IA A US 2015017675281 cu») United States «2 Patent Application Publication co) Pub. No.: US 2015/0176752 Al LEWIS (43) Pub. Dat Jun, 25, 2015 (64) PLATFORM STABILIZATION SYSTEM (2) US.CL 16M 11/043 (2013.01); FI6M 11/2007 (OL) Applicant: PV Labs Ine. Hamilton (CA) (G018 01); PraM 112088 2013.01): Fr6M 112092 (2013.01); FIGM 1106 (2013.01) (72) Inventor: Michael D, LEWIS, Burlington (CA) HOIN 528 2013.01); GOSB 17/561 201301) on ABSTRACT (73) Assignee: PV Labs Ine, Hamilton (CA) A platform stabilization system comprises support frame, Platform sods phrality of isolator each exiting directly c . Ectween ie suppon frame and the platform. Ea solar ye Permits near movement ofthe pstform rave to he spe port frame wil three depres of Inco and permits rots (22) Filed: Dee. 24,2013 Tonal movement ofthe platform relative vo the sport frame {th thre depres of freedom, The folate cooperate to form an bolaton ary supporting the plato dety Publication Classification ‘thin, and spacing he platform fom, the spp fame The ts ement ofthe (1) Inc. form within the suppor fame with thre degrees of freedom Frew 110s (200601) ane perils Hine rotational movement of te plafonn rela oe 1786 (2006.01) tive the suppor frame with thee dgrees of freedom. The isn 928 (2006.01) FRolation aay in sustntaly more resistant wo near nove Fi6M 1120 (200601) tent of the platform than fo rotational movement Of the FIGM 1116 (2006.01), platform and does not rotationally constrain the platform.US 2015/0176752 Al Jun. 25,2015 Sheet 1 of 19 Patent Application PublicationPatent Application Publication Jun. 25, 2015 Sheet 2 0f19 US 2015/0176752 AL 120A 120 114 126 128 120 120A..Patent Application Publication Jun. 25, 2015 Sheet 3 of 19 US 2015/0176752 AL = : = = Tension Cutoff 15-0,2--0.25-03-0.35-0.6-O.A5 0.5 — . Block Camp Cutoff 7 —151b 7 "7b" = OPerating Range =a {Lateral Displacement (in) FIG. 3bPatent Application Publication Jun. 25, 2015 Sheet 4 of 19 US 2015/0176752 AL Rotational Charactristics (YAW) 200 180 160 140 60 40 20 0 0s 1 15 2 25 3 35 Yaw Angle (Degrees)Patent Application Publication Jun, 25,2015 Sheet Sof 19 US 2015/0176752 Al 320. Diaphragm Based Isolator Model Frame fF ~— 330 3 Payload FIG. 3dPatent Application Publication Jun, 25,2015 Sheet 6 of 19 US 2015/0176752 AlPatent Application Publication Jun, 25,2015 Sheet 70f19 US 2015/0176752 Al FIG. 4c 439DPatent Application Publication Jun, 25,2015 Sheet 8 of 19 US 2015/0176752 Al 424C FIG. 4ePatent Application Publication Jun. 25,2015 Sheet 9 of 19 US 2015/0176752 AL FIG. 4fPatent Application Publication Jun, 25,2015 Sheet 10 of 19 US 2015/0176752 AlPatent Application Publication Jun, 25,2015 Sheet 11 of 19 US 2015/0176752 Al 424h C. 420h Ae Lae 420h 420hPatent Application Publication Jun, 25,2015 Sheet 12 of 19 US 2015/0176752 AlPatent Application Publication Jun, 25,2015 Sheet 13 of 19 US 2015/0176752 Al Control System 5428US 2015/0176752 Al Jun. 25,2015 Sheet 14 of 19 Patent Application Publication 8 FIG.Patent Application Publication Jun, 25,2015 Sheet 1S of 19 US 2015/0176752 Al‘US 2015/0176752 AL Jun. 25,2015 Sheet 16 of 19 Patent Application Publication 2°9l4 (2H) Aouanbarg 10 uoneios| 001 panoidul| jo ey Ey Bujduiep anisseg 2H 8°11 - Buidwep aanre zy s/'ol— | | padwepunzH spl | | on asuodsay areas ApeasPatent Application Publication Jun, 25,2015 Sheet 17 of 19 US 2015/0176752 Al 100 102 140 104 120 180 120 eS Assembly Cc Payload a asombly ro Sis 142 | [Serve-Amp] [2Axis VOM 2 202~ 5 i VM | sasueano Uni] ‘CONTROL il oa... | eon R EI “4 ‘| «| INERTIAL 7 144) paar ORN_/158 NAVIGATION! aaxsveu|) |! YH -154! EN [160 ‘ALGORITHM | i {|} ZA ts6: N UTte2 206-1 nesiaL ‘{ cooapnares 24 COMPUTA DAS oe... | MSR te 5 ) 7 144168 ‘ezoanapnc | [Seve-Are] Bevis VOM] /— saat sneering || TS ypaane : ‘ALGORITHM | ae 171 | (Powe y +] 172 WANAGEUENT! L144) 474 IAGOATHN | 2s VOM] P76 212-.| | Ou + i + ee ia )) 'GIMBAL Inner Axes {CONTROL +t Postion Sensor System] ] ial 14481118 14da2 6 7 | 18 ‘Gimbal | 3|4 Inertial | g ‘Rates | 1s) lo 192 3 8 194 2] |2 196 6| |6 : A! ; (Gita jee inp 190] [GPS Renee 184]Patent Application Publication Jun. 25, 2015 Sheet 18 of 19 US 2015/0176752 AlPatent Application Publication Jun, 25,2015 Sheet 19 of 19 US 2015/0176752 Al COMMUNICATIONS] INTERFACE | 1016 | J — 1000 FIG. 10 (PRIOR ART)US 2015/0176752 Al PLATFORM STABILIZATION SYSTEM. ‘TECHNICAL FIELD 10001} The present disclosure relates to platform stabiliza- tion systems, and more particu to platform stabilization systems for isolating a payload from angular motions and translational and angulae vibrations of a supporting structure. BACKGROUND 10002] Stabilized platform systems have been around for ‘many years, and are used to isolate a payload carried by the platform from the movement ofthe siruture that caries the platform. The strcture may be a vehicle like an anplane, helicopter or automobile, or a relatively state structure Which stil subjct to some movement, such asa all pote that may sway inthe wind, There is virally no limit to What may be cartid as the payload of a stabilized platform system, and stabilized platform systems may be used ina variety of appli ‘ations for payloads including, but nt limited to, sil photo traphic and video (including cinema) cameras, electro-opi ‘cal and infre-red imaging devices, spectrometers, antennae, Tasers, and even weapon systems. What distinguishes this ‘category of stabilization technology from others is thatthe platform that carries the payload is being stabilized and "ecred in inertial space. U.S. Pat. No, 4,796,090 to Fraice provides a detailed description ofthe nee for platform sta- bilization in long range, high esolution, surveillance systems ‘combines! with the benefit of reduced integration times 10003] Various technologies for compensating. for the movement of the structure carrying a sensor payload are known, each with drawbacks and limitations. 0004) | One approach forimage-capturing payloads such as ‘camera systems is to ty to digitally stabilize the image eap= tured by the payload, rather than stabilizing the payload itself US. Patent Application Publication No. 20120019660 in the name of Golan describes the use of sequential image analysis, digital windowing and pixel sifting techniques a a means of digitally stabilizing the image and then further ‘computing camers maneuvering signals o steer a coarse pan tlt gimbal system. U.S. Pat. No. 7,876,359 10 VooFlowww describes a similar digital stabilization technique, and US, Pat, No. 6.720.994 to Grottodden eta. describes a technique for adjusting the sample time between individval lines of pixels onthe detector array asthe image is captured, Theisste ‘with these digital stabilization techniques is that nothing is done to compensate fr the motion of the payloads line of siaht during the intewration time period of the pixels that make up the iage, This may result ia motion-babed blur ia the captured image, 10005) Other approaches seek to actually stabilize the pay- Joad relative to the supporting structure by stabilizing the platform that caries dae payload. Within this “platform sts bilization system” category there are passive and active sys tems. One example of a passive stabilization system is the STEADICAME system described in US, Pat. Nos. 4017, 168 and 4,156,512 to Brown and US. Pat No. $435,515 0 DiGiulio & al. Another passive system is described in US. Pat, No. 5.243.370 o Slater. However, most platform stabil zation systems make use of servomotors, inertial sensors, and ‘control system to augment the inheret inertia of the plat- form and are thus termed active systems. 0006} -Plafonm stabilization systems were intially devel- ‘oped to mount navigation instruments on moving vehicles Jun. 25, 2015 sels ships and sirerafl. Gyro compasses and vertical gyros, suelias aught by U.S. Pat, No.2,551,069,0 Swother etal. are carly examples of platform stabilization systems. Fventualy Photogrphic cameras were mounted of these stable plat- orm to emove the unwanted motion ofthe vehicles ring the acquisition ofthe image, for example as taught by US. Pat, No, 2,490,628 to Isseried, U.S, Pat, No, 2,523,267 to Aschenbrenner etal, US. Pat, No. 2,883,863 to Karsten ot a, U'S. Pat, No, 3,060,824 to Brenner etal. and US, Pa, No, 3,775,656 to Romans. Motion picture cameras, however, ‘required more than just stability during the image acquisition; they also needled smooth stering control between the images. [0007] New isolation mounts, such a those taught by US. Pat, No. 2,506,095 to Mantz, were developed 10 allow the camera to be manually steered while attenuating some ofthe vehicle vibration. Fixed gyros were added tothe eameras 10 Turther improve stability and smoothness of steering. The ‘eamera operator typically satin the open doorway of a heli copier withthe camera, attached to an isolation mount with fixed gyros adding stability, placed aver one shoulder. The ‘camera operator Would carefully coordinate with the plot to steer the camera. This obviously made it quite dificult 10 Tame the subject of the movie shot and achieve visually pleasing camera control [0008] In the late 1960s, Westinghouse Canada developed the WESCAME platform stabilization system to. address these issues, This Was the first commercially available gym stabilized, remotely stored camera system and ithe subject Of US. Pat, No. 4638,802 to Leavitt et al. This ype of stabilization technology relies on the angular momentam ‘zencnited in three orthogonal, ange mechanical rate gyro- ‘Scopes (aimbaled ywhesls) to augment the natural ineria oF ‘thecamer platform, This artificial mass or sytbetie inertia is ‘used passively to maintain a slightly pendulous stable plat- orm, with the payload (a eamera) being steered relative to that stabilized platform, An active serv system then ses the angular rates measured by the precession of the gyros 10 feancel any disturbances using servomotors. A dome enclo- sure keeps the wind and weather out and an internal passive vibration isolation system minimizes the vibration input t9 the system, [0009] The prior at for active platform stabilization toch= ology can be classified into four general types or “gener- tions”: gyro stabilized systems (lst generation), classical active pimbal systems (second generation), limited travel — active follow-up systems third. generation) and uncon- Stimined actuator active follow-up systems (ourth gener tion). Within each generation there may be subtle differences in the implementation methods and udiantages, however, the basie techniques are the same. The original WESC AM® pat orm stabilization system technology described in U.S, Pat. [No. 3,638,502 is classified as first generation platform stab Tizaton technology. It was further refined and a vertically slaved window was added, as described in US. Pat. No. 4,821,048 to Leavitt, to improve the optical performance of the system. Other frst generation platform stabilization sys- tems ae deseribad in U.S, Pat, No, 4,989,466 to Goodman and U.S. Pat Nos. 5,184,521 and 5,995,758 to Tyler. While the first generation platform stabilization systems achieved significant stability they suffered from poor string band- ‘Width, which made them incompatible with video-trackers And required a highly skilled operator to compensate for this oor stering performance,US 2015/0176752 Al [0010] A second generation of active platform stabilization technology was developed 10 adress the poor steering per- Tormanee of the early frst generation platform stabilization systems, These second gencration platform stabilization sys- referred to a “classical ative gimbal systems”, inter- pose a plurality of gimbals between the structure and the platform and close rate loops directly about each gimbal axis. Inertial rte sensors, such as small mechanical sensing gyros, are used to sense angular rates of the platform relative 10 inertial space, These ates ae summed with the steering com ‘mands to stabilize and steer each axis. U.S. Pat, No. 3986, (0920 Tijsma cal, US. Pat. No. 5,868,031 to Kokush etal US. Pat, No. 6,396,235 to Ellington et al, US. Pat. No. 7,000,883 to Mereadal et al, USS. Pat. No. 8,100,591 to ‘Chapman et al- and US. Pat. No. 8,564,499 to Bateman et al, are all examples of classical active gimbal systems. While ‘each patent document describes subly different methods and advantages, they all use a system of gimbals 10 support 2 platform, while closing rate loops directly about each gimbal xis using inertial rate sensors, The actuator can be either @ directdrve or geared motor. The use ofa geared aetator ‘vill increase coupling forces substantially, introduce back Jash, and limit the steering bandwidth of the system. The structure between each successive gimbal axis is subjected to the high fequeney torques ofthe aetwators. Compliance in this construiatstnicture will mit the band ofthe on- teol system, For this reason, classical active gimbal systems ‘are generally incapable of high bandwidth performance with, large payloads. U.S. Pa. No. 6,198,452 to Bebeler presents “analtemate, nonorthogonal, gimbal geometry fora classical active gimbal system, and US. Pat No, 6,609,037 to Bless et al describes a control system fora classical gimbal system that uses rate feedback and feed-forward contol loops com- bined with postion feedback and feed-forward control loops foreach axis to further improve thestcring performance. The ‘classical active gimbal system was improved by the addition ‘ofan independent oer gimbal inthe form of a dome enelo- sure with a vertically slaved window as described in US. Pat. No, 4,821,043 noted above and a passive isolator interposed between the dome andthe inner platform stabilization sys- ‘em. The friction from the large gimbal bearings and motor brushes, combined with the strutuzal esonanees ofthe gi- bal constraint system, limited the achievable stabilization performance a this system. [0011] In order to further improve platlorm stability over that achieved by classical ative gimbal systems a third pen- ‘eration of active platform stabilization system was developed, I usce a higher bandwidh, limited travel inner gimbal ‘mounted ona passiveisolator, which inturn ismountedon the final stage of low bandh, large trvel outer follow-up ‘gimbal system. As such, this type of platorm stabilization system is refered to a8 “limited travel_—active follow-up” system. The inner gimbal provides the high bandwidth sab Tizationand fine stering performance, whlethe outer gimbal provides the coarse steering over a large field of regard. The Inner gimbal uses high performance, direct deve aetuators and the outer gimbal uses geared actuators. The igh fre- ‘quency torques ate, however, stil applied through the inner ‘gimbals constraining structure, but the inner gimbals” bear- {ngs are mich smaller and the motoes are typically broshess. While with smaller payloads, and with the use of fibre-optic ys, the subilization performance of this type of inner! ‘ter gimbal system is satisfactory with large payload the ‘compliance ofthe lane gimbal ring structure limits the band Jun. 25, 2015 ‘width of the stabilization system. USS. Pateat Application Publication No, 2010/0171377AL inthe name of Aicher et. ‘and US. Pat. No, 8,385,065 to Weaver et al, are recent ‘examples of “limited irvel active follow-up” platform sta- bilization systems [0012] To.address the bandwidth limitations caused by the structural resonances ofthe constraint system inthe “Timited travel-—active follow-up” platform stabilization system, a fourth generation of active platform stabilization system was developed, This type of system, referred to herein as an “unconstrained actuator—aetive follow-up” system, avoids the bandwidth limitation of the “Tmited travelactive fol Jow-up" system by wing a prooess of torguing seross the cconsrsining structure instead of through it. The high fhe- ‘quency torques are appliod directly from the outer gimbal 10 the platform. Combined with a high performance fbre-optie- yro-based inertial measurement uit, this system raised the Steering bandwidth significantly while maintsining stability Examples of “limited travel—actve follow-up” platform st bilization systems are described in US. Pat. Nos. 4,033,541 and 4,498,088 to Malueg, US. Pat. No. 4828,376 0 Padera, US. Pat. No. 5,368,271 to Kiunke etal, US. Pat. No. 5897, 228 w Trtchew ota, U.S. Pat. No. 6,196.14 t KienholZ US. Pat. No, 6,263,160 wo Lewis, U.S, Pa, Nos. 654,229 and 6,484,978 to Voigt eta ane U.S. Pat No. 6,849,980 10 ‘Voigt etal. While each patent deseribessubly dierent meth- ods and advantages, they al: 0013] use a system of intervening gimbals to support a platformon suppor frame, whilethe gimbals constrain the platorm’s motion to Iimited rotation in three axes 0014} use an array of woive coil actuators which are ‘configured to apply torques aceoss, rather than through, the gimbal constraint sytem semetimes across the gin bal and the isolator aray in series); and 0015] use an array of angular, inetal sensors to drive the voice col motors to stabilize and ster the platform and thereby control the payloads Hine of sight [0016] Analterte non-orthogonal, inner gimbal eonfigu- ‘ation is presented in U.S. Put. No. 4.733,839 to Gebris. The Timited space available berwcen the shells arounel the pivots stiggests its intended use as either a “ree gimbal”, missile seeker head, or unconstained sctuator—active follow-up platorm stabilization system, [017] ‘The primary problems with the curent state of the arin aetve platform stabilization technology are cost, com- plexity, an reliability. The eomplex mechanical gimbal sys- ‘ems ofthe existing technologies are dominated by recurring casts, These include tight machining tolerances for hearing interlace, the need for complex inspection and testing, pre cise alignment and preload af gimbal bearings during assem- bly and ongoing inspection and maintenance. SUMMARY, [0018] ‘The present disclosure describes platfoam isolation systems in which an isolation array supports the platform celly within the support frame, without thewseofinterven- ing gimbals, rings or other rotational constrains, to provide linear isolation while pemnitting the platform to rotate relative to the suppor frame, [0019] A platlorm stabtization system for isolating a pay Joad fom motion of a supporting structure comprises a sup- port frame, a platform for carrying a payload, and a plurality ff isolators cach extending directly between the support tame and the platform, Bach isolator permits linear move-US 2015/0176752 Al ‘ment ofthe platform relative tothe support frame with three degrees of freedom and cach isolalor permits rotational ‘movement of te platform relative to the support frame With three degrees of freedom, The isolators cooperate to form aa ‘isolation array supporting the platform directly within the support frame and the isolation aray spaces the pltfonm from the support frame, The isolation aray permits Fimited linear movement ofthe platform relative tothe suppor frame ‘with three degrees of freedom along thece omhogonal plat orm axes and the isolation array permits limited rotational movement of the platform relative to the suppoet frame with three degres of freedom about the thee platform axes. The ‘isolation arey is substantially more resistant to linear move- ‘ment of the platform relative to the support frame than to rotational movement ofthe platform relative to the support ‘ame ad the platform i not rotationally constrained by the Jsolation ary. 10020) _Proferably, the isolation array has an undamped natural fequeney for Hinear movernent of the platform along the platform axes that is a least two times the undamped natural frequency’ for rotational movement ofthe platon about the platform axes. More preferably, theundamped nati- ral frequency for linear movement of the platform along the platform axes is at least three times the uadamped natural Jrequeney for rotational movement ofthe platform about the platform axes. Still more preferably the uadamped natural Frequency for linear movement of the platform along the platform axes is at least Five times the undamped natural Frequency for rotational movement of the platform abour the platform axes, and even more preferably the undamped nat- ral frequency for linear movement of the platform along the platform axes is at least ten times the undamped natural Frequency for rotational movement of the platform about the platform axes. 10021] -Inone embodiment, each isolator comprises atleast ‘one compression spring having a respective spring axis, and ‘o form the isolation amay, the compression springs. are srranged with thir respective spring axes radiating outward substantially om a eommon point within the platform, with the common point being the centroid of mass ofthe platform, andthe compression springs are axially preloaded to produce ‘Jw lateral spring rate. In one particular embodiment, the isolation array comprises eight compression springs arranged substantially at comers of a notional cube and the common Point i a centroid ofthe notional cube. In another particular ‘embodiment, the isolation aray comprises atleast one array ‘of four compression springs arranged substantially at comers ‘of a notional regular tetrahedron and the common poiat is & ‘centroid ofthe notional regular tetrahedron, In yet another particular embodinent, the isolation army comprises six ‘compression springs radiating outward from a centroid of 3 notional cube substantially through centroids ofthe six faces ‘of the notional cube, 10022] In cern embodiments, the isolation array com- prises asymmetrical anay of compression springs. 10023] Where compression springs are used fo isolators, the compression springs are preferably machined, mista helical compression springs 0024} In another embodiment, ech isolator comprises @ Aexural pivot clement, Each flexural pivot element may eon - prise three single-ais flexural pivots arranged in series with ‘each flexural pivot having pivot axis. Foreach flexural pivot ‘element, the pivot axes of each Hexural pivot subs ‘meet ata centroid of mass ofthe platform snd the Jun. 25, 2015 aay to form the isolation pivot element is of monolithic eonstuetion, [0025] In a further embodiment, each isolator is a dia- phragm-based isolator. Each diaphragm-based isolator may ‘comprise two opposed diaphram, a fist housing earid by the suppor frame, a second housing carried by the platform, with each housing having @ digphrgm receptacle defined therein and the diaphragm receptacles being apposed to one ‘another. Fach diaphragm is supported at its periphery by one ‘ofthe housings and extends across the diaphragm receptacle ofthat housing so that foreach isolator, one ofthe dgphragms js coupled to the support frame and the ether diaphragm is coupled to the platfom. The digphragms are coupled to one another by a torsional flexure element extending between radial centers of the diaphragms. The torsional flexure ele- ‘ment is preferably axially resilient, and may be a helical speing. The diaphrapms may be, for example, molded easto- ‘eric structures or metal bellopiragm stroctures, Each dia- phragm-based isolator may futher comprise stop caried by the torsional flexure element to limit lateral travel of the torsional exure element, [0026] In one particular embodiment, each diaphragm is Auid-impeemeable and each housing cooperates with its respective diaphragm to form a damping reservoir, with each damping reservoir being in flvid communication with respoctive sink reservoir lor damping axial movement ofthe respective diaphragm by displacing damping fluid from the respoctive damping reservoir io the respective sink reservoir, In a panicular implementation of this embodiment, each housing cooperates with its respective diaphragm to form an enelosure and a divider extends across each enclosure t0 ‘divide the respective enclonure into the damping reservoirand the sink reservoir, with each damping reservoir being in vid ‘communication with the respective sink reservoir through at Teast one orifice i the respective divider [0027] The platform stabilization system preferably further ‘comprises an etve drive system acting directly between the support frame and te platform and control system coupled to the active drive system for receiving sensor input and ‘controling the ative drive system in response tothe sensor ‘input, The control system may use the sensor inp to control the active drive system for stable motion of the platorm andr to control the active drivesystem foraetivedampingof the platform, [0028] In one embodiment, the active drive system com: prises an array of at least three magnetic voice coi semators. Each magnetic voice coil actuator comprises a ist portion catred by the support frame and a second portion carted by the platrm, Exch magnetic voige coil actuator acts direetly between the support frame and the platform to apply’ first platform positioning force tothe platonn along a frst motor fxs and apply a second platform positioning force to the platform along a second motor axis while permitting free Tinear movement ofthe plato along. a third motor axis and ermiting fre rotation ofthe platform about the three motor axes, with the first, second and third motor axes being sub- stantially othogonzlt one another. The magnetic woice cil ‘actuators ae arranged relative to the platform for selectively Ariving linear movement of the platform relative to the sup- port frame along the platform axes and for selectively driving ‘lation the platform relative athe suppor frame about the platform axes, andthe control system cantrols energization of the voice coil actuators to apply controlled moments andUS 2015/0176752 Al Finear forces tothe platform, In one particular embodiment, ‘active drive system comprises four magnetic voice coil ‘setustors arranged approximately 90 deprees apart on the circumference of a notional cigcle 10029] In another embodiment, the active drive system ‘comprises an any of atleast six magnetic voiee eo actu tors. Each mugnetie voioe coil actuslor comprises fst por- tion carried by the suppor frame anda second portion carried by the platform. Each magnetic voice coil actuator acts thus, the ‘undamped natural sregueney for linear movement along the platlorm axes X.Y and Z, is at least ten times the ‘ndamped natural Trequency for rotational movement ofthe platform about the platform axes X.Y and Z,. These are ‘Suitable charaetersties for an airborne platform stabilization system. [0089] As can be seen in FIG. 1, the isolators 120 each extend directly between the support frame 102 andthe plat- orm 104, which includes the for mounting strctures 18 As noted above, while the platform andthe support stuctore ‘may include features for mounting the isolators, such as the ‘mounting structures 108 and the mounting projections 128, ‘these components form partof the platform and support struc ture, and moreover do not constrain the motion of the pat form. [090] As bestscenin PIG. 6balthough also shown in PIG. 1, in the exemplary illustrated embodiment the mounting sfructures 108 each have opposed outwardly extending fin- ers 126 and the support frame 102 includes four ses of ‘opposed outwardly extending mounting projections 128 each spaced 90 degrees apart. When the platform stabilization system 100 is assembled, the fingers 126 on dhe mounting structures 108 and the mounting projections 128 ae inrep- {station with one another so that there are opposed pairs oF fingers 126 and mounting projections 128 arranged! at 50 degree intervals on either side ofthe spot frame 102. The fingers 126 and the mounting projections 128 cach have @ respective reess for receiving an end of one ofthe isolatorsUS 2015/0176752 Al 120, with the recesses opposed fo one another, and eae isolator 120 extends between a respective finger 126 and ‘mounting projection 128 and thus directly between the sup- port frase 102 and the platforms 104 10091} The exemplary isolation array 124, as well as the ‘ther exemplary isolation arrays described further below, serve a dual ole in providing passive liner isolation with three degrees of freedom while also functioning asa three ‘degree of Frecdom flex pivot in the platform stabilization system. [0092] The role of passive isolation in platform stabil tion systems i to amtenate the vibration input to the system, thus reicing the workload on the control system. The pr pose of damping inthe passive isolators to limit the dynamic amplification at resonance (see FIG. 7, discussed below). Mechanical damping techniques work aross all frequencies snd create coupling forces that can distur the payload’ line ‘of sight. Active damping can make use ofthe control system to apply damping using the “sky hook” tehnigue, which is ‘well Known in the art, US, Pat. No 3,606,233 10 Scharton et al, US. Pat No. 4$31,699 to Pinson and U.S. Patent Appi- ‘calion Publication No, 2008/01S8371 A inthe name of Tres ‘ott are examples of active damping of passive isolator. 10093]. Tradiional mechanical damping is unsuitable for the isolation ara’ deseribed herein ecase damping across the rotational pivot should be avoided and he isolation arays “described herein extend directly between the platform and the support structure: there is no gimbal system in series 10 ‘decouple the platform rotationally from the damping. AS 3 result, it would be difficult to apply mechanical damping 0 the linear motion of the platform without also applying itt the rotational motion, and rotational damping weld couple ,cam beobsind The con system shen sche rtialy st 430 in FG. 85, controls energization ofthe Inet vice cel actors $44B to apy the contlled ‘moments and near foes othe pte [0114] FIG. Se shows the arrangement of an exemplary tetve drive system S49C comprising an ara ofthe arismognetc voice coach S44 Fach magnetic wise coilactuator S44 nets betwen the support am (nt shown Sn FIG. 8°) and th platform (nt shown in FG. 80) 0 ap Ae plato positioning fre tothe platform along rst ‘motors M, and apply second pte positioning force {0 the plafrin longa vocond motor ais Mi wl pe ‘ing lee linear moverent ofthe patorm long tind motor {xb My and pemiting fee ean ofthe plato abet the three mtr axes Mi, Ma Mg. which ore substantially tthogonal tae notre magnetic vice coi actors $44 are aranged relative tothe plato for sslotvely diving linear movement of the platform lave to he sp port fame along the plato anes Kp ¥y and Zp the Piso and for selectively diving rationUS 2015/0176752 Al relative to the support frame about the platform axes Xp. Ye sand Z,. In particular, it ean be seen in FIG. Se that ifthe same ‘oil S44CAL on al ofthe magnetic voiee eo actuators S44C were energized with the same polarity of curren, the com- bined force veetor would be along the platform axis X,(par- allel tothe motoraxis M, of each magnetie voice coil actuator S440). However, i the polarity of the current in the coil SHICAL of the lower magnetic voice coil actustor S44C (lower letof FIG. 5) were reversed anlthecurrentin the coil S44CAI on the right side of FIG. Se were 270, the combined Jorces would producea moment about the platform axis. 1 the upper and lower magnetie voice coil actuators S44C (lll side of FIG. Sc) were energized to produce a unit force along their motoraxes My and the third magnetic voiee coi actuator S44C (right side of FIG. Se) were to have the opposite polar ity, and be energized to produce a force of two units, they ‘would produce a moment about platform axis Z,-Varying the ‘magnitude and direction of the current in the cols S44C AL, S44CA2 allows contol in sixdegrees of freedom. Thecontrol system S40 controls energization ofthe voice coil atuators ‘oapply controlled momentsand linear forces totheplatform. 10115] In the exemplary platform stabilization system 100 shown in FIGS. 1 to Se, Sa, and 8, the isolators have taken the form of compression springs 120, This is merely one ‘exemplary type of isolator ancl other types of isolators ean also e used to build platform stabilization system accont- ing tothe teachings ofthe present disclose [0116] FIG. 4eshovs exemplary isolators 420 which take the form of a three-exis flexiral pivot elements 420C com prising three singleasis flexural pivots 422C arranged ia Series, with the flexural pivots 422C separated from one ‘another by spacing members 430C. Fach flexural pivot 422C has a respective pivot axis 432C, and these pivot axes 432C substantially inerset at @ common point P within the plat- orm (not shown in FIG. de). The Mlexural pivot elements 420€ are preferably of monolithic constretion and the sac= jing members 430C may be designed to produce the desired ratio of nea o rotational stiffness when used inan isolation may, for example as shown in FIG. de. [0117] _ FIG. de shows an exemplary symmetrical isolation array 424C comprising a plurality of three-axis exural pivot ‘element isolators 420C each extending dicectly between 3 support frame 402C anda platform 404C. Although the flex- tural pivots 422C that make up the isolators 420C are not symmetrical, the isolation ary 424C is symmetrical [0118], The support frame 402C includes a plurality of ‘mounting projections 428C andthe platform 404C includes a plurality of outwardly extending fingers 426C, and each lex- Ural pivot element isolator 420C extends between a respective finger 426C and mounting projection 428C. In the iivstrated ‘embodiment, the flexural pivot element isolators 420C are frranged at the verices of a notional tetrahedron T; other ‘embodiments may use other arrangements, suchas having the flexural pivot element isolators 420C arranged atthe vertices ‘ofa notional cube analogously to the arrangement show EIG. 4A. The three pivot axes 432C of each of the flexural pivot elements 420C substantially intersect at the same com- ‘on point P within the platform 404C; thas in FIG. 4 there are four flexural pivot elements 420C each having three pivot axes 482C foratotal of twelve pivotaxes.432C. andall twelve pivot axes 432C substantially meet at thesame common point The common point Ps the centroid of mass of the pltfonm 404. Jun. 25, 2015 {0119} Each flexural pivot clement isolator 420€ permits linear soverent of the platform 404C relative tothe support frame 402C with dw depres of feo and also permits rotational movemeat of the platform 404C relative to the Support fame 402C with tree depres of resdom, The Nex- {al pivot element isolators 4200 cooperate to form tn at tude-independent isolation aray 424C supporting the plat orm 404C directly within the support frame 402C and spicing the platform 404 rom the oppor frame 402C. As ‘iththeisolation array 124 wring campresion springs 12038 Jsolators the isolation aay 424C using flexural pivot ele ‘eal isoltors 420 permits limited linear movement ofthe Platform 404C relative tothe suppor frame 402C ith three gree of freedom and permis limited rotational movement othe latonn 404C relative othe suppor frame 402C with theoe degrees of fecedons, and is substally more resistant to linear movement ofthe platform 404C relative to the sup or Trae AU2C than to roatonal movement ofthe plator 4404C relative to the support frame 402C. Although te flex- wall pivots 422C may be considered to be rotations con- Strains, the platform 404C fs not rotationally consrsned by {he exemplary evra pivot element isolators 420€ or by the exemplary soaton ery 424 (soe FIG. 4) formed bythe Flexural pivot element scars 20: [0120] FIG. 4dshows yetanotherexemplary configuration {oran isolator. in this ease a daphragm-based isolator 200. ‘The exemplary diaphgm-based isolator 420D further com- prises first and second holo, open-ended genealyeylin- cal housings 40D. with coc housing having a diapiraan ‘weoptacle 431D defined therein. Tho housings 4300 are ranged so hat the diaphram receptacles 481D are opposed ‘© ope another. The diaphragm-based isolator 4200 foriner comprises tho oppesed substantially intial generally et cular diaphragms 482D, with each diaphragm 432D sup- Ported at is periphery 438D by one te housings 80D and {Extending actos the diaphragm recepacle 431D ofthat hous ng 430D, The diaphragms 482D are coupled to one another bya torsional Rexare clement 434D extending been rail ecaers438D of he diaphragms 432D. Thus the daphrogn- sed islator 4200 is an example of multiple olin ele as coupled to one anaer to actin concert When Used in an isolation aray. Tor example the isolation aay 424D shown in FIG. 4 one of the housings 430D is coupled othe Suppor frame 4021 and he other hosing 4300 iseoupled to the platiorm 404D, soc that foreach isolator 420D, one of tho diaphragms 432D is coupled othe soppor frame 4020 aun the other daphrogm 432D is coupled to the platform 4404D- In the lsat embodienet the dioprogms 4320 ‘re metal structures in the form of conceatiealy bed bel Topline in ther embodiments 8 spol sroctare, clack spring srvtur or moldedeestomeric structure may be sed ‘Thetorsional Mesure clement AMD isprelerably sally i jent ands long enough to cause the deste ratio of ail to Into fies. In some embodiments the torsional oxure element 434D may comprise a helical spring. Although ce tain types of lexis cements may be comsiderd to be ‘otational constant acting between the diaphms the plat {orm 404D isnot rotomlly constrained by the excaplary diaphragmn-based isolators 420D orby the exeuplary ola tion army 4240 (sce FIG. 4 formed by the diphra-hased fsoltars 4200. {0121} Ine illustrated embodiment, the torsional exure clement 434D caries a stop 436D to lint ater] travel a the ‘Gaphragm-based isolator 420D. The exemplary sop 436DUS 2015/0176752 Al shown in FIG. 4d takes the form of disk, and during lateral ‘motion the disk-shaped stop 436D wil tip until tcontacts the ‘edges 437D of the housings 430D, thereby arestng further Jateral travel of the diplinign-based isolator 420D. 10122] In the exemplary embodiment shown in FIG. 4d, ‘each diaphragm 4820 is fuiceimpermeable, and each hous Jing 480D cooperates with is respective diapiragm 4320 19 orm a damping resenvir 4380, Each damping reservoir “438D is in id commtnicaion with respective sink reser- voir 439D for damping axial movement of the respective diaphragm 432D by displacing damping fhid from the respective damping reservoir 438D to the respective sink reservoir 439D. More particularly, in the illustrated embodi- ment each housing 430D cooperates with its respective dia- Phragm 4321) to form an enclosure 41. flanged fisto- ‘Conical divider 443D extends across eich enclosure 441D to divide the respective enclosure 441D into the damping reser- voir 438D and the sink reservoir 439D. Fach damping reser- voir 438D is in ud communication withthe respective sink reservoir 439D through an office 449D in the center of the respective divider 449D. The damping reservoirs 438D can be filed with suitable uid, such ail, which wil be freed through the arifice 49D in thecenteraf the respective divider “4430 into the sink reservoir 489D by axial movement atthe ‘center ofthe diaphragm 432D so as to produce a damping Tore that is proportional fo tho velocity ofthe axial move- ‘ment only. Because the volume change in the eavity wonld be ‘ery small daring lateral movement, the lteral damping in the element for lateral motion world be minim. The flange 44S of each divider 43D and the periphery 44D of each diaphragm 432D are received ina respective annular recess 447D on the inside surface of the respective housing 420, 10123] "Although the exemplary diaphragm-based isolators 4200 provide passive damping by displacing fivid through the office 449D they may be modified to provide active ‘damping by using an actuator to control the area ofthe orifice ‘or by controlling the viscosity af the Mid in the region of the orifice by using an electrical coil atthe orifice and using a Suitable ferroflid as dhe damping Dui, 10124] FIG. 3dshowsa simplified mathematical model 320 ora diaphragm-based isolator such s the exemplary isolator 420. The mathematical models formed from bo opposed ‘open-ended housings 330 each having a disphragm 332 ‘extending aeross the open end, withthe diaphragms being Joined at thie centers by 2 torsional flexure element 334, In the simplified mathematical model 320 for 2 diaphragm- based isolator: [0125] K,,, is the axial spring rate ofthe diaphrays [0126] Ky is the lateral spring ate of the diaphragm, [0127] Ky, isthe moment spring rate ofthe diaphragm: [otas} Rcvieshetosonal pring at ofthe igh: 10129] K, pis the axial spring rate of the torsional flexure {0180 Kris the xn srng ate of the toma ere {nia} Kr itbtonding ring ofan xe {013 Kites pring ae fh sn x {0133 sth ngh ofthe sons exe lament Inthe simplified mathematical model 320 in FIG. 3: 10134] Lateral stiffness is dominated by 2 Ky, Lz 10135] Torsional stitiaess is dominated by Ky and 10136) Reference is now made to FIG. 4f which shows ‘exemplary isolation amray 424D comprising @ plurality of Jun. 25, 2015 iaphragm-based isolators 420D each extending directly between # support frame 402D and a platform 404D. Sim larly o the embodiment shown in FIG. 4 employing flexural pivot element isolators 420C, in the embodiment shown ia FIG. the dignhragm-based isolators 420D are aeranged at the vertices of & notional tezubesion T so as to radiate ou ‘ward from the centroid of mass ofthe platform 404D; other cmbodinients may uke other arrangements, For example, the ‘iaphragm-based isolators 4200 may be arranged atthe ver- tices of # notional cube analogously to the arrangement shown in FIG. 44. [0137] Each of the digphrapm-based isolators 420D per- ‘mits linear movement ofthe plationm 4041) relative to the support frame 402D with three degrees of Irecdom and also permits rotational movement ofthe platform 4041 relative 10 the support frame 402D with tree degrees of freedoms, The aphragm-based isolators 420D therefore cooperate to form ‘an attitude-independen isolation array 424D supporting the platform 44D directly within the support frame 402 while Spacing the platform 4040 from the support Fame 402C. The isolation array 424D permis limited linear movement ofthe platform 404D relative to te support frame 402D with three ‘degrees of freedom and permis limited rotational movement ‘ofthe platform 4040 relative tothe suppor frame 402D with three degrees freedom. Theeonstraction and positioning oF the digphrigm-based isolators 420D makes the isolation array 4240 substantially more resistant to linear movement oF the platonn 404 relative tothe support frame 402D than to rlslional movement of the platform 4041) relative to the support fame 4020, [0138] _Anisolation array comprising lexural pivot clement Isolators, sueh as the isolation array 424C in FIG. 4e, or an isolation aay comprising diapbragm-hased isolators, such asthe isolation array 424D in FG. 4, may be combined with ‘an active drive system and control system, such as the active rive systems 140, 5408, S40 shown in FIGS, Sa, Shand Se, respectively an the control system 142 shown in FIG. & [0139] The exemplary systems described above are exem- plary implementaions of a method for isolating a payload {rom motion of a supporting structure, This method com- prises permitting limited Tinear movement of the platform relative to the support frame with three degres of freedom ‘long three orthogonal plato axes and permitting limited rotational movement ofthe platform relative to the support ame with thre degrees of freedom about the tree platlons axes while providing substantially greater resistance linear ‘movement ofthe platform relative to the support frame tanto rotational movement ofthe platform relative to the support frame, without rotationally constraining the platform, [0140] Aspects of the present technology have been ‘eseribed above with reference to a block diagram (FIG. 8) showing methods, apparatus (systems) and eompster pro- gram produets according to various embodiments. In this reyard, the block diggram in FIG. & illustrates the architec ‘ure, functionality and operation of possible implementatio ‘ofsystems, methods and computer program preducts accord ing to various embodiments of the present technology. For instance, each block in the block diagram may’ represent a ‘mest, segment, oF portion ofeade, which comprises one oF ‘mone excetabe instructions for implementing the specified Jogical function(s). Iewll also be noted that each lock of the block diagmam, and combinations af blacks inthe Boek dia- ram, can be implemented by special purpose hardwareUS 2015/0176752 Al based systems that perform the specified fnetions or aes, oF ‘combinations of special purpose hardware and computes instructions [0141] It also will be understood that each block of the block diagram, and combinations of block inthe block dae gram, can be implemented by computer program nsinictions. These computer program instructions may be provided to 3 processor of @ general purpose computer, special purpose ‘compute, or other programmable data process to produce a machine, such that the instruct ‘execute via the processor ofthe compute or other program: able data processing epparais, create means for imple- ‘menting the untionsets specified inthe block disuram, {0142} ‘These computer program instructions may’also be sored in a computer readable mediuin that ean direct a com- puter, other programmable data processing apparatus, oF ‘other devices to unetion in particular manner, sch tat the Instructions storedin the computer readable medium produce ‘anarticle of manufacture ineluding instructions which imple~ ment he function/act specified in the block diagram block or blocks. The computer program instructions may also be Joaded onto computer, other programmable dats processing ‘apparatus, oF other devices Wo cause a series of operational steps tobe performest on the computer, ler programmable apparatus or other deviees to produce a computer imple- micnted process such thatthe istrictions which exceute on the computer or other programmable apparatus provide pro- ‘cesses for implementing the functions/acts specified in the block diagram blook, [0143] An illosirative computer system in respect of whieh the methods herein described may be implemented is pre- sented asa block diagram in FIG. 10. The illustrative com- puersystem is denoted generally by eference numeral 1000 and includes a display 1002, input doviees in the form of keyboard 1004, and pointing device 10042, computer 1006 and extemal devices 1008, While pointing device LO04B is ‘depicted as a mouse, it wil be appreciated that other types of Pointing device, oa touch-screen display, may als be usd. [0144] The computer 1006 may contain one oF more pro- ‘essors or microprocessors, sch ssa cental processing unit (CPU) 1010, The CPL 1010 periomsarithmetie calculations and control functions to execite software stored in an internal memory 1012, preferably random access memory (RAM) andor read only memory (ROM), and possibly additional ‘memory 1014, Theadditional memory 1014 may include, for ‘example, mass memory storage, harddisk drives, optical disk drives Gnehuding CD and DVD drives), magnetic disk dives, magnetic tape drives (including LTO, DLT, DAT and DCC) flash drives, program cartridges and cartridge interfaces seh 1s those found in video game deviees, removable memory chips such as EPROM or PROM, emerging storage medi, such as holographic storage, or similar stonige media as known in the art. This additional memory 1014 may be physic cally internal tothe computer 1006, or external as shown in FIG. 10, or both. [0145] The computer system 1000 may also include other similar means for allowing computer programs or other instructions to be loaded, Such means ean include, for ‘example, 2 communications interece 1016 which allows software and data to be transferred hetwoen the computer system 1000 andextemal systemsand networks. Pxamplesof ‘communications interface 1016 can include a modem, a net- ‘work interface such as an Fuhernet card, a wireless comm nication interface or serial or parallel communications port. Jun. 25, 2015 Sortware and dats transferred via communications interface 1016 are in the form of signals which can be electronic acoustic, electromagnetic, optical o other signals epable of being received by communications interface 1016. Muliple interiaes, of course, can be provided on a single computer system 1000. [0146] Input and output w and from the computer 1006 is administered by the inpuvoutpat (VO) interlace 1018. This VO interface 1018 adaiaisters contol ofthe display’ 1002, keyboard 1004, extemal devices 1008 and other such com ponents ofthe computer system 1000, 2s well as input from ‘various sensors. The compiser 1006 also includes a graphical processing unit (GPU) 1020. The latter may also be used for ‘computational purposes as an adjunet to, or instead of, the (CPU) 1010, for mathematical calculations. [0147] The various components of the computer system 1000 are coupled to one another either directly orby coupling {o suitable buses. Iwill be appreciated that a computer sys- fem used for @ contol system for a platform stabilization system as deseribed herein. may omit some of the abowe- eseribed components [0148] The term “computer system”, a used herein, i not limited to any paricsla type of computer system and encom- passes servers, desktop computers, laptop computers, net ‘worked mobile wireless telecomminication computing devices such as smartphones, tablet computers, as Well as other types of computer systems. 0149} As will be appreciated by one skilled in the an, aspects ofthe technology described herein may be embodied asa system, method or computer program product. Accord ingly, aspects of the technology deseribed herein may take the form of an entirely hardware embodiment, an entirely soft ‘ware embodiment (including firmware, resident software :micro-code, etc. )or an embodiment combining software and Dbardware aspects that may all penerally be referred to here asa “eieuit! “module” or"system” Furthemnore, aspects the presently described technology may take the form of a ‘computer program product embodied in one or more com- puter readable medium(s) carrying computer readable pro- fram code. [0150] Where aspects of the technology deseribed herein fre implemented as a computer program product, any com- bination of one ormore computer readable mediums) may be utilized, The eomputer readable medium may’ hea computer readable signal medium or a computer readable storage seium. 8 computer readable storize medi may be, Tor ‘example, but not limited to an electronic, magnetic, optical, cleciromagnetic, infrared, or semiconductor system, appari. {us, or device, of any suitable combination of te forewoing. ‘More specific examples (a non-exhaustive Hist) of the com. puter readable storage medium would include the following: ‘an electrical connection having one or more wires, a portable computer diskette, 2 hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable program- ‘able read-only memory (EPROM or Flash memory), an ‘optical fiber, a portable compact dise read-only memory (CD- ROM), an optical storage deviee, a magnetic storage deview, ‘any suitable combination ofthe foregoing, Inthe contextor this document, « computer readable storage medium may be ‘any tangible medium that can contain, or store program for tse by or in connection with an instruction exocution system, apparatus, or device. Thus, computer readable program code {or implementing aspect of the technology deseribed herein nay be contained or stored in the memory 1012 ofthe com-US 2015/0176752 Al puter 1006, or on a computer usable ore ‘medium extemal tothe computer 1006, or on aay combinae tion threo [0151] A computer readable signal medium may include 2 propagated data signal with computer readable program code ‘embodied therein, for example, in baseband or as part of a cartier wave. Such a propagated signal may take any of a variety of forms including, but not limited to, eleeto-mag- netic, optical, of any suitable combination thereof. A com- puter readable signal medium may beany computer readable ‘medium that is nota computer readable storage medium and that can communicate, propagate, or transport a program for use by or in coanection with a instruction execution syste ppamitus, or device 10182] Program code embodied on u computer readable medium may be transmitted using any appropriate medium, ‘including but not Himited to wireless, wireline, optical her ‘able, radiofrequency, and the lke, oF any suitable combina tion of the foregoing. Computer program code for carying ‘out operations foraspeets ofthe presently described technol ‘ogy may be writen in any combination of one or more pro- {rimming languages, ineluding an object oriented program- ming language and conventional procedural programming Janguages. The program code may exceute entirely on the user's computer, partly on the user's computer, a a stand- alone software package, parly on the user's computer and parly on a emote computer or entirely on the remote com- puter or server. In the later scenario, the remote computer may be connected to the user's computer through any type of network, including loeal area network (LAN) ora wide area network (WAN), or the connection may be made to an exter ral computer (for example, through the Intemet asing. an Internet Service Provider), 10153] Finally the terminology’ used herein is for the pur- pose of deseribing particular embodiments only and is aot Intended fo be limiting. As used herein, the singwlae forms a", "anand “the” ar intended to inclu the plural forms as ‘well unless the context clearly indicates otherwise. Itwill be further understood that the tems “comprises” andor “com- prising." when use in this specification, specify the presence ‘of stated features, imtexers, steps, operations, elements, and! ‘or components, but do not preclude the presence or addition ‘of one oF more other features, integers, seps, operations, ‘elements, components, andor groups thereof. [0153] The corresponding structures, materials, aets, and ‘equivalents of all means or step plus function elements inthe ‘las below are intended to inelude any stveture, materia, ‘or at for performing the function in combination with other port frame without rotationally constmsining the plat form,