

[0059] SLCS 105 may be formed of any suitable material such as metal, plastic, composite materials, such as fiber reinforced resin. A sealed hatch or one or more panels may be removed from an SLSC to allow for maintenance and inspection of enclosed logical components 601 and operational components 1000.

[0060] Load 110 in Figure 1 through Figure 4 may comprise one or more people, a litter (e.g. litter 1315), a container, an object, or the like. Load 110 is illustrated as being secured to two points on either side of SLCS 105, such as to bottom shackless, such that load 110 may not easily rotate, independent from SLCS 105, but is more likely to rotate with SLCS 105. A weight of load 110 may change during an operation, such as when all or part of a load is picked up or put down or when a mass falls off of on onto a load. Suspension cable 115 in Figure 1 through Figure 4 may be, for example, a braided cable between SLCS 105 and or load 110. The length of suspension cable 115 may change during an operation, affecting behavior of the suspended load and response required by an SLCS.

[0061] SLCS 105 may contain and protect logical components 601 and operational components 1000, such as computer hardware, such as a computer processor and memory, a power supply, electronic speed controllers, microcontrollers, sensors, and the like. Examples of such computer hardware are discussed in relation to Figure 10.

[0062] The power supply within SLCS 105 may be a single power brick or an array of battery cells wired in series and or in parallel, such as lithium-polymer (LiPo), nickel-metal hydride (NiMH) cells and the like. The batteries may be removable for inspection and or to swap discharged and charged batteries. Batteries may be charged while installed in the SLCS (i.e., without having to remove them) via nodes or a wireless charging system on or in an SLCS that connects to a power supply or charging dock. Batteries may include auxiliary battery(ies) to supply a steady supply of power to the processor even if thrusters draw a relatively large amount of power from main batteries. In embodiments, a carrier fromDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct which the SLCS is suspended, such as a helicopter or crane, can provide power through a line extending down the suspension cable to the SLCS. In embodiments, the carrier can provide some power to the SLCS, while the SLCS may obtain other power from an on-board power supply. In various embodiments, the SLCS may be powered by a combination of onboard and remote power. In many environments, all power for the SLCS is contained on board the SLCS, allowing fully autonomous operation without dependence on the availability of external power sources or delivery means.

[0063] SLCS 105 may comprise a data link which allows a microcontroller unit or processor to monitor power information including (but not limited to) cell voltage and realtime power dissipation or consumption.

[0064] SLCS 105 may comprise one or more computer processors or central processing units (CPUs), such as embedded computer 1005, and one or more microcontroller unit (MCUs). In some embodiments, the CPU and MCUs may be mounted to the same printed circuit board (PCB).

[0065] SLCS 105 may be made of or comprise a rugged plastic, metal, polymer, or combination thereof, protecting the system from environmental and operational factors such as weather and other operational conditions.

[0066] SLCS 105 may contain one or more wireless transceivers, which may comprise separate transmitter(s) and receiver(s), as well as antennas for wireless communication. The transceiver and or wireless antennas may also be mounted to or printed on the same printed circuit board as the processor. The wireless transceivers may comprise access points for Bluetooth, Wi-Fi, microwave, and or radio frequency (RF) transmission and reception. Wireless transceivers may be used to communicate with remote sensors, a remote-control unit, a remote positional unit or target node, a remote interface, and the like, as discussed further herein.

[0067] As discussed herein, SLCS 105 may contain a vector navigation unit, which may include an IMU, also referred to as an orientation measurement system. The IMU provides inertial navigation data to a processor, such as from 3 degree of freedom (3 DoF) accelerometers, gyroscopes, magnometer or magnetometer such as a compass, anDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct inclinometer, a directional encoder, a radio frequency relative bearing system, and gravitational sensors, which may comprise microelectromechanical systems (MEMS) sensors. Accelerometers or gyroscopes of or in the IMU may provide sensor data, such as angular acceleration, or a value such as an angular rate which may be convertible into the angular acceleration, used in the hyperparameter.

[0068] The IMU may include an integrated processor to provide on-board state estimation that fuses together data from the sensors in the IMU, in which case the IMU may be referred to as an Inertial Navigation System ("INS"). SLCS 105 may comprise or be communicatively coupled to one or more sensors in addition to the IMU. Such additional sensors may comprise, for example, an absolute position measurement system, a proximity sensor, LIDAR sensors and systems (e.g., point, sweeping, rotating, radial, distance, or linear), ultrasonic, and optical sensors such as one or more cameras or infrared (IR) sensors. Proximity sensors may include ground height sensors. The absolute position measurement system may include global positioning system (GPS) sensors. With a processor and memory, the IMU and GPS may also be referred to herein as an INS, such as inertial navigation system 1010 of Figure 10.

[0069] Sensors which require a view of a surrounding environment may be placed on or at the surface of SLCS 105. As discussed herein, information from sensors can be used by methods, apparatuses, and or systems to determine state information; the raw data and or determined state information or telemetry data may be provided to remote devices, processes, and humans, such as via wireline or wireless data links.

[0070] Additional SLCS sensors may include a strain sensor to gauge load on housings, on EDF(s), on conduits, on an attachment to a suspension cable, or the like. Additional sensors may include a rotational encoder or thruster speed sensor, such as sensory feedback unit 1020 in Figure 10, which may be incremental or absolute, and a shutdown pin presence sensor.

[0071] Not illustrated, an arm attached to or part of carrier may be used to deploy, reposition, and or retrieve suspension cable 115 and SLCS 105 (such as when carrier is a helicopter). Such an arm may comprise a winch to lower and hoist suspension cable 115 and SLCS 105. Load 110 and SLCS 105 may be offset from a fall-line beneath such an arm.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctThis offset may be due to wind (whether environmental or from a carrier, such as a helicopter), wave, impacts, or other forces which may act on load 110 and or SLCS 105, change in speed of one or both of load 110 and carrier, and the like.

[0072] As discussed herein, one or more computers, such as embedded computer 1005, applies algorithms to received sensor data to estimate state information and output a desired system response. For example, data from IMU and GPS may be fused together through non-linear data fusion methods, such as real-time kinetic algorithms ("RTK"), Kalman filters, transfer functions, or Kalman filtration methods, such as an Unscented Kalman Filter ("UKF"), or through complimentary filters or transfer function models to yield optimal state estimates in all degrees of freedom to characterize the system's location and motion in relative or absolute coordinate frames, such as an aircraft or crane relative defined frame or in geodetic space.

[0073] Examples of components which may be within SLCS 105 and within remote positional sensors or beacons, remote computational units, or target node transceiver devices are discussed further herein, such as in relation to Figure 6 and Figure 10.

[0074] Carrier 125 in Figure 1 through Figure 4 is illustrated as a crane, but represents any carrier.

[0075] SLCS 105 and load 110 may follow an oscillation path, e.g. pendular motion 140 which may be cause by movement of and or interaction among carrier 125, load 110, SLCS 105, wind, impacts, other external forces, and the like. Load 110 and or SLCS 105 may also rotate or yaw about suspension cable 115. As discussed, such yaw and or pendular motion may cause problems for transport and or recovery of load 110 by carrier 125. SLCS 105 may be able to estimate system information, including such motion, disturbance forces, and reduce or eliminate such undesirable motion through activation of thrusters.

[0076] Axes 120 in Figure 1 illustrate a coordinate system. The coordinate system may represent, graphically, for the reader of this paper, state information developed by data fusion and telemetry output module 800. Data fusion and telemetry output module 900 may perform object recognition to identify carrier 125 and an orientation of carrier 125. Determination of the orientation of carrier 125 325 may allow data fusion and telemetryDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct output module 900 to determine that carrier 125 has a center around which carrier 125 may rotate.

[0077] Data fusion and telemetry output module 900 may also determine a height of carrier 125 above SLCS 105. This determination may be based on one or more of LIDAR, object recognition, optical, IR, or microwave range or distance measurement, including from one or more data sources (such as stereo cameras), using signal time-of-flight information, detection of encoded laser light, orientation, position, and movement information input to a UKF system models, or otherwise. As discussed further herein, data fusion and telemetry output module 900 may also determine a relative offset between SLCS and a slung point on carrier.

[0078] Data fusion and telemetry output module 900 may also determine change in the foregoing information over time, allowing data fusion and telemetry output module 900 to determine an oscillation path or pendular motion 140 of SLCS 105 and load 110.

[0079] Data fusion and telemetry output module 900 may determine local relative position, orientation, movement over time, change in movement over time of SLCS 105 and carrier 125, mass of SLCS 105 and load 110, distance below carrier (or a slung point on carrier), all from data obtained locally by SLCS 105. Similar local relative state information of load 110 may be developed with information from sensors oriented toward load 110. Some of such information may also be referred to herein as an "operating point value".

[0080] As discussed herein, data fusion and telemetry output module 900 or another module may integrate this local relative state information with absolute position information, such as from a GPS or other geolocation or radionavigation systems. In this way, data fusion and telemetry output module 900 may develop critical local and absolute state information of an SLCS, a load, and or a carrier.

[0081] As discussed herein, autonomous state response module 1300 may determine a hyperparameter, wherein the hyperparameter accounts for state information such as, for example, wherein an orientation of the thruster, a thrust output of the thruster, a mass of the load, a distance between the thruster and a second thruster, a distance between the thruster and a center of rotation of the load, and a disturbance force on the SLCS.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0082] As discussed herein, communication systems, such as communication 630 module within SLCS logical components 601, may communicate local and or absolute telemetry information to an interactive display or remote interface of an SLCS or to other systems, such as a control system for a hoist in or coupled to an arm.

[0083] Figure 6 schematically illustrates logical components of SLCS 600 including SLCS logical components 601 and remote interface 650 in accordance with one embodiment.

[0084] Referring to Figure 6, interactive display or remote interface 650 may be a computational unit that can be self-powered or hardwired into an airframe or other carrier or which may be carried by an operator, such as on the ground. Display or remote interface 650 receives data, such as telemetry data, from an SLCS, e.g., wirelessly. The data from the SLCS may be parsed and converted to visual cues or visual information and displayed on display 661.

[0085] An example of an embodiment of a user interface (Ul) of interactive display or remote interface 650 may represent a location of an SLCS and a load, height or distance of the SLCS below the carrier. As discussed further herein, the length of suspension cable below the carrier may be calculated by, for example, data fusion and telemetry output module 900, based solely on sensor information generated at the SLCS, such as SLCS 105. Such a display or remote interface 650 may further communicate the height or distance of the SLCS and or load above the ground and or may further communicate the absolute position of the carrier and or of the SLCS and or load, such as "LAT: 44.244167 LON: 7.76944".

[0086] The interactive display may also communicate an operator's desired command states to an SLCS. Desired command states may be communicated verbally, by touching (including repeated or sustained touch) the interactive display, by dragging objects on the interactive display, by pushing buttons, whether graphical buttons on a touchscreen or physical buttons, by entry of text commands, through a keyboard, and the like.

[0087] The interactive display or remote interface 650 is in communication with SLCS logical components 601 via communication systems 670, which may be wireless 671 or wired 672. Output 660 from remote interface 650 may include information displayed onDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct screen 661, and audio cues 662. Input 665 to remote interface 650 to control the SLCS may include commands conveyed through touchscreen 666, joystick 667, a microphone, a camera, a button, or the like. In various embodiments, remote interface 650 may comprise one or more physical and or logical devices that collectively provide the functions described herein. Another example of an embodiment of remote interface 650 is illustrated and discussed in Figure 12.

[0088] As illustrated in the embodiment illustrated in Figure 6, within SLCS logical components 601 are sensor suite 605, which may include position sensors 606, orientation sensors 607, inertial sensors 608, proximity sensors 609, reference location sensors 610, and thrust sensors 611. Examples of embodiments of such sensors are discussed further herein, such as in relation to IMU, absolute position measurement systems, and as discussed in relation to Figure 10, such as inertial navigation system 1010, cameras 1055, LIDARS 1050, DC contactors, peripherals, etc. 1045, and sensory feedback unit 1020.

[0089] SLCS processor 620 may include one or more processor and or microcontrollers. An example of a processor and or microcontroller is embedded computer 1005 of Figure 10.

[0090] SLCS memory 625 may generally comprise a random-access memory ("RAM"), a read only memory ("ROM"), and a permanent non-transitory mass storage device, such as a disk drive or SDRAM (synchronous dynamic random-access memory).

[0091] SLCS memory 625 may store program code for modules and or software routines, such as, for example, navigation system 626, operational module 700, decision and control module 800, data fusion and telemetry output module 900, and simultaneous torque and lateral thrust module 1100 as well as data or information used by modules and or software routines, such as, for example, target data 627, and mode or command state information 628.

[0092] Memory 625 may also store an operating system or the like. These software components may be loaded from a non-transient computer readable storage medium into memory 625 using a drive mechanism associated with a non-transient computer readable storage medium, such as a floppy disc, tape, DVD / CD-ROM drive, memory card, or otherDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct like storage medium. In some embodiments, software components may also or instead be loaded via a mechanism other than a drive mechanism and computer readable storage medium (e.g., via a network interface).

[0093] Memory 625 may also comprise a kernel, kernel space, user space, user protected address space, and a datastore.

[0094] Memory 625 may store one or more process (i.e., executing software a pplication(s)). Process may be stored in user space. A process may include one or more other process. One or more process may execute generally in parallel, i.e., as a plurality of processes and or a plurality of threads.

[0095] Memory 625 may further store an operating system and or kernel. The operating system and or kernel may be stored in kernel space. In some embodiments, the operating system may include a kernel. The operating system and or kernel may attempt to protect kernel space and prevent access by certain of the processes.

[0096] The kernel may be configured to provide an interface between user processes and circuitry associated with embedded computer 1005. In other words, the kernel may be configured to manage access to embedded computer 1005, a chipset, I / O ports and peripheral devices by processes. The kernel may include one or more drivers configured to manage and or communicate with elements of operational components of SLCS 600 and 1000 (i.e., embedded computer 1005, chipset, I / O ports and peripheral devices).

[0097] Processor 620 may also comprise or communicate via a bus and or a network interface with memory 625 or another datastore. In various embodiments, such a bus may comprise a high-speed serial bus, and a network interface may be coupled to a storage area network ("SAN"), a high speed wired or wireless network, and or via other suitable communication technology.

[0098] SLCS logical components 601 may, in some embodiments, include many more components than as illustrated. However, it is not necessary that all components be shown in order to disclose an illustrative embodiment.

[0099] The data groups used by modules or routines in memory 625 may be represented by a cell in a column or a value separated from other values in a defined structure in aDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct digital document or file. Though referred to herein as individual records or entries, the records may comprise more than one database entry. The database entries may be, represent, or encode numbers, numerical operators, binary values, logical values, text, string operators, references to other database entries, joins, conditional logic, tests, and similar.

[0100] Communication system(s) 630 may include wireless system(s) 631 such as the wireless transceiver, and wired system(s) 632. SLCS output 615 includes thrust control 616 via thruster controllers. Power managing systems 640 regulate and distribute the power supply from, e.g., the batteries or remote power supply. One or more data connectors, data buses, and or network interfaces may connects the various internal systems and logical components of the SLCS. Examples of data connectors and or data bus are illustrated in Figure 10, at data connector elements 1065 to 1096.

[0101] Aspects of the system can be embodied in a specialized or special purpose computing device or data processor that is specifically programmed, configured, or constructed to perform one or more of the computer-executable instructions explained in detail herein. Aspects of the system can also be practiced in distributed computing environments where tasks or modules are performed by remote processing devices that are linked through a communications network, such as a local area network (LAN), wide area network (WAN), the Internet, or any radio frequency communication technology. Data from an SLCS may be of very low bandwidth and may not be restricted to a frequency or communication protocol. In a distributed computing environment, modules can be located in both local and remote memory storage devices. As schematically illustrated in Figure 6, SLCS logical components 601 and remote display interface 650 may be connected by wired or wireless networks.

[0102] An SLCS may work with a remote positional unit or target node of a suspended load control system in accordance with one embodiment. The remote positional unit or target node may comprise an external sensor suite or beacon configured to communicate, such as wirelessly, with the SLCS as a positional reference. If the SLCS is considered the primary sensor suite, a secondary sensor suite location can be the platform or carrier fromDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct which the cable is suspended, and a tertiary sensor suite location can be a location of interest for the load (e.g., for positioning to obtain or deliver the load).

[0103] A remote positional unit can include a positional transceiver configured to communicate with the SLCS via its wireless transceiver and provide a positional reference. For example, a remote positional unit can be attached to a helicopter ownship or crane below which a load may be suspended.

[0104] In some embodiments, the remote positional unit or target node may be made of durable polymer or plastic, large enough to fit into a hand. The remote positional unit or target node may have an external antenna. The remote positional unit or target node may be attached to, e.g., the crane or helicopter by magnets, bolts, or any other attachment mechanism. The remote positional unit or target node may be dropped to a location on the ground or attached to, e.g., a life preserver or other flotational device, a rescuer, a load to be picked up, a location for a load to be delivered, or an operational specific location.

[0105] Aspects of the system can be embodied in a specialized or special purpose computing device or data processor that is specifically programmed, configured, or constructed to perform one or more of the computer-executable instructions explained in detail herein, such as embedded computer 1005. Aspects of the system can also be practiced in distributed computing environments where tasks or modules are performed by remote processing devices that are linked through a communications network, such as a local area network (LAN), wide area network (WAN), or the Internet. In a distributed computing environment, modules can be located in both local and remote memory storage devices. As schematically illustrated in Figure 6, SLCS logical components 601 and remote display interface 650 are connected by a wired or wireless network.

[0106] Figure 7 illustrates an operational module 700 of a suspended load control system ("SLCS") including multiple modes or command states in accordance with one embodiment. Instructions of, or which embody, operational module 700 may be stored in, for example, memory 625, and may be executed or performed by, for example, processor 620, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which operational module 700 may interact. In embodiments, computerDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct processors and memory to perform some or all of operational module 700 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0107] In block 705, the SLCS apparatus may be installed onto a load and or cable from which the load and or SLCS will be suspended. The SLCS apparatus need not be powered for installation.

[0108] In block 710, the SLCS in the apparatus may be started up and operational module 700 activated, if it is not already operating. In some embodiments, operational module 700 may be initialized by the press of a button or turn of a key located on the SLCS. Near the accessible external button or key which may initialize operational module 700, another button may be present that allows for immediate system shut down when pressed or activated. In addition to the initialization interface, operational module 700 may be initialized by an operator not directly next to the system. One or more external operators, including but not limited to an operator on the ground or at the end of the cable, may initialize operational module 700 by pressing a button on one or more interactive displays 750 linked wirelessly to operational module 700.

[0109] One or more modules or components of a complete SLCS, such as physically separated control unit, thruster, and the like, may be started up in block 710 and may be paired to function together. During block 710, operational module 700 may determine a relative orientation of thrusters which operational module 700 is to control. This determination may be based on sensor information from the thrusters, such as a compass heading sampled from each thruster. This determination or this accounting by the hyperparameter may be performed to adjust for thrusters which are not parallel to one another, as may be the case when a modular SLCS is deployed on an irregular load, such as a rope or webbing enclosed load, and the thrusters may not be parallel. This determination may be used in, for example, block 845, with respect to thruster mapping and determination of an actuator mix. This determination may not be necessary when the SLCS is in a rigid frame and the thrusters may be presumed to be, for example, parallel to one another. This determination may produce an error condition if the thrusters are not within an acceptable orientation range.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0110] In block 715, operational module 700 is activated in and or receives a functional mode or command state selected by the operator.

[0111] In block 720 and a functional mode or command state, operational module 700 may perform or call suspended load control decision and control module 800 as a subroutine or submodule, to implement a functional mode or command state. During a functional mode or command state, operational module may further call simultaneous torque and lateral thrust module 1100. If called, simultaneous torque and lateral thrust module 1100 may simultaneously output torque and lateral thrust, e.g. to control orientation and to either cancel pendular motion or drive the suspended load to a position. The functional modes or command states of the system may be and may perform the following:

[0112] Idle mode 721: all internal systems of the SLCS are operating (e.g., operational module 700 observes motion of the SLCS and calculates corrective action), but thrusters are shut off or maintain an idle speed only, without action to affect the motion of the load.

[0113] Maintain relative position relative to ownship mode 722: stabilizes the SLCS with respect to a slung origin point. For example, when the SLCS is suspended with a load below an arm of a helicopter or a trolly on a crane, the SLCS will stay directly below the arm or trolly. Maintain relative position relative to ownship mode 722 localizes the ownship motion and performs the corrective actions necessary to critically damp any other suspended load motion. If the ownship is traveling at a low speed, maintain relative position relative to ownship mode 722 will couple the velocity so the two entities move in unison. Upon a disturbance to the load, maintain relative position relative to ownship mode 722 provides thrust in the direction of the disturbance to counteract the disturbance, eliminating the swing.

[0114] Move to / stop at position mode 723: will stabilize an SLCS to a fixed position, counteracting the influence of the weather or small movements of the helicopter or other carrier. This mode has the effect of trying to eliminate all motion. The operator may send a desired target position to the SLCS via the remote interface 750. This may be accomplished in at least two ways:Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0115] Target node position 724: The operator may place an SLCS remote positional unit or target node 610 at the desired lowering location. The target node 610 will communicate wirelessly with the SLCS to indicate the desired position, and the SLCS responds by maneuvering to the desired location. The remote interface 650 Ul may receive and display the location information of both entities.

[0116] User-designated position 725: The operator may use remote interface 650 Ul to send a designated position (e.g., latitude and longitude coordinates) as a commanded location to the SLCS. The system will then steadily direct the suspended load toward the desired position. The system will simultaneously send feedback to the remote interface 650 Ul regarding position and distance information.

[0117] Hold Position mode 726: will resist all motion of an SLCS and maintain current position and or orientation independent of the ownship's motion. This mode has the effect of eliminating or dampening all motion. This mode has conditional responses respectively to ownship speed, safety factors, and physical constraints.

[0118] Direct control mode 727: Joystick or other direct operation of the SLCS in three degrees of freedom. Though operational module 700 is entirely closed-loop and does not require external control during operation, there may be an option for user control. The operator may be able to directly control positioning, rotation, and thruster output level.

[0119] Obstacle avoidance module 728: receives and processes sensor information such as to i) to equalize the distance between sensor locations, such as at thrusters and objects, such as obstacles, sensed in the environment or ii) to measure or receive geometry of a load, measure geometry of obstacles sensed in the environment, determine or receive the position, orientation, and motion of the load, and negotiate the load relative to the obstacle.

[0120] Enable simultaneous torque and lateral thrust 1100 mode: enables swing or pendular control when rotation control is also set. For example, a first mode may control orientation, such as user-designated 725, maintain relative location / position vs carrier 722, move to location or orientation 723, hold position or orientation 726, obstacle avoidance module 728; during such a mode, if simultaneous torque and lateral thrust 1100 mode isDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct also enabled, then operational module 700 will enable both rotation control for the first mode, e.g. torque will be applied from thrusters to rotate the SLCS to a target orientation, and thrust will be output from thrusters to cancel that portion of swing or pendular motion or to drive the load toward the target to the extent this is possible with the thrusters at (or attempting to achieve) the target orientation.

[0121] In enable simultaneous torque and lateral thrust 1100 mode, operational module 700 will also cancel or attempt to cancel the portion of pendular motion which can be cancelled with the thrusters oriented to (or attempting to achieve) the target or set orientation or driving or attempting to drive the load toward the target location. For example, if a target orientation is 45 degrees (or a target location for fly to target is at 45 degrees), and if pendular motion is occurring with a first axis at 45 degrees and a second axis at -45 degrees, operational module 700 in enable simultaneous torque and lateral thrust 1100 mode will maintain or attempt to obtain an orientation of 45 degrees for the load and SLCS by outputting thrust from the thrusters to obtain or maintain this orientation, and will simultaneously output thrust from both thrusters to cancel or attempt to cancel (e.g. "negatively influence") the swing axis which can be cancelled at the orientation of 45 degrees for the load and SLCS. In this example, this means that the first axis of pendular motion at 45 degrees (which aligns for cancellation with the orientation of the fans required to obtain the 45 degree orientation) will be cancelled or negatively influenced, and this generally means that momentum along the remaining second swing axis will convert into a swing axis of -45 degrees, perpendicular or orthogonal to the alignment of the thrusters. In a second example, if a target orientation is 45 degrees (or a target location for fly to target is at 45 degrees), and if pendular motion is occurring with a single axis at 90 degrees, operational module 700 in enable simultaneous torque and lateral thrust 1100 mode will maintain or attempt to obtain an orientation of 45 degrees for the load and SLCS by outputting thrust from the thrusters to obtain or maintain this orientation, and will simultaneously output thrust from both thrusters to cancel or attempt to cancel (e.g. "negatively influence") the swing axis which can be cancelled at the orientation of 45 degrees for the load and SLCS. In this example, this means that approximately one-half of the axis of pendular motion at 90 degrees will be cancelled orDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct negatively influenced, and this generally means that remaining pendular momentum will convert into a single swing axis along a line at -45 degrees, perpendicular or orthogonal to the alignment of the thrusters.

[0122] In the foregoing examples regarding enable simultaneous torque and lateral thrust 1100 mode, the SLCS is partially actuated, with thrusters configured as-in Figure 1 through Figure 4 and Figure 13. In the foregoing examples, the pendular motion is not entirely cancelled, but a portion of it is cancelled, the portion of pendular motion parallel to the alignment of the thrusters, and the remaining or residual portion of pendular motion is perpendicular to the alignment of the thrusters. In the foregoing examples, pendular motion that is perpendicular to the alignment of the thrusters may be more tolerable for a mission than less restricted pendular motion otherwise would have been. For example, if the mission is to align a load with a stationary object, if the load and SLCS have pendular motion, and if the SLCS aligns itself with the stationary object and cancels the portion of pendular motion that is parallel to the alignment of the thrusters, leaving a portion of pendular motion that is perpendicular to the alignment of the thrusters, then the pendular motion that is perpendicular to the alignment of the thrusters will place the SLCS and load above the stationary object, albeit with pendular motion parallel to the stationary object. Because this pendular motion is parallel to the stationary object, the carrier may lower the SLCS and load down onto the stationary object. The SLCS and or load may transfer energy of the pendular motion to the stationary object, but this energy transfer may be tolerable or may be managed or dissipated, for example, through the use of bumpers or guides, and may not significantly interfere with the mission.

[0123] In an embodiment of enable simultaneous torque and lateral thrust 1100 mode, the target or set orientation is prioritized; operational module 700 will attempt to achieve or maintain the target or set orientation, will cancel or negatively influence that portion of pendular motion that is parallel to the alignment of the thrusters, and will preserve (or not use) a portion of thrust that might otherwise be applied to negatively influence pendular motion, so that the preserved portion of thrust may be available to be applied to control or influence orientation. In an embodiment of enable simultaneous torque and lateral thrust 1100 mode, operational module 700 will apply all available thrust to control pendularDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct motion, without preserving a portion of thrust to control or influence orientation. In an embodiment of enable simultaneous torque and lateral thrust 1100 mode, operational module 700 will preserve a portion of thrust that otherwise would be available to control or influence orientation and apply the preserved portion to negatively influence pendular motion. This may be achieved by altering weights in, for example, block 1145.

[0124] In an embodiment of simultaneous torque and lateral thrust 1100 mode, after orientation and pendular motion are controlled or influenced, operational module 700 may detect that orientation control is no longer a requirement and thereupon may rotate the load and SLCS by 90 degrees and may then cancel a remaining portion of pendular motion.

[0125] Regarding simultaneous torque and lateral thrust 1100 mode, please also see discussion of Figure 11.

[0126] In block 730, the operator may complete the operation and retrieve the SLCS apparatus.

[0127] In done block 740, operational module 700 may be shut down, such as by an interrupt condition, such as by pushing a button on the interactive display or by pressing a button on the center module itself. At done block 735, operational module 700 may exit or return to another process which may have called it.

[0128] At block 740, if the SLCS apparatus includes collapsible propulsion arms or the like, they can be folded up. The load may be detached from a load hook or bottom shackles and the SLCS apparatus may be removed from the suspension cable, such as by being detached from hoist ring or top shackles. The SLCS may then be connected to a charger, stowed, or the like.

[0129] Figure 8 illustrates decision and control module 800 of an SLCS in accordance with one embodiment. Instructions of, or which embody, decision and control module 800 may be stored in, for example, memory 625, and may be executed or performed by, for example, processor 620, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which decision and control module 800 may interact. In embodiments, computer processors and memory to perform some or all of decision andDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct control module 800 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0130] Decision and control module 800 may operate in a loop to develop relative and absolute telemetry information, send this data to remote locations, perform a set of calculations to determine the most desired response, then send the desired response to the thrusters, for example, to mitigate pendular motion or swing of the cable and suspended load, rotation of the SLCS and suspended load, or otherwise control a suspended load during operations. This process may operate in a continuous loop as long as the system is powered on and a suitable command state is active. This process may operate with data received only from sensors in an SLCS, such as SLCS 105.

[0131] In block 805, an SLCS has been deployed, such as onto a suspension cable, has been activated, and decision and control module 800 begins active control state, such as upon being powered on, initialized, or otherwise commanded, either by a user or another process, such as operational module 700. At block 810, if newly activated, decision and control module 800 may initialize state estimation systems.

[0132] Begin loop block 815 to closing loop block 855 iterate over a command state, such as one selected in block 720 of operational module 700.

[0133] In block 820, decision and control module 800 may flush actuator values, e.g. values sent to actuators, such as EDFs. This may ensure that old values do not contaminate a then-current process loop.

[0134] At block 900, decision and control module 800 may call or enter data fusion and telemetry output module 900, discussed further in relation to Figure 9. In overview, data fusion and telemetry output module 900 fuses local motion-based and absolute sensor information to create a deterministic state estimation of state data of the SLCS and carrier coordinate frame. In overview, data fusion and telemetry output module 900 is updated with most recent values from the sensory suite onboard the SLCS. These values may be obtained in a separate process thread, separate from data fusion and telemetry output module 900. One or more of such state estimates may also be referred to as an, "operating point value". The state estimates are passed to state estimation algorithms and to a gainDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct adjustment module, in which data fusion and linear and or non-linear state estimation is implemented. Please see, for example, data fusion and telemetry output module 900.

[0135] At block 835, decision and control module 800 may output updated frame states, as may have been received from block 915 and 925 of data fusion and telemetry output module 900. The updated frame states may be logged at block 837.

[0136] At block 1100, decision and control module 800 may call or enter simultaneous torque and lateral thrust module 1100 and pass the updated frame states of block 835 to multi-input multi-output ("MIMO") control laws. The MIMO control laws may determine an optimal, quantified, correction force based on weighting of severity of current states, and decides how the SLCS should move or exert force to achieve the determined thrust and orientation of the SLCS set by the user-selected functional mode or command state. For example, weighted control laws may include proportional integral derivative ("PID") controllers with respect to both position and motion. Between the two, severity of motion may dominate relative to position. Control methods weighing cost in terms of energy use may also be considered, as well as additional feedback from past output control to actuators 850.

[0137] At block 845, determination of actuator mix may be determined, e.g. which thruster to activate and how much. This may be determined according to a matrix which receives vectors from the MIMO control laws and determines corresponding actuator values. Net thrust output is mapped in real-time through encoders and load cells. The actuator mix may be informed by the hyperparameter which, if the angular acceleration includes direction, may be used to identify which thrusters point in which directions, such that when a user or command state desires a rotation or thrust in a particular direction, the system knows which thrusters to activate to achieve the desired rotation or direction.

[0138] At block 850, decision and control module 800 may output instructions to the actuators to activate them according to the actuator mix determined in block 845. The result may implement a dynamic response in the form of thrust counteracting unwanted motion or thrust to achieve a desired motion.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0139] In closing loop block 855, decision and control module 800 may return to opening loop block to continue iterating over the then-current command state until an exit condition occurs. Exit conditions may include, for example, achieving an objective, such as obtaining or becoming proximate to a location, obtaining a location for a period of time, obtaining a location and receiving an acknowledgment signal, occurrence of an error, or receiving an instruction to exit.

[0140] At end block 899, decision and control module 800 may exit or return to another process. The process may be unmanned and automated aside from the high-level operator- selected functional control modes. The net output is a force to control or stabilize a suspended load.

[0141] Figure 9 illustrates data fusion and telemetry output module 900, in accordance with one embodiment. Instructions of, or which embody, data fusion and telemetry output module 900 may be stored in, for example, memory 625, and may be executed or performed by, for example, processor 620, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which data fusion and telemetry output module 900 may interact. In embodiments, computer processors and memory to perform some or all of data fusion and telemetry output module 900 may be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0142] In data fusion and telemetry output module 900, local motion-based sensor and absolute position sensor information is fused to create a deterministic state estimation in a coordinate frame of an SLCS and carrier. An example of a data fusion and disturbance estimation algorithm is an adaptive filter. The adaptive filter may comprise at least one of a linear filter, a non-linear filter, an adaptive notch filter, a recursive least squares filter, a least mean squares filter, a Volterra least mean squares filter, a kernel adaptive filter, a spline adaptive filter, an Unscented Kalman Filter, a Urysohn adaptive filter, or a neural network. The adaptive filter fuses data sources from multiple measurement devices with a numerical model to yield a representative state of the coordinate frame of SLCS and carrier. One or more values of the representative state may also be referred to herein as an, "operating point value".Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0143] When performed over time, integrals of subsequent representative states may be used to identify rotational and pendular motion, such as rotation of an SLCS about a suspension cable and an oscillation path of an SLCS, such as pendular motion 140.

[0144] Kalman filters produce a predicted future state based a past state and a joint probability distribution of a series of measured values in a timespan; the values often contain statistical noise and other inaccuracies. Past values may be discarded and the predicted state then compared to new measured values to produce a new predicted future state. However, Kalman filters may be limited to linear systems. For nonlinear systems, in which non-linearity occurs in either or both the process model or observation model, a Kalman filter may provide poor performance when covariance is propagated through linearization of the underlying non-linear model(s). To address this, an adaptive model may be used, such as an Unscented Kalman Filters ("UKF"), UKF use a deterministic sampling technique, unscented transformation, to pick a minimal set of sample points, which may be referred to as sigma points, around a mean. The sigma points are then propagated through the non-linear functions, from which a new mean and covariance estimate is formed.

[0145] An adaptive system model, such as a UKF, may then recursively estimate varying parameters of the then-current system model, including mass of SLCS and load, cable length, rotational inertia of SLCS and load, movement, position, and rotation of the SLCS and load, and movement, position, and rotation of the carrier. Inertial based measurements are sent to disturbance estimator matrices of a filter, from which wind force and relative SLCS and helicopter motion may be estimated.

[0146] These state parameters of the adaptive system model may not be "hard-wired" into data fusion and telemetry output module 900, but may be dynamically determined by data fusion and telemetry output module 900. For example, when a load comprises only an empty litter weighing thirty-five pounds, the estimated mass of SLCS and load is much less than when the litter is holding a person who weighs two-hundred pounds. The behavior of an SLCS in activating the fans to deal with the dynamic behavior of the lighter load is very different than the behavior of the SLCS to deal with the heavier load and, generally, involves lighter fan actuation. If it did not, and if the SLCS were not able to dynamically determine the mass of the SLCS and load and the other state parameters, the SCLS wouldDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct not be able to control the lighter load, but may "overdrive" it and make control of the suspended load less likely. If the SLCS were not able to dynamically determine the hyperparameter and or the mass of the SLCS and load, the other state parameters, and the disturbances, the SLCS would not be able to transition from controlling an unweighted litter to controlling a litter containing a person, as occurs during use of an SLCS. Similarly, the estimated length of the cable and or of inertia has a large effect on pendular motion and how to control it. Systems addressed to control of autonomous vehicles are not known to include system models as described herein, which include continuous and dynamic determination of the hyperpara meter or parameters such as mass of SLCS and load, cable length, rotational inertia of SLCS and load, movement, position, and rotation SLCS, movement, position, and rotation of the carrier, and estimates of disturbance forces, such as wind force, impacts, and relative SLCS and helicopter motion.

[0147] Other closed-loop control methods include fuzzy-tuned proportional, integral, and derivative feedback controllers with bidirectional communication and control methods including deep learning neural nets.

[0148] At opening loop block 901 through closing loop block 930, data fusion and telemetry output module 900 estimates a state of a coordinate system based on measured sensor values, iteratively determines a new estimated future state based on new measured values, and performs an integral of successive state values to identify rotation and pendular motion.

[0149] At block 905, data fusion and telemetry output module 900 obtains sensor data, such as image data, accelerometer, gyroscopic, magnetometer, LIDAR, and, if available, GPS data. Image data may comprise object detection, such as detection of a helicopter or other carrier, as well as components of such an object, such as identification of a cabin and tail. Image data and object detection may also comprise identification of optical flow of such images or pixels in successive frames. Accelerometer data may comprise 3-degree of freedom ("3 DoF") acceleration data in a sensor coordinate frame. Gyroscope data may comprise 3 DoF angular acceleration data in the sensor coordinate frame. Magnetometer data may comprise 3 Degree of Freedom ("DoF") magnetic field data in the sensor coordinate frame. LIDAR data may comprise point, sweep, rotating, radial, distance, and orDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct linear data which measures distance and or angle relative to objects, the ground, and or water.

[0150] At block 910, data fusion and telemetry output module 900 may filter the sensor data, such as to eliminate values which are errors or outside of an allowed range in both time and frequency domains. For example, values not consistent with a sample time range or not consistent with relevant frequencies may be filtered out. For example, suspension cables may be subject to oscillatory and vibratory frequencies; some of such frequencies may be longer than a plausible length of the suspension cable, may be present in sensor data, and may be filtered out.

[0151] At block 915, data fusion and telemetry output module 900 may feed the system model and its past estimated or initialization state to the data fusion disturbance estimate model, such as into a system model, to be fused with then-current sensor data. As noted, the system model may include, and may therefore determine as an estimated state, one or more of the hyperparameter, a mass of load and SLCS, a cable length, a rotational inertia of load and SLCS, a fan and actuation force of the SLCS, rotational motion of the SLCS, pendular motion of the SLCS, and movement of a carrier and or of a load over time through an absolute coordinate space.

[0152] At block 920, data fusion and telemetry output module 900 may determine a new then-current estimated state, based on the system model, last estimated state, and the then-current sensor data. Inertial based measurements are sent to disturbance estimator matrices of a filter, from which disturbances forces, such as wind force and relative SLCS and helicopter motion, may be estimated. As noted, the hyperparameter may account for disturbance forces and may reduce, eliminate, or change the method of calculation of data fusion disturbance estimation in block 920.

[0153] Estimation of state conditions such as the hyperparameter, mass of load and SLCS, cable length, rotational inertia of load and SLCS, fan and actuation forces of the SLCS, rotational motion of the SLCS, pendular motion of the SLCS, and movement of a carrier and or load over time through an absolute coordinate space and disturbance estimations, such as wind force and relative SLCS and helicopter motion, are not know to be practiced by previous control systems for unmanned vehicles.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0154] At block 925, data fusion and telemetry output module 900 may output the then- current estimated state. This may be output to, for example, a record accessed by block 835 of decision and control module 800 and or to a record accessed by block 915 to be fed into the next iteration, if any, of the data fusion disturbance estimate model.

[0155] At block 928, data fusion and telemetry output module 900 may determine characteristics of state conditions over time, such as rotation or pendular motion of SLCS, movement of a carrier over time through an absolute coordinate space, and the like. Such characteristics may be determined by determining integrals of or performing other calculus on such state conditions over time.

[0156] At closing loop block 930, data fusion and telemetry output module 900 may return to opening loop block 901, unless or until an exit condition occurs.

[0157] At end block 999, data fusion and telemetry output module 900 may exit or return to another process.

[0158] Figure 10 schematically illustrates electronic computer, hardware, and network connections among operational components 1000 of a suspended load control system, according with one embodiment. Operational components 1000 may be understood as implementing SLCS logical components 601.

[0159] Embedded computer 1005 may be a computer processor or central processing unit (CPU). The processor may be an embedded system including a signal board computer and one or more microcontroller units ("MCUs"). The CPU and MCUs may be contained within a housing in which data link and electrical connections may be made, such as connections 1060 through 1094. Embedded computer 1005 may comprise computer memory, such as SLCS memory 625.

[0160] Connection 1070, which may be a serial data connection, may connect embedded computer 1005 with inertial navigation system 1010. Inertial navigation system 1010 may comprise the IMS and GPS, discussed herein.

[0161] Connection 1075, which may be a gigabit ethernet data connection, may connect embedded computer 1005 with one or more optical sensors 1055, such as visible light, IR, and other cameras, as discussed herein.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0162] Connection 1080, which may be a UDP over gigabit ethernet data connection, may connect embedded computer 1005 with one or more LIDAR 1050 systems, as discussed herein.

[0163] Connection 1085, which may be a general purpose, input-output connection, may connect embedded computer 1005 with one or more DC contactors, peripherals 1045, and the like.

[0164] Connection 1090, which may be a pulse width modulated electrical connection, may connect embedded computer 1005 with one or more LED status indicators 1040.

[0165] Connection 1094, which may be WiFi or wired ethernet UDP / TCP data connection, may connect embedded computer 1005 with one or more user control devices 1035, such as interactive display or remote interface 650.

[0166] Connection 1096, which may be an HDMI data connection, may connect embedded computer 1005 with one or more HDMI output display devices 1030.

[0167] Connection 1060, which may be a USB data and electrical connection, may connect embedded computer 1005 with one or more USB devices 1025.

[0168] Connections 1066, which may form a CAN data bus, may connect embedded computer 1005 with one or more electronic speed controllers 1015 and one or more sensory feedback units 1020. ESC 1015 may be a thruster controller to allow embedded computer 1005 to control the speed, power draw, and thrust of thrusters in the EDF. An ESC may have the following connections: to the power supply, to a thruster, and to the processor, such as embedded computer 1005, to a microcontroller, and or to sensory feedback units 1020. ESC pulls power from the power supply and allocates it to the thrusters to control the amount of thrust produced by EDF.

[0169] Figure 11 illustrates simultaneous torque and lateral thrust module llOOof an SLCS in accordance with one embodiment. Instructions of, or which embody, simultaneous torque and lateral thrust module llOOmay be stored in, for example, memory 625, and may be executed or performed by, for example, processor 620, as well as by electrical circuits, firmware, and other computer and logical hardware of SLCS with which simultaneous torque and lateral thrust module llOOmay interact. In embodiments,Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct computer processors and memory to perform some or all of simultaneous torque and lateral thrust module llOOmay be remote from SLCS, such as in an auxiliary computer in, for example, a carrier.

[0170] Opening loop block 1105 to closing loop block 1155 may iterate so long as an instruction occurs to provide both simultaneous torque and lateral thrust. As noted, such as instruction may occur during a functional mode or command state, e.g. during block 720 of Figure 7.

[0171] At block 1110, simultaneous torque and lateral thrust module 1100 may determine pendular motion of the SLCS and any load secured thereto and may determine relative alignment between orientation of thrusters of the SLCS and the pendular motion. Determination of pendular motion may comprise, for example, determination of angular rate or angular motion, which may be nearly instantaneous or real-time, and or it may comprise determination of a then-current path of pendular motion which, if graphed or visualized, may appear similar to pendular motion 140. Determination of relative alignment between orientation of thrusters of the SLCS and the pendular motion may comprise determining a percentage of the extent to which the thrusters are parallel to the then-current pendular motion, or the like. The purpose of this determination is to determine to what extent thrust vectors produced by paired same-direction thrusters can be produced to oppose the pendular motion. If the objective is not cancelling pendular motion but is to "fly-to-target", the determination may be a determination of the orientation of the extent to which the thrusters are parallel relative to the target orientation.

[0172] At block 1115, simultaneous torque and lateral thrust module 1100 may determine a modulated lateral thrust vector to output, based on the relative alignment of the thrusters with the pendular motion or a relative alignment of the thrusters with a target orientation for a "fly-to-target" objective. For example, if the thrusters are seventy- five percent aligned with or parallel with the then-current pendular motion (as-in the example illustrated and discussed regarding Figure 1 to Figure 4), a modulated lateral thrust vector to output may be seventy-five percent of an amount of thrust vector that would be output if the alignment were one-hundred percent. The example illustrated andDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct discussed regarding Figure 1 to Figure 4 assumes that one-hundred percent output is the base level of lateral thrust that is modulated down to seventy-five percent, though, separate from simultaneous torque and lateral thrust module 1100, thrust vector output at any time may range from zero to one-hundred percent of the capacity of the thrusters for reasons such as a desired responsiveness, proximity to a target orientation or position, or the like.

[0173] At block 1125, simultaneous torque and lateral thrust module 1100 may determine rotation of the SLCS, which may include determining rate of change of rotation of the SLCS over time.

[0174] At decision block 1130, simultaneous torque and lateral thrust module 1100 may determine if the SLCS is undergoing uncontrolled rotation. Whether the rotation is uncontrolled or controlled may be determined when, for example, the SLCS is rotating above a threshold rate, in which case the rotation may be determined to be uncontrolled, whether the rotational rate is decreasing, which may indicate that the rotation is being controlled, and whether the rotational rate is decreasing above a rotation decrease threshold, which may further indicate that the rotation is being controlled.

[0175] If affirmative or equivalent at decision block 1130, at block 1135, simultaneous torque and lateral thrust module 1100 may determine torque output only, e.g. torque vectors to be output only from paired opposing-direction thrusters. In this case,

[0176] If negative or equivalent at decision block 1130, at block 1140 simultaneous torque and lateral thrust module 1100 may determine torque output to achieve, for example, a target orientation, e.g. an orientation to achieve a functional mode or command state.

[0177] At block 1145, simultaneous torque and lateral thrust module 1100 may determine a mixture of rotational thrust vectors versus lateral thrust vectors to apply. A discussion of such a determination is provided in relation to Figure 1 through Figure 4. The mixture may involve weighting one objective versus the other.

[0178] At block 1150, simultaneous torque and lateral thrust module 1100 may determine a combination of lateral thrust and torque to output.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0179] At block 1151, simultaneous torque and lateral thrust module 1100 may provide its output to, for example, block 845 of decision and control module 800. Decision and control module 800 may then determine an actuator mix (if not already determined in simultaneous torque and lateral thrust module 1100) and may, at block 850, provide output to actuators, such as electronic speed controllers 1015.

[0180] At block 1199, if a break condition occurs, simultaneous torque and lateral thrust module 1100 may exit or return to another process which may have called it. Figure 12 illustrates an embodiment of a remote interface or remote pendant 1200. Remote pendant 1200 may comprise, for example, an on / off switch, state selector, and manual / rotational control. The on / off switch may be used to turn on remote pendant 1200. State selector may be used to select a command state of operational module 700, as may be discussed in relation to Figure 7. An activation controller may be used to activate or deactivate an SLCS in or relative to a selected command state. The manual / rotational control may be used to manually activate fans to rotate or translate a load when, for example, state selector has been used to select, for example, direct control mode 727. A joystick may be incorporated into remote pendant 1200, such as in replacement of or in addition to manual control.

[0181] Figure 13 illustrates an oblique parallel projection view of SLCS 1305 secured to litter 1315. As discussed herein, SLCS 1305 comprises thruster group 1310A and 1310B secured to litter 1315 with brackets 1320. Thruster group 1310A and 1310B and brackets 1320 may slide along grooves in plate 1325A and 1325B, allowing thruster group 1310A and 1310B to be further or closer together. Changing a distance between the thrusters, and changing this relative to a center of rotation, changes the torque output by the thrusters. Furthermore, during a mission, a rescuer may intermittently come into contact with litter 1315 and a rescuee may or may not be present in litter 1315.

[0182] Although specific embodiments have been illustrated and described herein, it will be appreciated by those of ordinary skill in the art that alternate and or equivalent implementations may be substituted for the specific embodiments shown and described without departing from the scope of the present disclosure. For example, although various embodiments are described above in terms of a helicopter ownship, in other embodimentsDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct an SLCS may be employed under a construction crane or gantry. This application is intended to cover any adaptations or variations of the embodiments discussed herein.

[0183] Embodiments of the operations described herein may be implemented in a computer- readable storage device having stored thereon instructions that when executed by one or more processors perform the methods. The processor may include, for example, a processing unit and or programmable circuitry. The storage device may include a machine readable storage device including any type of tangible, non-transitory storage device, for example, any type of disk including floppy disks, optical disks, compact disk read-only memories (CD-ROMs), compact disk rewritables (CD-RWs), and magneto-optical disks, semiconductor devices such as read-only memories (ROMs), random access memories (RAMs) such as dynamic and static RAMs, erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), flash memories, magnetic or optical cards, or any type of storage devices suitable for storing electronic instructions. USB (Universal serial bus) may comply or be compatible with Universal Serial Bus Specification, Revision 2.0, published by the Universal Serial Bus organization, April 27, 2000, and or later versions of this specification, for example, Universal Serial Bus Specification, Revision 3.1, published July 26, 2013 . PCIe may comply or be compatible with PCI Express 3.0 Base specification, Revision 3.0, published by Peripheral Component Interconnect Special Interest Group (PCI-SIG), November 2010, and or later and or related versions of this specification.

[0184] As used in any embodiment herein, the term "logic" may refer to the logic of the instructions of an app, software, and or firmware, and or the logic embodied into a programmable circuitry by a configuration bit stream, to perform any of the aforementioned operations. Software may be embodied as a software package, code, instructions, instruction sets and or data recorded on non-transitory computer readable storage medium. Firmware may be embodied as code, instructions or instruction sets and or data that are hard-coded (e.g., nonvolatile) in memory devices. Flow charts for logic or software may be illustrated herein as part of one module or as separate from one another in separate modules or otherwise as having a logical arrangement; many different logical arrangements are functionally equivalent.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0185] "Circuitry", as used in any embodiment herein, may comprise, for example, singly or in any combination, hardwired circuitry, programmable circuitry such as FPGA. The logic may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc.

[0186] In some embodiments, a hardware description language (HDL) may be used to specify circuit and or logic implementation(s) for the various logic and or circuitry described herein. For example, in one embodiment the hardware description language may comply or be compatible with a very high speed integrated circuits (VHSIC) hardware description language (VHDL) that may enable semiconductor fabrication of one or more circuits and or logic described herein. The VHDL may comply or be compatible with IEEE Standard 1076-1987, IEEE Standard 1076.2, IEEE1076.1, IEEE Draft 3.0 of VHDL-2006, IEEE Draft 4.0 of VHDL-2008 and or other versions of the IEEE VHDL standards and or other hardware description standards.

[0187] As used herein, the term "module" (or "logic") may refer to, be part of, or include an Application Specific Integrated Circuit (ASIC), a System on a Chip (SoC), an electronic circuit, a programmed programmable circuit (such as, Field Programmable Gate Array (FPGA)), a processor (shared, dedicated, or group) and or memory (shared, dedicated, or group) or in another computer hardware component or device that execute one or more software or firmware programs having executable machine instructions (generated from an assembler and or a compiler) or a combination, a combinational logic circuit, and or other suitable components with logic that provide the described functionality. Modules may be distinct and independent components integrated by sharing or passing data, or the modules may be subcomponents of a single module, or be split among several modules. The components may be processes running on, or implemented on, a single compute node or distributed among a plurality of compute nodes running in parallel, concurrently, sequentially or a combination, as described more fully in conjunction with the flow diagrams in the figures.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0188] As used herein, a process corresponds to an instance of a program, e.g., an application program, executing on a processor and a thread corresponds to a portion of the process. A processor may include one or more execution core(s). The processor may be configured as one or more socket(s) that may each include one or more execution core(s).

[0189] Following are non-limiting examples:

[0190] Example 1. An apparatus to simultaneously control rotation and pendular motion of a suspended load suspended on a suspension cable beneath a carrier, comprising: a plurality of thrusters and a sensor suite, wherein the sensor suite is to obtain a sensor data; a computer processor and a memory, wherein the memory comprises an operational module; wherein the computer processor is to execute the operational module; wherein, when executed, the operational module is to receive and process the sensor data and determine a target orientation for the suspended load and a state of the suspended load, wherein the state of the suspended load comprises a pendular motion of the suspended load; wherein the operational module is to determine a plurality of thrust control signals to output to the plurality of thrusters, wherein the plurality of thrust control signals are to simultaneously influence the suspended load toward the target orientation and dampen the pendular motion of the suspended load; wherein at least the plurality of thrusters are suspended on the suspension cable beneath a carrier and are secured to the suspended load; and wherein the suspended load is partially actuated by the plurality of thrusters.

[0191] Example 2. The apparatus according to example 1 or another claim or example herein, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.

[0192] Example 3. The apparatus according to example 2 or another claim or example herein, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired same-direction thrusters, wherein the paired samedirection thrusters output thrust in a same direction relative to one another.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0193] Example 4. The apparatus according to example 3 or another claim or example herein, wherein the paired same-direction thrusters are further on opposite sides of a center of rotation of the apparatus.

[0194] Example 5. The apparatus according to example 2 or another claim or example herein, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing-direction thrusters, wherein the paired opposing- direction thrusters output thrust in opposing lateral directions relative to one another.

[0195] Example 6. The apparatus according to example 5 or another claim or example herein, wherein the paired opposing-direction thrusters further are on opposite sides of a center of rotation of the apparatus.

[0196] Example 7. The apparatus according to example 2 or another claim or example herein, wherein the thrust control signal to apply the lateral thrust to the suspended load is to negatively influence or dampen a component of pendular motion that is parallel with an orientation of the paired same-direction thrusters.

[0197] Example 8. The apparatus according to example 2 or another claim or example herein, wherein the state of the suspended load comprises an angle of the plurality of thrusters relative to the pendular motion of the suspended load and wherein the operational module is to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load.

[0198] Example 9. The apparatus according to example 8 or another claim or example herein, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.

[0199] Example 10. The apparatus according to example 8 or another claim or example herein, wherein to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load comprises to modulate the thrust control signal to apply the lateral thrust to the suspended load based on an extent to which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0200] Example 11. The apparatus according to example 2 or another claim or example herein, wherein the state of the suspended load comprises whether the suspended load is undergoing uncontrolled rotation, wherein the operational module is to determine that the suspended load is undergoing uncontrolled rotation and wherein the operational module is to down-regulate the thrust control signal to apply the lateral thrust to the suspended load based on the uncontrolled rotation and is to up-regulate the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.

[0201] Example 12. The apparatus according to example 11 or another claim or example herein, wherein the operational module is to determine whether the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotating above a rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.

[0202] Example 13. The apparatus according to example 1 or another claim or example herein, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the apparatus.

[0203] Example 14. The apparatus according to example 13 or another claim or example herein, wherein all degrees of freedom available to the apparatus exclude vertical translation.

[0204] Example 15. The apparatus according to example 13 or another claim or example herein, wherein all degrees of freedom available to the apparatus include rotation and pendular translation.

[0205] Example 16. The apparatus according to example 1 or another claim or example herein, wherein the operational module is to determine the target orientation based at least in part on one or more of a user-designated mode, a maintain relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.

[0206] Example 17. A method to rotate or laterally move a suspended load suspended on a suspension cable beneath a carrier, comprising: obtaining a sensor data from a sensorDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct suite, determining a state of the suspended load based on the sensor data, wherein the state comprises a pendular motion of the suspended load, determining a target orientation for the suspended load, determining a plurality of thrust control signals to output to a plurality of thrusters, and outputting the plurality of thrust control signals to the plurality of thrusters, and thereby simultaneously i) influencing the suspended load toward the target orientation and ii) dampening the pendular motion of the suspended load; wherein the plurality of thrusters are secured to the suspended load, wherein the suspended load is suspended on a suspension cable beneath a carrier, and wherein the suspended load is partially actuated by the plurality of thrusters.

[0207] Example 18. The method according to example 17 or another claim or example herein, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.

[0208] Example 19. The method according to example 18 or another claim or example herein, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired same-direction thrusters, wherein the paired samedirection thrusters output thrust in a same direction relative to one another.

[0209] Example 20. The method according to example 19 or another claim or example herein, wherein the paired same-direction thrusters are further on opposite sides of a center of rotation of the apparatus.

[0210] Example 21. The method according to example 18 or another claim or example herein, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing-direction thrusters, wherein the paired opposing- direction thrusters output thrust in opposing lateral directions relative to one another.

[0211] Example 22. The method according to example 21 or another claim or example herein, wherein the paired opposing-direction thrusters further are on opposite sides of a center of rotation of the apparatus.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0212] Example 23. The method according to example 18 or another claim or example herein, wherein dampening the pendular motion of the suspended load comprises outputting the thrust control signal to apply the lateral thrust to the suspended load.

[0213] Example 24. The method according to example 23 or another claim or example herein, wherein outputting the thrust control signal to apply the lateral thrust to the suspended load comprises dampening a component of the pendular motion of the suspended load that is parallel with an orientation of the plurality of thrusters.

[0214] Example 25. The method according to example 24 or another claim or example herein, wherein outputting the thrust control signal to apply the lateral thrust to the suspended load comprises outputting the thrust control signal to paired same-direction thrusters within the plurality of thrusters.

[0215] Example 26. The method according to example 25 or another claim or example herein, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.

[0216] Example 27. The method according to example 18 or another claim or example herein, wherein influencing the suspended load toward the target orientation comprises outputting the thrust control signal to apply the torque to the suspended load.

[0217] Example 28. The method according to example 27 or another claim or example herein, wherein outputting the thrust control signal to apply the torque to the suspended load comprises outputting the thrust control signal to paired opposing-direction thrusters within the plurality of thrusters.

[0218] Example 29. The method according to example 28 or another claim or example herein, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.

[0219] Example 30. The method according to example 18 or another claim or example herein, wherein determining the state of the suspended load comprises determining an angle of the plurality of thrusters relative to the pendular motion of the suspended load and further comprising modulating the thrust control signal to apply the lateral thrust toDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct the suspended load based on the angle of the plurality of thrusters relative to the pendular motion of the suspended load.

[0220] Example 31. The method according to example 30 or another claim or example herein, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.

[0221] Example 32. The method according to example 30 or another claim or example herein, wherein modulating the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load further comprises modulating the thrust control signal to apply the lateral thrust to the suspended load based on an extent to which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.

[0222] Example 33. The method according to example 18 or another claim or example herein, wherein determining the state of the suspended load comprises determining that the suspended load is undergoing uncontrolled rotation and down-regulating the thrust control signal to apply the lateral thrust to the suspended load based on the uncontrolled rotation and up-regulating the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.

[0223] Example 34. The method according to example 33 or another claim or example herein, further comprising determining that the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotating above a rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.

[0224] Example 35. The method according to example 17 or another claim or example herein, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the suspended load.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0225] Example 36. The method according to example 35 or another claim or example herein, wherein all degrees of freedom available to the suspended load exclude vertical translation.

[0226] Example 37. The method according to example 35 or another claim or example herein, wherein all degrees of freedom available to the suspended load include rotation and pendular translation.

[0227] Example 38. The method according to example 17 or another claim or example herein, further comprising determining the target orientation based at least in part on one or more of a user-designated mode, a relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.

[0228] Example 39. An apparatus to rotate or laterally move a suspended load suspended on a suspension cable beneath a carrier, comprising: means to obtain a sensor data from a sensor suite, means to determine a state of the suspended load based on the sensor data, wherein the state comprises a pendular motion of the suspended load, means to determine a target orientation for the suspended load, means to determine a plurality of thrust control signals to output to a plurality of thrusters, and means to output the plurality of thrust control signals to the plurality of thrusters, and thereby simultaneously i) influence the suspended load toward the target orientation and ii) dampen the pendular motion of the suspended load; wherein the plurality of thrusters are secured to the suspended load, wherein the suspended load is suspended on a suspension cable beneath a carrier, and wherein the suspended load is partially actuated by the plurality of thrusters.

[0229] Example 40. The apparatus according to example 39 or another claim or example herein, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.

[0230] Example 41. The apparatus according to example 40 or another claim or example herein, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired same-direction thrusters, wherein the paired samedirection thrusters output thrust in a same direction relative to one another.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0231] Example 42. The apparatus according to example 41 or another claim or example herein, wherein the paired same-direction thrusters are further on opposite sides of a center of rotation of the apparatus.

[0232] Example 43. The apparatus according to example 40 or another claim or example herein, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing-direction thrusters, wherein the paired opposing- direction thrusters output thrust in opposing lateral directions relative to one another.

[0233] Example 44. The apparatus according to example 43 or another claim or example herein, wherein the paired opposing-direction thrusters further are on opposite sides of a center of rotation of the apparatus.

[0234] Example 45. The apparatus according to example 40 or another claim or example herein, wherein to dampen the pendular motion of the suspended load comprises to output the thrust control signal to apply the lateral thrust to the suspended load.

[0235] Example 46. The apparatus according to example 40 or another claim or example herein, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to dampen a component of the pendular motion of the suspended load that is parallel with an orientation of the plurality of thrusters.

[0236] Example 47. The apparatus according to example 40 or another claim or example herein, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to output the thrust control signal to paired same-direction thrusters within the plurality of thrusters.

[0237] Example 48. The apparatus according to example 47 or another claim or example herein, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.

[0238] Example 49. The apparatus according to example 40 or another claim or example herein, wherein to influence the suspended load toward the target orientation comprises to output the thrust control signal to apply the torque to the suspended load.

[0239] Example 50. The apparatus according to example 49 or another claim or example herein, wherein to output the thrust control signal to apply the torque to the suspendedDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct load comprises to output the thrust control signal to paired opposing-direction thrusters within the plurality of thrusters.

[0240] Example 51. The apparatus according to example 50 or another claim or example herein, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.

[0241] Example 52. The apparatus according to example 40, wherein means to determine the state of the suspended load comprises means to determine an angle of the plurality of thrusters relative to the pendular motion of the suspended load and further comprising means to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the plurality of thrusters relative to the pendular motion of the suspended load.

[0242] Example 53. The apparatus according to example 52, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.

[0243] Example 54. The apparatus according to example 52, wherein means to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load further comprises means to modulate the thrust control signal to apply the lateral thrust to the suspended load based on an extent to which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.

[0244] Example 55. The apparatus according to example 40, wherein means to determine the state of the suspended load comprises means to determine that the suspended load is undergoing uncontrolled rotation and further comprising means to down-regulate the thrust control signal to apply the lateral thrust to the suspended load based on the uncontrolled rotation and means to up-regulate the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.

[0245] Example 56. The apparatus according to example 55, further comprising means to determine that the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotatingDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct above a rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.

[0246] Example 57. The apparatus according to example 39, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the suspended load.

[0247] Example 58. The apparatus according to example 57, wherein all degrees of freedom available to the suspended load exclude vertical translation.

[0248] Example 59. The apparatus according to example 57, wherein all degrees of freedom available to the suspended load include rotation and pendular translation.

[0249] Example 60. The apparatus according to example 39, further comprising means to determine the target orientation based at least in part on one or more of a user- designated mode, a maintain relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.

[0250] Example 61. One or more computer-readable media comprising instructions that cause an apparatus, in response to execution of the instructions by a processor of the apparatus, to: obtain a sensor data from a sensor suite, determine a state of a suspended load based on the sensor data, wherein the state comprises a pendular motion of the suspended load, determine a target orientation for the suspended load, determine a plurality of thrust control signals to output to a plurality of thrusters, and output the plurality of thrust control signals to the plurality of thrusters and thereby simultaneously i) influence the suspended load toward the target orientation and ii) dampen the pendular motion of the suspended load; wherein the plurality of thrusters are secured to the suspended load, wherein the suspended load is suspended on a suspension cable beneath a carrier, and wherein the suspended load is partially actuated by the plurality of thrusters.

[0251] Example 62. The computer-readable media according to example 61, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0252] Example 63. The computer-readable media according to example 62, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired same-direction thrusters, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.

[0253] Example 64. The computer-readable media according to example 63, wherein the paired same-direction thrusters are further on opposite sides of a center of rotation of the apparatus.

[0254] Example 65. The computer-readable media according to example 62, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing-direction thrusters, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.

[0255] Example 66. The computer-readable media according to example 65, wherein the paired opposing-direction thrusters further are on opposite sides of a center of rotation of the apparatus.

[0256] Example 67. The computer-readable media according to example 62, wherein to dampen the pendular motion of the suspended load comprises to output the thrust control signal to apply the lateral thrust to the suspended load.

[0257] Example 68. The computer-readable media according to example 62, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to dampen a component of the pendular motion of the suspended load that is parallel with an orientation of the plurality of thrusters.

[0258] Example 69. The computer-readable media according to example 62, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to output the thrust control signal to paired same-direction thrusters within the plurality of thrusters.

[0259] Example 70. The computer-readable media according to example 69, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pct

[0260] Example 71. The computer-readable media according to example 62, wherein to influence the suspended load toward the target orientation comprises to output the thrust control signal to apply the torque to the suspended load.

[0261] Example 72. The computer-readable media according to example 71, wherein to output the thrust control signal to apply the torque to the suspended load comprises to output the thrust control signal to paired opposing-direction thrusters within the plurality of thrusters.

[0262] Example 73. The computer-readable media according to example 72, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.

[0263] Example 74. The computer-readable media according to example 62, wherein to determine the state of the suspended load comprises to determine an angle of the plurality of thrusters relative to the pendular motion of the suspended load and wherein the instructions are further to cause the apparatus to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the plurality of thrusters relative to the pendular motion of the suspended load.

[0264] Example 75. The computer-readable media according to example 74, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.

[0265] Example 76. The computer-readable media according to example 74, wherein to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load further comprises to modulate the thrust control signal to apply the lateral thrust to the suspended load based on an extent to which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.

[0266] Example 77. The computer-readable media according to example 62, wherein to determine the state of the suspended load comprises to determine that the suspended load is undergoing uncontrolled rotation and wherein the instructions are further to cause the apparatus to down-regulate the thrust control signal to apply the lateral thrust to theDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct suspended load based on the uncontrolled rotation and to up-regulate the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.

[0267] Example 78. The computer-readable media according to example 77, wherein the instructions are further to cause the apparatus to determine that the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotating above a rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.

[0268] Example 79. The computer-readable media according to example 61, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the suspended load.

[0269] Example 80. The computer-readable media according to example 79, wherein all degrees of freedom available to the suspended load exclude vertical translation.

[0270] Example 81. The computer-readable media according to example 79, wherein all degrees of freedom available to the suspended load include rotation and pendular translation.

[0271] Example 82. The computer-readable media according to example 61, wherein the instructions are further to cause the apparatus to determine the target orientation based at least in part on one or more of a user-designated mode, a maintain relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.

Claims

Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctCLAIMSClaim 1. An apparatus to simultaneously control rotation and pendular motion of a suspended load suspended on a suspension cable beneath a carrier, comprising: a plurality of thrusters and a sensor suite, wherein the sensor suite is to obtain a sensor data; a computer processor and a memory, wherein the memory comprises an operational module; wherein the computer processor is to execute the operational module; wherein, when executed, the operational module is to receive and process the sensor data and determine a target orientation for the suspended load and a state of the suspended load, wherein the state of the suspended load comprises a pendular motion of the suspended load; wherein the operational module is to determine a plurality of thrust control signals to output to the plurality of thrusters, wherein the plurality of thrust control signals are to simultaneously influence the suspended load toward the target orientation and dampen the pendular motion of the suspended load; wherein at least the plurality of thrusters are suspended on the suspension cable beneath a carrier and are secured to the suspended load; and wherein the suspended load is partially actuated by the plurality of thrusters.Claim 2. The apparatus according to Claim 1, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.Claim 3. The apparatus according to Claim 2, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired same-direction thrusters, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.Claim 4. The apparatus according to Claim 3, wherein the paired same-direction thrusters are further on opposite sides of a center of rotation of the apparatus.Claim 5. The apparatus according to Claim 2, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing-direction thrusters, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctClaim 6. The apparatus according to Claim 5, wherein the paired opposing-direction thrusters further are on opposite sides of a center of rotation of the apparatus.Claim 7. The apparatus according to Claim 2, wherein the thrust control signal to apply the lateral thrust to the suspended load is to negatively influence or dampen a component of pendular motion that is parallel with an orientation of the paired same-direction thrusters.Claim 8. The apparatus according to Claim 2, wherein the state of the suspended load comprises an angle of the plurality of thrusters relative to the pendular motion of the suspended load and wherein the operational module is to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load.Claim 9. The apparatus according to Claim 8, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.Claim 10. The apparatus according to Claim 8, wherein to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load comprises to modulate the thrust control signal to apply the lateral thrust to the suspended load based on an extent to which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.Claim 11. The apparatus according to Claim 2, wherein the state of the suspended load comprises whether the suspended load is undergoing uncontrolled rotation, wherein the operational module is to determine that the suspended load is undergoing uncontrolled rotation and wherein the operational module is to down-regulate the thrust control signal to apply the lateral thrust to the suspended load based on the uncontrolled rotation and is to up- regulate the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.Claim 12. The apparatus according to Claim 11, wherein the operational module is to determine whether the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotating above aDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.Claim 13. The apparatus according to Claim 1, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the apparatus.Claim 14. The apparatus according to Claim 13, wherein all degrees of freedom available to the apparatus exclude vertical translation.Claim 15. The apparatus according to Claim 13, wherein all degrees of freedom available to the apparatus include rotation and pendular translation.Claim 16.The apparatus according to Claim 1, wherein the operational module is to determine the target orientation based at least in part on one or more of a user-designated mode, a maintain relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.Claim 17. A method to rotate or laterally move a suspended load suspended on a suspension cable beneath a carrier, comprising: obtaining a sensor data from a sensor suite, determining a state of the suspended load based on the sensor data, wherein the state comprises a pendular motion of the suspended load, determining a target orientation for the suspended load, determining a plurality of thrust control signals to output to a plurality of thrusters, and outputting the plurality of thrust control signals to the plurality of thrusters, and thereby simultaneously i) influencing the suspended load toward the target orientation and ii) dampening the pendular motion of the suspended load; wherein the plurality of thrusters are secured to the suspended load, wherein the suspended load is suspended on a suspension cable beneath a carrier, and wherein the suspended load is partially actuated by the plurality of thrusters.Claim 18. The method according to Claim 17, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctClaim 19. The method according to Claim 18, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired same-direction thrusters, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.Claim 20. The method according to Claim 19, wherein the paired same-direction thrusters are further on opposite sides of a center of rotation of the apparatus.Claim 21. The method according to Claim 18, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing-direction thrusters, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.Claim 22. The method according to Claim 21, wherein the paired opposing-direction thrusters further are on opposite sides of a center of rotation of the apparatus.Claim 23. The method according to Claim 18, wherein dampening the pendular motion of the suspended load comprises outputting the thrust control signal to apply the lateral thrust to the suspended load.Claim 24. The method according to Claim 23, wherein outputting the thrust control signal to apply the lateral thrust to the suspended load comprises dampening a component of the pendular motion of the suspended load that is parallel with an orientation of the plurality of thrusters.Claim 25. The method according to Claim 24, wherein outputting the thrust control signal to apply the lateral thrust to the suspended load comprises outputting the thrust control signal to paired same-direction thrusters within the plurality of thrusters.Claim 26. The method according to Claim 25, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctClaim 27. The method according to Claim 18, wherein influencing the suspended load toward the target orientation comprises outputting the thrust control signal to apply the torque to the suspended load.Claim 28. The method according to Claim 27, wherein outputting the thrust control signal to apply the torque to the suspended load comprises outputting the thrust control signal to paired opposing-direction thrusters within the plurality of thrusters.Claim 29. The method according to Claim 28, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.Claim 30. The method according to Claim 18, wherein determining the state of the suspended load comprises determining an angle of the plurality of thrusters relative to the pendular motion of the suspended load and further comprising modulating the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the plurality of thrusters relative to the pendular motion of the suspended load.Claim 31. The method according to Claim 30, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.Claim 32. The method according to Claim 30, wherein modulating the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load further comprises modulating the thrust control signal to apply the lateral thrust to the suspended load based on an extent to which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.Claim 33. The method according to Claim 18, wherein determining the state of the suspended load comprises determining that the suspended load is undergoing uncontrolled rotation and down-regulating the thrust control signal to apply the lateral thrust to the suspended load based on the uncontrolled rotation and up-regulating the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctClaim 34. The method according to Claim 33, further comprising determining that the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotating above a rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.Claim 35. The method according to Claim 17, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the suspended load.Claim 36. The method according to Claim 35, wherein all degrees of freedom available to the suspended load exclude vertical translation.Claim 37. The method according to Claim 35, wherein all degrees of freedom available to the suspended load include rotation and pendular translation.Claim 38. The method according to Claim 17, further comprising determining the target orientation based at least in part on one or more of a user-designated mode, a relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.Claim 39. An apparatus to rotate or laterally move a suspended load suspended on a suspension cable beneath a carrier, comprising: means to obtain a sensor data from a sensor suite, means to determine a state of the suspended load based on the sensor data, wherein the state comprises a pendular motion of the suspended load, means to determine a target orientation for the suspended load, means to determine a plurality of thrust control signals to output to a plurality of thrusters, and means to output the plurality of thrust control signals to the plurality of thrusters, and thereby simultaneously i) influence the suspended load toward the target orientation and ii) dampen the pendular motion of the suspended load; wherein the plurality of thrusters are secured to the suspended load, wherein the suspended load is suspended on a suspension cable beneath a carrier, and wherein the suspended load is partially actuated by the plurality of thrusters.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctClaim 40. The apparatus according to Claim 39, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.Claim 41. The apparatus according to Claim 40, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired same-direction thrusters, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.Claim 42. The apparatus according to Claim 41, wherein the paired same-direction thrusters are further on opposite sides of a center of rotation of the apparatus.Claim 43. The apparatus according to Claim 40, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing-direction thrusters, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.Claim 44. The apparatus according to Claim 43, wherein the paired opposing-direction thrusters further are on opposite sides of a center of rotation of the apparatus.Claim 45. The apparatus according to Claim 40, wherein to dampen the pendular motion of the suspended load comprises to output the thrust control signal to apply the lateral thrust to the suspended load.Claim 46. The apparatus according to Claim 40, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to dampen a component of the pendular motion of the suspended load that is parallel with an orientation of the plurality of thrusters.Claim 47. The apparatus according to Claim 40, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to output the thrust control signal to paired same-direction thrusters within the plurality of thrusters.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctClaim 48. The apparatus according to Claim 47, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.Claim 49. The apparatus according to Claim 40, wherein to influence the suspended load toward the target orientation comprises to output the thrust control signal to apply the torque to the suspended load.Claim 50. The apparatus according to Claim 49, wherein to output the thrust control signal to apply the torque to the suspended load comprises to output the thrust control signal to paired opposing-direction thrusters within the plurality of thrusters.Claim 51. The apparatus according to Claim 50, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.Claim 52. The apparatus according to Claim 40, wherein means to determine the state of the suspended load comprises means to determine an angle of the plurality of thrusters relative to the pendular motion of the suspended load and further comprising means to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the plurality of thrusters relative to the pendular motion of the suspended load.Claim 53. The apparatus according to Claim 52, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.Claim 54. The apparatus according to Claim 52, wherein means to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load further comprises means to modulate the thrust control signal to apply the lateral thrust to the suspended load based on an extent to which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.Claim 55. The apparatus according to Claim 40, wherein means to determine the state of the suspended load comprises means to determine that the suspended load is undergoing uncontrolled rotation and further comprising means to down-regulate the thrust control signalDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct to apply the lateral thrust to the suspended load based on the uncontrolled rotation and means to up-regulate the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.Claim 56. The apparatus according to Claim 55, further comprising means to determine that the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotating above a rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.Claim 57. The apparatus according to Claim 39, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the suspended load.Claim 58. The apparatus according to Claim 57, wherein all degrees of freedom available to the suspended load exclude vertical translation.Claim 59. The apparatus according to Claim 57, wherein all degrees of freedom available to the suspended load include rotation and pendular translation.Claim 60. The apparatus according to Claim 39, further comprising means to determine the target orientation based at least in part on one or more of a user-designated mode, a maintain relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.Claim 61. One or more computer-readable media comprising instructions that cause an apparatus, in response to execution of the instructions by a processor of the apparatus, to: obtain a sensor data from a sensor suite, determine a state of a suspended load based on the sensor data, wherein the state comprises a pendular motion of the suspended load, determine a target orientation for the suspended load, determine a plurality of thrust control signals to output to a plurality of thrusters, and output the plurality of thrust control signals to the plurality of thrusters and thereby simultaneously i) influence the suspended load toward the target orientation and ii) dampen the pendular motion of the suspended load; wherein theDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct plurality of thrusters are secured to the suspended load, wherein the suspended load is suspended on a suspension cable beneath a carrier, and wherein the suspended load is partially actuated by the plurality of thrusters.Claim 62. The computer-readable media according to Claim 61, wherein the plurality of thrust control signals comprise a thrust control signal to apply a torque to the suspended load simultaneous with a thrust control signal to apply a lateral thrust to the suspended load.Claim 63. The computer-readable media according to Claim 62, wherein the thrust control signal to apply the lateral thrust to the suspended load is a thrust control signal to paired samedirection thrusters, wherein the paired same-direction thrusters output thrust in a same direction relative to one another.Claim 64. The computer-readable media according to Claim 63, wherein the paired samedirection thrusters are further on opposite sides of a center of rotation of the apparatus.Claim 65. The computer-readable media according to Claim 62, wherein the thrust control signal to apply the torque to the suspended load is a thrust control signal to paired opposing- direction thrusters, wherein the paired opposing-direction thrusters output thrust in opposing lateral directions relative to one another.Claim 66. The computer-readable media according to Claim 65, wherein the paired opposing- direction thrusters further are on opposite sides of a center of rotation of the apparatus.Claim 67. The computer-readable media according to Claim 62, wherein to dampen the pendular motion of the suspended load comprises to output the thrust control signal to apply the lateral thrust to the suspended load.Claim 68. The computer-readable media according to Claim 62, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to dampen a component of the pendular motion of the suspended load that is parallel with an orientation of the plurality of thrusters.Derek SIKORA et al. Attorney Docket No.: VIIN-2024070pctClaim 69. The computer-readable media according to Claim 62, wherein to output the thrust control signal to apply the lateral thrust to the suspended load comprises to output the thrust control signal to paired same-direction thrusters within the plurality of thrusters.Claim 70. The computer-readable media according to Claim 69, wherein the paired samedirection thrusters output thrust in a same direction relative to one another.Claim 71. The computer-readable media according to Claim 62, wherein to influence the suspended load toward the target orientation comprises to output the thrust control signal to apply the torque to the suspended load.Claim 72. The computer-readable media according to Claim 71, wherein to output the thrust control signal to apply the torque to the suspended load comprises to output the thrust control signal to paired opposing-direction thrusters within the plurality of thrusters.Claim 73. The computer-readable media according to Claim 72, wherein the paired opposing- direction thrusters output thrust in opposing lateral directions relative to one another.Claim 74. The computer-readable media according to Claim 62, wherein to determine the state of the suspended load comprises to determine an angle of the plurality of thrusters relative to the pendular motion of the suspended load and wherein the instructions are further to cause the apparatus to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the plurality of thrusters relative to the pendular motion of the suspended load.Claim 75. The computer-readable media according to Claim 74, wherein the pendular motion of the suspended load is a pendular motion in an absolute coordinate frame.Claim 76. The computer-readable media according to Claim 74, wherein to modulate the thrust control signal to apply the lateral thrust to the suspended load based on the angle of the thrusters relative to the pendular motion of the suspended load further comprises to modulate the thrust control signal to apply the lateral thrust to the suspended load based on an extent toDerek SIKORA et al. Attorney Docket No.: VIIN-2024070pct which the angle of the thrusters relative to the pendular motion is parallel to the pendular motion.Claim 77. The computer-readable media according to Claim 62, wherein to determine the state of the suspended load comprises to determine that the suspended load is undergoing uncontrolled rotation and wherein the instructions are further to cause the apparatus to down- regulate the thrust control signal to apply the lateral thrust to the suspended load based on the uncontrolled rotation and to up-regulate the thrust control signal to apply the torque to the suspended based on the uncontrolled rotation.Claim 78. The computer-readable media according to Claim 77, wherein the instructions are further to cause the apparatus to determine that the suspended load is undergoing uncontrolled rotation based on at least one of whether the suspended load is rotating, whether the suspended load is rotating above a rotational rate, whether the rotational rate is decreasing, and whether the rotational rate is decreasing above a rotation decrease threshold.Claim 79. The computer-readable media according to Claim 61, wherein the plurality of thrusters have fixed orientations relative to one another and output thrust vectors in fewer than all degrees of freedom available to the suspended load.Claim 80. The computer-readable media according to Claim 79, wherein all degrees of freedom available to the suspended load exclude vertical translation.Claim 81. The computer-readable media according to Claim 79, wherein all degrees of freedom available to the suspended load include rotation and pendular translation.Claim 82. The computer-readable media according to Claim 61, wherein the instructions are further to cause the apparatus to determine the target orientation based at least in part on one or more of a user-designated mode, a maintain relative location / position vs carrier mode, a move to location or orientation mode, and a hold position or orientation mode.

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