# US 11,992,444 B1 · Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,992,444 B1 - Document ID: US11992444B1 - Status: Granted - Kind: B1 - Application number: 18/534,401 - Filed: 2023-12-08 - Granted: 2024-05-28 - Earliest claimed: 2023-12-04 - Assignees: Vita Inclinata IP Holdings LLC - Applicants: Vita Inclinata IP Holdings LLC - Inventors: Derek Sikora; Logan Goodrich; Preston Fitzrandolph - Web page: https://patentgrep.com/patent/US11992444B1 ## CPC - A61G 3/006: {Means for reducing the influence of acceleration on patients, e.g. suspension systems of platforms (securing loads against shocks in general B60P7/16)} - A61G 2220/10: Aircrafts - B66C 13/06: for minimising or preventing longitudinal or transverse swinging of loads - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) - B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21) ## Abstract Disclosed are systems, apparatuses, and methods for and related to dynamic control of torque and or lateral thrust applied to a load suspended load on a suspension cable to thereby achieve a target orientation or position or to otherwise move through use of a hyperparameter, wherein the hyperparameter comprises a normalized moment of inertia, wherein the hyperparameter comprises a ratio of a force command to a thruster and an angular acceleration. ## Claims ### Claim 1 An apparatus to rotate or laterally move a load, comprising: a thruster, a thrust controller, 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 autonomous state response module and a decision and control module; wherein the computer processor is to execute the autonomous state response module and the decision and control module; wherein the thrust controller comprises the autonomous state response module and the decision and control module; wherein the autonomous state response module is to receive and process the sensor data and continuously determine a hyperparameter with respect to the apparatus and any load secured thereto; and wherein the decision and control module is to determine a thrust control signal to output to the thruster based at least in part on the hyperparameter; wherein at least the apparatus, the thruster, and any load secured thereto are suspended on a suspension cable beneath a carrier. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the hyperparameter comprises a force command to the thruster in a ratio with an angular acceleration of the apparatus. ### Claim 3 (depends on 2) The apparatus according to claim 2, wherein the angular acceleration of the apparatus comprises a direction. ### Claim 4 (depends on 3) The apparatus according to claim 3, wherein the thrust controller is to determine at least one of an actuator mix or a thruster mapping based at least in part on the direction, wherein the actuator mix or thruster mapping is, at least in part, to determine the thrust control signal to output to the thruster. ### Claim 5 (depends on 1) The apparatus according to claim 1, wherein the hyperparameter is a normalized moment of inertia and disturbance estimator. ### Claim 6 (depends on 1) The apparatus according to claim 1, wherein the thrust controller is to process the hyperparameter to cause the thrust control signal to continuously account for a state of the apparatus. ### Claim 7 (depends on 6) The apparatus according to claim 6, wherein the state of the apparatus comprises at least one of 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 apparatus. ### Claim 8 (depends on 1) The apparatus according to claim 1, wherein to determine the thrust control signal to output to the thruster based at least in part on the hyperparameter further comprises to limit a maximum allowed angular velocity of the apparatus based on the hyperparameter. ### Claim 9 A method to rotate or laterally move a suspended load with a suspended load control system, comprising: receiving a sensor data; continuously determining, based on the sensor data, a hyperparameter with respect to the suspended load control system and any load secured thereto; and determining a thrust control signal to output to a thruster of the suspended load control system based at least in part on the hyperparameter; wherein at least the suspended load control system, the thruster, and any load secured thereto are suspended on a suspension cable beneath a carrier. ### Claim 10 (depends on 9) The method according to claim 9, wherein the hyperparameter comprises a force command to the thruster in a ratio with an angular acceleration of the load control system. ### Claim 11 (depends on 10) The method according to claim 10, wherein the angular acceleration of the load control system comprises a direction and further comprising determining at least one of an actuator mix or a thruster mapping based at least in part on the direction, and further comprising determining the thrust control signal to output to thruster based at least in part on the at least one of the actuator mix or the thruster mapping. ### Claim 12 (depends on 9) The method according to claim 9, wherein the hyperparameter is a normalized moment of inertia and disturbance estimator. ### Claim 13 (depends on 9) The method according to claim 9, wherein determining the thrust control signal to output to a thruster of the suspended load control system based at least in part on the hyperparameter further comprises continuously accounting for a state of the load control system. ### Claim 14 (depends on 13) The method according to claim 13, wherein the state of the load control system comprises at least one of 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 load control system. ### Claim 15 (depends on 9) The method according to claim 9, wherein determining the thrust control signal to output to the thruster based at least in part on the hyperparameter further comprises limiting a maximum allowed angular velocity of the load control system based on the hyperparameter. ### Claim 16 A computer apparatus to control a load suspended from a carrier, comprising: means to receive a sensor data; means to continuously determine, based on the sensor data, a hyperparameter with respect to the apparatus and any load secured thereto; and means to determine a thrust control signal to output to a thruster of the apparatus based at least in part on the hyperparameter; wherein at least the apparatus, the thruster, and any load secured thereto are suspended on a suspension cable beneath a carrier. ### Claim 17 (depends on 16) The apparatus according to claim 16, wherein the hyperparameter comprises a force command to the thruster in a ratio with an angular acceleration of the apparatus. ### Claim 18 (depends on 17) The apparatus according to claim 17, wherein the angular acceleration of the apparatus comprises a direction and further comprising means to determine at least one of an actuator mix or a thruster mapping based at least in part on the direction, and further comprising means to determine the thrust control signal to output to thruster based at least in part on the at least one of the actuator mix or the thruster mapping. ### Claim 19 (depends on 16) The apparatus according to claim 16, wherein the hyperparameter is a normalized moment of inertia and disturbance estimator. ### Claim 20 (depends on 16) The apparatus according to claim 16, wherein means to determine the thrust control signal to output to a thruster of the apparatus based at least in part on the hyperparameter further comprises means to continuously account for a state of the apparatus.