System and method for dynamic stabilization and navigation in high sea states
AssigneeLockheed Martin Corporation
InventorWendell H. Chun
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Abstract
A system is disclosed for dynamically stabilizing a ship in high sea states. A six degree-of-freedom robotic arm is attached to the ship, and a thruster is located at the distal end of the manipulator. The manipulator is be used to orient the thruster to counteract wave forces that act against the ship's hull in real time. This active balancing technique can be used to keep the ship substantially erect in rough seas by making continual corrections to the ship's body attitude. The center of gravity and the center of buoyancy of the ship are utilized, along with a precisely oriented and controlled thrust at the end of the manipulator, to optimally control the ship's state against impending waves.
Claims28
A system for stabilizing a floating body, comprising:
- a manipulator connected to the floating body, the manipulator comprising an articulatable arm having a first end and a second end;
- a thruster positioned on the manipulator, at least a portion of the thruster rotatable about an axis for generating thrust;
- a first plurality of sensors for measuring at least a first characteristic of the floating body;
- a second plurality of sensors for measuring a fluid force adjacent to the floating body;
- and
- a controller in communication with the first and second plurality of sensors, the manipulator and the thruster;
- wherein the second end of the articulatable arm is selectively rotatable with respect to the first end about at least three axes independent of the axis of rotation of the thruster;
- wherein the controller is configured to adjust a position of the manipulator and the thruster based on information received from the first and second plurality of sensors;
- and
- wherein the thrust generated by the thruster counteracts at least a portion of the measured fluid force.
A system for stabilizing a floating body, comprising:
- a manipulator connected to the floating body, the manipulator comprising an arm having a first end and a second end, the second end rotatable with respect to the first end about at least three orthogonal axes;
- a thruster positioned on the manipulator arm;
- a first plurality of sensors for measuring at least a first characteristic of the floating body;
- a second plurality of sensors for measuring a fluid force adjacent to the floating body;
- and
- a controller configured to adjust a position of the manipulator arm and the thruster based on information received from the first and second plurality of sensors;
- wherein a thrust generated by the thruster counteracts at least a portion of the measured fluid force;
- and
- wherein the manipulator arm comprises a plurality of joints for providing the second end of the manipulator arm with six independent degrees of freedom with respect to the first end.
A system for stabilizing a floating body, comprising:
- a manipulator connected to the floating body, the manipulator comprising an articulatable arm having a first end and a second end, the second end being selectively rotatable with respect to the first end about at least three axes;
- a thruster positioned on the manipulator:
- a first plurality of sensors for measuring at least a first characteristic of the floating body;
- a second plurality of sensors for measuring a fluid force adjacent to the floating body;
- and
- a controller in communication with the first and second plurality of sensors, the manipulator and the thruster;
- wherein the articulatable arm comprises six rotatable joints for providing the second end of the manipulator with six degrees of freedom with respect to the first end;
- wherein the controller is configured to adjust a position of the manipulator and the thruster based on information received from the first and second plurality of sensors;
- and
- wherein a thrust generated by the thruster counteracts at least a portion of the measured fluid force.
Dependencies are inferred from the claim text.