Roll stabilization and related apparatuses

Abstract

This disclosure relates generally to roll stabilization and related apparatuses.

1 . A roll-stabilizer apparatus comprising:
 a flywheel-support body comprising a rotation-support body;   a flywheel body surrounding at least a portion of the rotation-support body, wherein the rotation-support body supports the flywheel body for rotation relative to the flywheel-support body around at least one axis of rotation comprising a spin axis of rotation of the flywheel body and a central-rotation axis of the flywheel-support body; and   a mounting body supporting the flywheel-support body and permitting rotation of the flywheel-support body relative to the mounting body around a precession axis non-parallel to the at least one axis of rotation.   
     
     
         2 . The roll-stabilizer apparatus of  claim 1  further comprising at least one bearing operable to support the flywheel body for rotation relative to the flywheel-support body around the at least one axis of rotation, wherein:
 the at least one bearing comprises at least one mechanical bearing; 
 the at least one mechanical bearing comprises:
 an inner race; and 
 an outer race operable to rotate relative to the inner race and relative to the flywheel-support body; and 
 
 the outer race is fixed to the flywheel body. 
 
     
     
         3 - 12 . (canceled) 
     
     
         13 . The roll-stabilizer apparatus of  claim 1  further comprising at least one bearing operable to support the flywheel body for rotation relative to the flywheel-support body around the at least one axis of rotation, wherein the at least one bearing comprises a first bearing and a second bearing and the rotation-support body comprises:
 a first rotation-support-body portion attached to the first bearing; and 
 a second rotation-support-body portion attached to the second bearing and slidable relative to the first rotation-support-body portion. 
 
     
     
         14 . (canceled) 
     
     
         15 . (canceled) 
     
     
         16 . The roll-stabilizer apparatus of  claim 1  wherein:
 the flywheel body defines at least an axial through hole; and 
 the at least a portion of the rotation-support body is positioned through the axial through hole such that the rotation-support body supports the flywheel body for rotation relative to the flywheel-support body around the at least one axis of rotation. 
 
     
     
         17 . (canceled) 
     
     
         18 . (canceled) 
     
     
         19 . The roll-stabilizer apparatus of  claim 1  wherein the rotation-support body defines at least a first internal fluid conduit comprising a first opening and a second opening, the first internal fluid conduit operable to convey a fluid through at least some of the rotation-support body between the first opening and the second opening. 
     
     
         20 - 58 . (canceled) 
     
     
         59 . The roll-stabilizer apparatus of claim  196  wherein the at least one precession-control device comprises at least one actuator. 
     
     
         60 . The roll-stabilizer apparatus of  claim 59  wherein:
 the at least one actuator is rotatably attached to the mounting body; 
 the at least one precession-control device further comprises a first force-transfer body and a second force-transfer body; 
 the first force-transfer body is rotatably attached to each of the flywheel-support body, the at least one actuator, and the second force-transfer body; 
 the second force-transfer body is further rotatably attached to the mounting body; and 
 the first force-transfer body is operable to transfer force at least between the at least one actuator and the flywheel-support body. 
 
     
     
         61 . The roll-stabilizer apparatus of  claim 59  wherein:
 the at least one actuator is rotatably attached to the mounting body; 
 the at least one precession-control device further comprises a first force-transfer body and a second force-transfer body; 
 the first force-transfer body is rotatably attached to each of the mounting body, the at least one actuator, and the second force-transfer body; 
 the second force-transfer body is further rotatably attached to the flywheel-support body; and 
 the first force-transfer body and the second force transfer body are operable to transfer force at least between the at least one actuator and the flywheel-support body. 
 
     
     
         62 - 65 . (canceled) 
     
     
         66 . The roll-stabilizer apparatus of  claim 59  wherein the at least one actuator comprises at least one linear actuator. 
     
     
         67 . The roll-stabilizer apparatus of  claim 59  wherein the at least one actuator comprises at least one electromechanical actuator. 
     
     
         68 . (canceled) 
     
     
         69 . (canceled) 
     
     
         70 . The roll-stabilizer apparatus of  claim 59  wherein the at least one actuator is operable to apply a torque, independent of rotation of the flywheel-support body relative to the mounting body, to the flywheel-support body relative to the mounting body to rotate the flywheel-support body relative to the mounting body. 
     
     
         71 . The roll-stabilizer apparatus of  claim 59  wherein the at least one precession-control device is operable to convert rotational kinetic energy, from rotation of the flywheel-support body relative to the mounting body, to electrical energy. 
     
     
         72 - 79 . (canceled) 
     
     
         80 . The roll-stabilizer apparatus of claim  196  wherein the mounting body comprises at least one precession bearing operable to support the flywheel-support body for rotation relative to the mounting body around the precession axis, and wherein the at least one precession-control device is operable to apply a force at least partly overlapping a width of the at least one precession bearing along the precession axis. 
     
     
         81 . (canceled) 
     
     
         82 . (canceled) 
     
     
         83 . The roll-stabilizer apparatus of  claim 80  wherein the at least one precession bearing comprises an outer precession body surrounding an inner precession body, the outer precession body rotatable relative to the inner precession body and relative to the mounting body. 
     
     
         84 - 119 . (canceled) 
     
     
         120 . The roll-stabilizer apparatus of  claim 71  further comprising at least one roll-stabilizer energy-storage device operable to store energy, wherein the at least one roll-stabilizer energy-storage device is electrically connected to receive, and operable to store, at least some of the electrical energy converted from the rotational kinetic energy from the rotation of the flywheel-support body relative to the mounting body. 
     
     
         121 - 195 . (canceled) 
     
     
         196 . A roll-stabilizer apparatus comprising:
 a flywheel body;   a flywheel-support body supporting the flywheel body and permitting rotation of the flywheel body relative to the flywheel-support body around at least one axis of rotation comprising a spin axis of rotation of the flywheel body and a central-rotation axis of the flywheel-support body;   a mounting body supporting the flywheel-support body and permitting rotation of the flywheel-support body relative to the mounting body around a precession axis non-parallel to the at least one axis of rotation;   at least one precession-control device operable to control rotation of the flywheel-support body relative to the mounting body; and   a roll-stabilizer controller programmed to, at least, cause the at least one precession-control device to apply a torque to the flywheel-support body relative to the mounting body.   
     
     
         197 - 222 . (canceled) 
     
     
         223 . The roll-stabilizer apparatus of  claim 196  wherein the roll-stabilizer controller is further programmed to, at least, control movement of at least one stabilizing fin. 
     
     
         224 . The roll-stabilizer apparatus of  claim 223  further comprising the at least one stabilizing fin on a vessel, wherein the roll-stabilizer controller is programmed to, at least, control at least the at least one precession-control device and the at least one stabilizing fin to resist rotation of the mounting body around a roll axis different from the spin axis of rotation and different from the precession axis. 
     
     
         225 . (canceled) 
     
     
         226 . The roll-stabilizer apparatus of  claim 224  wherein the roll-stabilizer controller is programmed to, at least, control at least the at least one precession-control device and the at least one stabilizing fin to resist rotation of the mounting body according to an estimated rate of water flow laterally across a hull of the marine vessel. 
     
     
         227 . (canceled) 
     
     
         228 . The roll-stabilizer apparatus of  claim 224  wherein the roll-stabilizer controller is programmed to, at least, control at least the at least one precession-control device and the at least one stabilizing fin to resist rotation of the mounting body around the roll axis by, at least:
 causing the at least one precession-control device to resist rotation of the mounting body during a precession-control-device portion of a roll of the mounting body around the roll axis; and 
 causing the at least one stabilizing fin to resist rotation of the mounting body during a stabilizing-fin portion of the roll. 
 
     
     
         229 - 280 . (canceled)