Patent Publication Number: US-2023149232-A1

Title: Gyroscope assisted helicopter rescue lift systems and methods

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to, and the benefit of, India Patent Application No. 202141051909, filed Nov. 12, 2021 (DAS Code DB09) and titled “GYROSCOPE ASSISTED HELICOPTER RESCUE LIFT SYSTEMS AND METHODS,” which is incorporated by reference herein in its entirety for all purposes. 
     FIELD 
     The present disclosure relates to helicopter rescue hoist systems and, more specifically, to a patient litter basket with spin control functions. 
     BACKGROUND 
     The use of helicopters and other aircraft is well known and commonly utilized for rescuing and transporting injured or ill patients who may be located in an area which is difficult to access in the normal course, due to the absence of roads or adequate pathways leading to and from such area. Even where access is available, a helicopter rescue or transport may be needed where the patient needs to be transported to a hospital in less time than it would take for water or land operated forms of transportation, such as in ambulances. 
     Helicopter rescue of patients is typically accomplished by landing the helicopter nearby the person needing attention. However, there may be many instances where there is no suitable landing site or pad for the helicopter, and the patient must be reached and placed in the helicopter while the helicopter continues to remain airborne, hovering near the pickup site. In such instances, a typical manner for rescue is to lower a patient litter basket from the helicopter by means of a hoist, when the helicopter is more or less directly overhead or nearby the patient. The hoist may comprise a cable which is unreeled, the cable having a hook, swivel or other mechanical structure at its one end by means of which the patient litter basket is attached thereto. There may be a plurality of cables between the hook, swivel or other mechanical structure and the patient litter basket itself, in order to provide more stability to the patient litter basket. 
     One issue in such rescues relates to the possibility that the patient litter basket may begin to spin uncontrollably, which may be the result of ambient wind and weather conditions (such as fire driven windstorms), or the downdraft of the helicopter rotor itself. While a small amount of spin induced by such conditions may not be a problem, the induced spin may accelerate and increase so that the number of revolutions of the litter basket per minute becomes at least unpleasant for the patient, sometimes inducing sickness, and often dangerous to the patient or the rescue operation. 
     SUMMARY 
     A patient litter basket spin control assembly is disclosed, comprising a first gyroscope, and a motion sensor for sensing an angular acceleration of a patient litter basket. The first gyroscope is configured to generate a counter torque in a rotational direction to slow the angular acceleration of the patient litter basket. 
     In various embodiments, the patient litter basket spin control assembly further comprises a controller associated with the first gyroscope. 
     In various embodiments, the patient litter basket spin control assembly further comprises a second gyroscope, wherein the first gyroscope and the second gyroscope form a first gyroscope pair configured to be simultaneously activated to generate the counter torque. 
     In various embodiments, the first gyroscope and the second gyroscope are configured to be coupled opposite each other with respect to the patient litter basket. 
     In various embodiments, the patient litter basket spin control assembly further comprises a second gyroscope pair comprising a third gyroscope and a fourth gyroscope, wherein the first gyroscope and the second gyroscope are configured to be disposed at opposite ends of the patient litter basket and the third gyroscope and the fourth gyroscope are configured to be disposed at opposite sides of the patient litter basket. 
     In various embodiments, the first gyroscope comprises a flywheel configured to rotate about an axis to generate the counter torque. 
     In various embodiments, the patient litter basket spin control assembly further comprises a power source associated with the first gyroscope. 
     In various embodiments, the patient litter basket spin control assembly further comprises the patient litter basket, wherein the first gyroscope and the motion sensor are mounted to the patient litter basket. 
     A patient litter basket assembly is disclosed, comprising a litter basket configured to be raised and lowered by a helicopter using a cable, a first gyroscope pair comprising a first gyroscope and a second gyroscope, and a motion sensor for sensing an angular acceleration of the litter basket, the first gyroscope pair configured to generate a counter torque in a rotational direction to slow the angular acceleration of the litter basket. 
     In various embodiments, the patient litter basket spin control assembly further comprises a second gyroscope pair comprising a third gyroscope and a fourth gyroscope. 
     In various embodiments, the first gyroscope and the second gyroscope are configured to be disposed at opposite ends of the litter basket. 
     In various embodiments, the third gyroscope and the fourth gyroscope are configured to be disposed at opposite sides of the litter basket. 
     In various embodiments, the second gyroscope pair is configured to be located substantially midway between a first end and a second end of the patient litter basket. 
     In various embodiments, the first gyroscope comprises a first flywheel configured to rotate about a first flywheel rotation axis, the second gyroscope comprises a second flywheel configured to rotate about a second flywheel rotation axis in a rotational direction opposite the first flywheel, and the first flywheel rotation axis is parallel to the second flywheel rotation axis. 
     In various embodiments, the third gyroscope comprises a third flywheel configured to rotate about a third flywheel rotation axis, the fourth gyroscope comprises a fourth flywheel configured to rotate about a fourth flywheel rotation axis in a rotational direction opposite the third flywheel, and the third flywheel rotation axis is parallel to the fourth flywheel rotation axis. 
     In various embodiments, the patient litter basket spin control assembly further comprises a power source for powering the first gyroscope and the motion sensor. 
     In various embodiments, at least one of the first gyroscope and the second gyroscope is mounted to a sidewall of the litter basket. 
     In various embodiments, at least one of the first gyroscope and the second gyroscope is disposed at least partially within a sidewall of the litter basket. 
     In various embodiments, at least one of the first gyroscope and the second gyroscope is mounted to a base of the litter basket. 
     A method for stabilizing a patient litter basket is disclosed, the method comprising detecting an angular acceleration of the patient litter basket, determining that the angular acceleration of the patient litter basket is greater than a predetermined threshold angular acceleration, and activating a first gyroscope to counter act a torque of the patient litter basket by generating a gyroscopic counter torque. 
     In various embodiments, the method further comprises simultaneously activating the first gyroscope and a second gyroscope to counter act the torque of the patient litter basket, wherein the gyroscopic counter torque comprises a sum of a first torque generated by the first gyroscope and a second torque generated by the second gyroscope. 
     The foregoing features and elements may be combined in various combinations without exclusivity, unless expressly indicated otherwise. These features and elements as well as the operation thereof will become more apparent in light of the following description and the accompanying drawings. It should be understood, however, the following description and drawings are intended to be exemplary in nature and non-limiting. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The subject matter of the present disclosure is particularly pointed out and distinctly claimed in the concluding portion of the specification. A more complete understanding of the present disclosure, however, may best be obtained by referring to the detailed description and claims when considered in connection with the drawing figures, wherein like numerals denote like elements. 
         FIG.  1    illustrates a perspective view of a patient litter basket assembly in accordance with various embodiments of the present disclosure; 
         FIG.  2 A ,  FIG.  2 B ,  FIG.  2 C , and  FIG.  2 D  illustrate a perspective view, a bottom view, a side view, and a front view, respectively, of a patient litter basket assembly including a four gyroscope design in accordance with various embodiments of the present disclosure; 
         FIG.  3    illustrates a schematic view of a patient litter basket control assembly in accordance with various embodiments of the present disclosure; 
         FIG.  4 A ,  FIG.  4 B ,  FIG.  4 C , and  FIG.  4 D  illustrate a perspective view, a bottom view, a side view, and a front view, respectively, of a patient litter basket assembly including a two gyroscope design in accordance with various embodiments of the present disclosure; and 
         FIG.  5    illustrates an exemplary gyroscope design in accordance with various embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     The detailed description of various embodiments herein makes reference to the accompanying drawings, which show various embodiments by way of illustration. While these various embodiments are described in sufficient detail to enable those skilled in the art to practice the inventions, it should be understood that other embodiments may be realized and that logical, chemical and mechanical changes may be made without departing from the spirit and scope of the inventions. Thus, the detailed description herein is presented for purposes of illustration only and not of limitation. For example, the steps recited in any of the method or process descriptions may be executed in any order and are not necessarily limited to the order presented. 
     Furthermore, any reference to singular includes plural embodiments, and any reference to more than one component or step may include a singular embodiment or step. Also, any reference to attached, fixed, connected or the like may include permanent, removable, temporary, partial, full and/or any other possible attachment option. Additionally, any reference to without contact (or similar phrases) may also include reduced contact or minimal contact. 
     With reference to  FIG.  1   , a rescue basket assembly  10  (also referred to as a litter basket assembly) is illustrated, in accordance with various embodiments of the present disclosure. The assembly  10  includes a patient litter basket  12 , of elongate size and a somewhat narrower width, with a base  14  and sidewalls  16  defining a patient space  18 . The patient or person space  18  is of sufficient size to allow such person to be placed in the patient litter basket  12  in a supine position, and there may be appropriate contours, securing straps, mattresses or padding, and other structures to properly secure the person within the patient litter basket  12  in a secure and comfortable position. 
     The patient litter basket  12  may include a pair of connecting tabs  22  on each of the longitudinal side edges thereof. Other forms of connection besides connecting tabs may be provided on the patient litter basket  12  illustrated, in accordance with various embodiments of the present disclosure. A connector cable  24  may be secured in an aperture  26  of each of the connecting tabs  22 , and extends to a hook  28  with a swivel  30 . The hook  28  with swivel  30  is attached to a hoist line  32  at one end thereof. At the other end, the hoist line  32  is attached to a hoist drum or spool (not shown) which, in conventional fashion, can be rotated either by hand manually or, more conventionally in larger applications, by a hoist motor where the loads are heavier. The hoist spool is therefore able to raise and lower the hoist line  32  and the attached swivel  30  with hook  28  at the other end. It should be appreciated that each of the connector cables  24  may be attached to hoist line  32  via other known attachment devices other than swivel  30  and/or hook  28  (e.g., via a shackle, etc.) without departing from the scope of the present disclosure. 
     In various embodiments, assembly  10  includes one or more gyroscopes  40  to counteract spinning options of the patient litter basket  12 . It should be understood that gyroscopes  40  are schematically illustrated in  FIG.  1    and that the positioning of gyroscopes  40  with respect to the patient litter basket  12  is not limited as such. In various embodiments, the gyroscopes  40  are mounted to sidewalls  16  to increase the distance between yaw axis  90  and gyroscopes  40 , thereby increasing the mass moment of inertia of the gyroscope assembly imparted to patient litter basket  12  about yaw axis  90 . In various embodiments, gyroscopes  40  are mounted to sidewalls  16 . In various embodiments, gyroscopes  40  are mounted to the outside of sidewalls  16 . In various embodiments, gyroscopes  40  are at least partially embedded within sidewalls  16 . In various embodiments, gyroscopes  40  are mounted to base  14 . In various embodiments, gyroscopes  40  are mounted to the bottom of patient litter basket  12  (e.g., to base  14 ). Moreover, gyroscopes  40  may be least partially embedded within base  14 . 
     With reference to  FIG.  2 A  through  FIG.  2 D , various schematic views of a patient litter basket assembly  110  including a patient litter basket  112  with a four gyroscope based configuration are illustrated, in accordance with various embodiments. In various embodiments, patient litter basket  112  may be similar to patient litter basket  12  of  FIG.  1   . 
     Patient litter basket  112  may include a first pair of gyroscopes including a first gyroscope  151  and a second gyroscope  152  located at opposite sides of the patient litter basket  112 . For example, first gyroscope  151  may be located at first side  161  of patient litter basket  112  and second gyroscope  152  may be located at second side  162  of patient litter basket  112 . In various embodiments, first gyroscope  151  and second gyroscope  152  are located substantially midway between the ends (i.e., first end  163  and second end  164 ) of patient litter basket  112 . For example, first gyroscope  151  and second gyroscope  152  may be located between 40% and 60% of the way between first end  163  and second end  164 . In various embodiments, first gyroscope  151  and second gyroscope  152  are located half way between first end  163  and second end  164 . First gyroscope  151  and second gyroscope  152  may be simultaneously activated to counteract a spinning motion of the patient litter basket  112 . 
     Patient litter basket  112  may include a second pair of gyroscopes including a third gyroscope  153  and a fourth gyroscope  154  located at opposite ends of the patient litter basket  112 . For example, third gyroscope  153  may be located at first end  163  of patient litter basket  112  and fourth gyroscope  154  may be located at second end  164  of patient litter basket  112 . In various embodiments, third gyroscope  153  and fourth gyroscope  154  are located substantially midway between the sides (i.e., first side  161  and second side  162 ) of patient litter basket  112 . For example, third gyroscope  153  and fourth gyroscope  154  may be located between 40% and 60% of the way between first side  161  and second side  162 . In various embodiments, third gyroscope  153  and fourth gyroscope  154  are located half way between first side  161  and second side  162 . Third gyroscope  153  and fourth gyroscope  154  may be simultaneously activated to counteract a spinning motion of the patient litter basket  112 . 
     The gyroscope pairs are configured to counteract a spinning motion of the patient litter basket  112 . For example, if the patient litter basket  112  starts to spin about the yaw axis  190  in a first rotational direction, the gyroscope pairs (e.g., first gyroscope  151  and second gyroscope  152  and/or third gyroscope  153  and fourth gyroscope  154 ) may be activated to provide a counter torque in a second rotational direction and prevent spinning. In various embodiments, the counter torque may be incrementally increased or decreased according to the spin rate of the patient litter basket  112 . 
     In various embodiments, the gyroscope pairs are configured to counteract a spinning motion of the patient litter basket  112  about the yaw axis  190 . The gyroscope pairs may be further configured to counteract a spinning motion of the patient litter basket  112  about the roll axis  192  and/or the pitch axis  194 . It will be appreciated that the torque imparted by each gyroscope will be based upon the orientation of the flywheel associated with the gyroscope. For example, each gyroscope may comprise a single flywheel that can be oriented in various directions, in accordance with various embodiments, or a plurality of flywheels each oriented in a fixed direction and dedicated to counteract rotation in a predetermined rotational direction, in accordance with various embodiments. In various embodiments, each gyroscope comprises a single flywheel oriented in a fixed direction. 
     In various embodiments, each gyroscope&#39;s construction includes a flywheel which is configured to spin and rotate about the axis of precession (e.g., the Z-axis). For example, in response to the flywheel being activated to spin about X-axis and torque is applied to rotate about axis of precession, the flywheel also exerts an equal and opposite torque to the gyroscope frame (which is connected to the patient litter basket  112 ) due to conservation of angular momentum. Thus, if a single gyroscope is installed to counter act the spinning of patient litter basket  112  about the yaw axis  190 , the patient litter basket  112  may tend to experience rotation about X &amp; Z axes, which may compromise the stability of the patient litter basket  112 . For this reason, patient litter basket assembly  110  may include two gyroscope pairs to provide the desired counter torque for a spinning basket, without compromising the stability of the basket and ensuring heightened safety. 
     The logic shown in the below table demonstrates the different axes of rotation of the gyroscopes. As seen, the net reaction torque on the patient litter basket  112  by the gyroscopes is zero. This ensures stability in the roll and pitch axes. Thus, all gyroscopes may work in tandem to produce net torque to counter the spin of the patient litter basket  112 . The control system may apply corrective forces, being consistent with the below logic to ensure stability at every instant of a rescue operation. 
     
       
         
           
               
             
               
                 TABLE 1 
               
             
            
               
                   
               
               
                 Gyroscope control logic for yaw axis stabilization 
               
            
           
           
               
               
               
               
               
            
               
                   
                 Flywheel 
                 Axis of 
                   
                 Reaction 
               
               
                   
                 Rotation Axis, 
                 Precession, 
                 Gyroscopic 
                 Torque on 
               
               
                 Gyroscope 
                 ω 
                 ω p   
                 Torque Axis 
                 Basket 
               
               
                   
               
               
                 Gyroscope 1 
                 +X 
                 +Z 
                 −Y 
                 −Z 
               
               
                 Gyroscope 2 
                 −X 
                 −Z 
                 −Y 
                 +Z 
               
               
                 Gyroscope 3 
                 +X 
                 +Z 
                 −Y 
                 −Z 
               
               
                 Gyroscope 4 
                 −X 
                 −Z 
                 −Y 
                 +Z 
               
               
                 Net Torque/ 
                 0 
                 0 
                 −4Y 
                 0 
               
               
                 Moment 
               
               
                   
               
            
           
         
       
     
     Providing four gyroscopes may ensure robust control of the patient litter basket  112  at all times. Moreover, more complex stability algorithms can be employed. Unexpected loading scenarios such as gust loading, vortex ring state effects while flying in ridges and valleys, and flying through down draught on a side of a mountain, which may each lead to instabilities, can be handled more effectively. A four gyroscope configuration may tend to be more suitable for high risk applications. 
     With reference to  FIG.  3   , a schematic view of a gyroscope assisted control system  300  for controlling the gyroscopes and performing stabilization functions for a patient litter basket during rescue operations, is illustrated, in accordance with various embodiments. In various embodiments, the control system  300  comprises a main control system  301  and a plurality of gyroscopes (e.g., first gyroscope  351 , second gyroscope  352 , third gyroscope  353 , fourth gyroscope  354 ). Although illustrated as including four gyroscopes, the number of gyroscopes of a control system  300  is not limited in this regard. For example, control system  300  may comprise only two gyroscopes, or may comprise other quantities of gyroscopes. Moreover, although illustrated as comprising a main control system  301 , it is contemplated herein that each gyroscope may have its own dedicated control system. For example, each gyroscope may include its own controller, memory, power source, motion sensor, and any combination thereof. 
     In various embodiments, the main control system  301  includes a controller  302  and a memory  304  (e.g., a database or any appropriate data structure; hereafter “memory  304 ” also may be referred to as “database  304 ”). The controller  302  may include one or more logic devices such as one or more of a central processing unit (CPU), an accelerated processing unit (APU), a digital signal processor (DSP), a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or the like (e.g., controller  302  may utilize one or more processors of any appropriate type/configuration, may utilize any appropriate processing architecture, or both). In various embodiments, the controller  302  may further include any non-transitory memory known in the art. The memory  304  may store instructions usable by the logic device to perform operations. Any appropriate computer-readable type/configuration may be utilized as the memory  304 , any appropriate data storage architecture may be utilized by the memory  304 , or both. In various embodiments, controller  302  may comprise a PID controller for stabilizing the litter basket. 
     The database  304  may be integral to the control system  301  or may be located remote from the control system  301 . The controller  302  may communicate with the database  304  via any wired or wireless protocol. In that regard, the controller  302  may access data stored in the database  304 . In various embodiments, the controller  302  may be integrated into computer systems onboard an aircraft. Furthermore, any number of conventional techniques for electronics configuration, signal processing and/or control, data processing and the like may be employed. Also, the processes, functions, and instructions may include software routines in conjunction with processors, etc. 
     System program instructions and/or controller instructions may be loaded onto a non-transitory, tangible computer-readable medium having instructions stored thereon that, in response to execution by the processor, cause the controller  302  to perform various operations. The term “non-transitory” is to be understood to remove only propagating transitory signals per se from the claim scope and does not relinquish rights to all standard computer-readable media that are not only propagating transitory signals per se. Stated another way, the meaning of the term “non-transitory computer-readable medium” and “non-transitory computer-readable storage medium” should be construed to exclude only those types of transitory computer-readable media which were found in In Re Nuijten to fall outside the scope of patentable subject matter under 35 U.S.C. § 101. 
     The instructions stored on the memory  304  of the controller  302  may be configured to perform various operations, such as performing patient litter basket stabilization by operating one or more of gyroscopes  351 ,  352 ,  353 ,  354 . 
     In various embodiments, the main control system  301  from  FIG.  3    further comprises a motion sensor  306 . Motion sensor  306  may be mounted to a patient litter basket (e.g., patient litter basket  12  of  FIG.  1   ) to detect an orientation of the patient litter basket. Motion sensor  306  may be an accelerometer, or any other suitable motion sensor suitable for detecting an orientation and/or acceleration of patient litter basket  12 . 
     In various embodiments, the main control system  301  from  FIG.  3    further comprises a power source  308 . The power source  308  may comprise any power source known in the art, such as a battery, a solar source, an alternating current (AC) source, a direct current (DC) source, a rechargeable source, or the like. In various embodiments, a single power source  308  is provided for all gyroscopes. In various embodiments, each gyroscope  351 ,  352 ,  353 ,  354  includes a dedicated power source  308 . In various embodiments, each gyroscope pair (e.g., gyroscopes  351 ,  352  and gyroscopes  353 ,  354 ) includes a dedicated power source  308 . 
     In various embodiments, the main control system  301  is in operable communication with each gyroscope in the plurality of gyroscopes (e.g., gyroscopes  351 ,  352 ,  353 ,  354 ). With momentary reference to  FIG.  3 A , during operation of control system  300 , motion sensor  306  may detect an angular acceleration of patient litter basket  112  about yaw axis  190 . In response to motion sensor  306  detecting an angular acceleration beyond a predetermined threshold angular acceleration, controller  302  may activate the gyroscopes (e.g., gyroscopes  351 ,  352 ,  353 ,  354 ) to counter act the torque of patient litter basket  112  by applying appropriate gyroscopic torque. For example, if patient litter basket  112  is rotating about yaw axis  190  in a first rotational direction, controller  302  may activate the gyroscopes (e.g., gyroscopes  351 ,  352 ,  353 ,  354 ) to counter act the torque of patient litter basket  112  by applying gyroscopic torque in a second rotational direction opposite the first rotational direction to slow the rotation of the patient litter basket  112  in the first rotational direction. In various embodiments, the controller  302  may modulate the counter torque of the gyroscopes so that the counter torque counters the rotational movement of the patient litter basket  112  to stabilize the patient litter basket  112  by preventing the spin. 
     In various embodiments, each gyroscope  351 ,  352 ,  353 ,  354  includes a flywheel  371 ,  372 ,  373 ,  374 , respectively, which can be activated by rotating the flywheel about an axis to apply gyroscopic torque in a desired direction. Main control system  301  may activate the gyroscopes and stabilize the patient litter basket  112  upon reaching the threshold angular acceleration, for example as per the logic referred in table  1 . In various embodiments, each gyroscope is capable of producing torque in the range of 35 to 100 N-m. In various embodiments, each gyroscope is capable of producing torque sufficient to slow an angular acceleration of the patient litter basket  112  and the particular torque value may vary based on the positioning of the gyroscope with respect to the rotational axis and the overall mass of the patient litter basket  112 . 
     With reference to  FIG.  4 A  through  FIG.  4 D , various schematic views of a patient litter basket assembly  410  including a patient litter basket  112  with a two gyroscope based configuration are illustrated, in accordance with various embodiments. In various embodiments, patient litter basket assembly  410  may be similar to patient litter basket assembly  110  of  FIG.  2 A  through  FIG.  2 D . With respect to  FIGS.  4 A  through  FIG.  4 D , elements with like element numbering, as depicted in FIG.  FIGS.  2 A  through  FIG.  2 D , are intended to be the same and will not necessarily be repeated for the sake of clarity. The control system of patient litter basket assembly  410  may apply corrective forces, being consistent with the below logic to ensure stability at every instant of a rescue operation. 
     
       
         
           
               
             
               
                 TABLE 2 
               
             
            
               
                   
               
               
                 Gyroscope control logic for yaw axis stabilization 
               
            
           
           
               
               
               
               
               
            
               
                   
                 Flywheel 
                 Axis of 
                   
                 Reaction 
               
               
                   
                 Rotation Axis, 
                 Precession, 
                 Gyroscopic 
                 Torque on 
               
               
                 Gyroscope 
                 ω 
                 ω p   
                 Torque Axis 
                 Basket 
               
               
                   
               
               
                 Gyroscope 1 
                 +X 
                 +Z 
                 −Y 
                 −Z 
               
               
                 Gyroscope 2 
                 −X 
                 −Z 
                 −Y 
                 +Z 
               
               
                 Net Torque/ 
                 0 
                 0 
                 −2Y 
                 0 
               
               
                 Moment 
               
               
                   
               
            
           
         
       
     
     The objective of stabilizing the patient litter basket  112  may also be achieved with the use of two gyroscopes. The stability logic explained for the four gyroscope configuration is consistent for the two gyroscope configuration as well. A two gyroscope layout may ensure stabilization solution tailored for a rotor downwash scenario. Having two gyroscopes may help to reduce the overall weight of the system with respect to a four gyroscope configuration. A two gyroscope configuration may tend to be more suitable for mid to low risk applications. 
     With reference to  FIG.  5   , an example gyroscope  500  is illustrated, in accordance with various embodiments. Gyroscopes  40  of  FIG.  1   , and/or gyroscopes  151 ,  152 ,  153 ,  154  of  FIG.  2 A  may be similar to gyroscope  500 . Gyroscope  500  includes a flywheel  510  rotatable about a flywheel rotation axis  590 . In operation, flywheel  510  is powered (e.g., by a motor) to rotate about flywheel rotation axis  590  to impart a torque that is generally orthogonal to the flywheel rotation axis  590  and proportional to the inertia and the rotational speed of the spinning mass (i.e., flywheel  510 ). Flywheel  510  may be mounted rotatably mounted to a frame  520 . In various embodiments, flywheel  510  is rotatably mounted to frame  520  via a first gimbal  522 , whereby an orientation of flywheel  510  is variable to change the direction of torque output by gyroscope  500 . In various embodiments, flywheel  510  is rotatably mounted to frame  520  via a second gimbal  524 , whereby an orientation of flywheel  510  is further variable to change the direction of torque output by gyroscope  500 . In various embodiments, flywheel  510  is rotatably mounted to second gimbal  524 , which is rotatably mounted to first gimbal  522 , which is in turn rotatably mounted to frame  520 . In this manner, flywheel  510  may be rotatable in three dimensions. However, it is contemplated herein that a gyroscope of the present disclosure may have a flywheel rotatable about a fixed axis, in accordance with various embodiments. Furthermore, a gyroscope of the present disclosure may have a flywheel rotatable in only two dimensions. The variability of the flywheel may be based upon the axis about which stabilization is desired. For example, if stabilization is desired only about the yaw axis, a gyroscope having a flywheel configured to rotate about a single axis may be sufficient. However, if stabilization is desired about roll and pitch axes, a gyroscope having a flywheel configured to rotate about a three different axes may be provided. Moreover, multiple gyroscopes having a flywheel configured to rotate about a single axis, but each oriented in a different direction, may be provided to give multi-axis stabilization, in accordance with various embodiments. 
     In the detailed description herein, references to “one embodiment”, “an embodiment”, “various embodiments”, etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to affect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described. After reading the description, it will be apparent to one skilled in the relevant art(s) how to implement the disclosure in alternative embodiments. 
     Benefits, other advantages, and solutions to problems have been described herein with regard to specific embodiments. Furthermore, the connecting lines shown in the various figures contained herein are intended to represent various functional relationships and/or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may be present in a practical system. However, the benefits, advantages, solutions to problems, and any elements that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as critical, required, or essential features or elements of the inventions. The scope of the inventions is accordingly to be limited by nothing other than the appended claims, in which reference to an element in the singular is not intended to mean “one and only one” unless explicitly so stated, but rather “one or more.” Moreover, where a phrase similar to “at least one of A, B, or C” is used in the claims, it is intended that the phrase be interpreted to mean that A alone may be present in an embodiment, B alone may be present in an embodiment, C alone may be present in an embodiment, or that any combination of the elements A, B and C may be present in a single embodiment; for example, A and B, A and C, B and C, or A and B and C. Different cross-hatching is used throughout the figures to denote different parts but not necessarily to denote the same or different materials. 
     Furthermore, no element, component, or method step in the present disclosure is intended to be dedicated to the public regardless of whether the element, component, or method step is explicitly recited in the claims. No claim element herein is intended to invoke 35 U.S.C. 112(f) unless the element is expressly recited using the phrase “means for.” As used herein, the terms “comprises”, “comprising”, or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.