Patent Publication Number: US-2016231074-A1

Title: Selective Ammunition Handling System

Description:
This application claims priority under 35 U.S.C. §119(e) to U.S. Provisional App. No. 61/908,037, entitled “Selective Ammunition Deployment System”, by Jesse Baskin McDaniel et al, filed Nov. 22, 2013, which is assigned to the current assignee hereof and incorporated herein by reference in its entirety. 
    
    
     FIELD OF THE DISCLOSURE 
     The present invention relates in general to an ammunition handling system, and more particularly to an ammunition handling system suitable for high-rate-of-fire weapons that can locate system- or operator-selected ammunition rounds, and then rapidly deploy the selected rounds to the weapon for firing. 
     BACKGROUND 
     Future weapon system operators (WSOs), in particular aircraft pilots such as, for example Apache helicopter pilots, will use advanced sensory and munitions technology to take on more of a managerial battlefield role than that of a trigger puller. Upon entering a combat zone, a WSO will visually select a region of enemy activity, such as a fortified bunker or tank, then select a type of weapon suited for that type of target, i.e. suppress the area. From there the weapon systems of the future will take over, employing a suite of tactical, “smart” rounds with varying capabilities to carry out suppression of the enemy. The use of smart rounds will result in the warfighter&#39;s spending less time engaged in costly and potentially deadly fire exchanges with enemy forces. 
     Modern weapon systems employ integrated sensor suites that are capable of advanced enemy and friendly unit classification for ground support operations, satellite-synched tracking maps, enemy weapons classification, and precision targeting. In a similar fashion, such integrated sensor suites could also be used to deploy so-called “smart rounds,” which are precision guided munitions with a variety of functions, including thermo-baric, air-bursting, armor-piercing, and non-lethal rounds. An ammunition handling system for use with an integrated sensor system employing various types of smart rounds must be able to locate the system- or operator-selected rounds, and then deploy the selected smart rounds to the weapon for firing. 
     What is needed is a smart ammunition handling system suitable for high-rate-of-fire systems such as the M230 chain gun found on the AH-64 Apache helicopter and other platforms. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present disclosure may be better understood, and its numerous features and advantages made apparent to those skilled in the art by referencing the accompanying drawings. 
         FIG. 1  shows a typical prior art ammunition handling and deployment system. 
         FIG. 2  is a schematic drawing illustrating the major components of an ammunition handling system according to an embodiment of the invention. 
         FIG. 3  is a schematic drawing showing the ammunition cycle path inside a storage container according to an embodiment. 
         FIG. 4A  is a photograph of ground personnel loading ammunition into a storage container on the Apache helicopter. 
         FIG. 4B  illustrates a display showing five different ammunition types that have been loaded, categorized, and indexed according to particular embodiments of the invention. 
         FIG. 5  shows a smart magazine according to an embodiment. 
         FIG. 6  is a flowchart showing an ammunition loading sequence according to an embodiment. 
         FIG. 7  is a flowchart illustrating the ammunition firing and status in an embodiment. 
     
    
    
     The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures is represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. 
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
     This disclosure, in general, relates to an improved method and apparatus for ammunition handling, including identifying and locating selected ammunition rounds in a magazine and then rapidly transferring the selected rounds to a weapon for firing. An ammunition handling system according to embodiments of the present invention can provide for reduced engagement times for soldiers and pilots through the optimized use of force-multiplying tactical rounds. Preferred embodiments are also compatible with legacy weapons platforms. 
       FIG. 1  shows a typical ammunition deployment system  100  used by existing weapons platforms, such as the AH-64 Apache (“Apache”). The ammunition deployment system of  FIG. 1  is comprised of a linkless loading system which transfers ammunition from a magazine  101  to a chain gun  104  for deployment. Ammunition can be loaded into magazine  101  using a load station (sideloader)  103 . 
     When the WSO engages the primary weapon, such as an M230 chain gun, and begins firing rounds, the drive motor (typically a hydraulic motor) near the chain gun activates to begin feeding rounds to the weapon via a carrier chain  102 . At the same time the carrier drive motor activates to begin transferring rounds from the magazine  101 . Both operate simultaneously to load rounds from the magazine  101  to the chain gun  104 , achieving a maximum firing rate of about 600 rounds per minute for the M230. Particular embodiments described herein will make use of a smart magazine that will be a drop-in replacement for conventional magazines in existing weapons platforms. 
     Current aircraft weapons systems utilize round mixes specified by the pilots that are specific to each mission, but typically are comprised of only one type of round. For example, the AH-64D Apache typically utilizes 30 mm M788 and M789 rounds, with the 30 mm M789 High Explosive Dual Purpose (HEDP) being the primary tactical round. Using the loading system of the Apache AH-64D, the armament ground personnel will initiate a magazine loading step with the loading control system. The ground personnel first manually disengage a clutch on the feed mechanism at the gun to allow the linkless chain to pass through the gun sprocket assembly. Then loading is commenced, with the ground personnel loading rounds into the magazine using pre-loaded ammunition strips that contain 11 rounds each. Loading continues until the magazine is full or until the desired ammunition load is reached. At this time, the mode is switched to feed loaded rounds from the magazine down to the gun, filling the carriage chain with rounds. Once rounds are fed up to the gun, the gun clutch is reengaged making the system ready to fire. 
     Upon entering a combat zone, the WSO can aim and begin firing the chain gun from the cockpit console. The system has a spool-up delay of 0.2 seconds to achieve full rate of fire of 600 rounds per minute. The interaction between the WSO and the chain gun are controlled by the Gun Control Unit (GCU). The GCU engages the electric firing mechanism of the chain gun and also engages the drive motors located at the weapon and the magazine. Spent casings are ejected from the gun and the carrier chain returns in a loop back to the magazine to pick up the next round. 
     Switching between ammunition types, however, would require the magazine to be unloaded and then reloaded with a desired ammunition type. This would obviously not be practical in a battlefield situation while engaged with enemy forces in these types of conventional weapons platforms. 
     Embodiments of the present invention, sometimes referred to herein as a “smart magazine” or SmartMag™, provide a smart or smart-capable, self-indexing ammunition handling and transfer system utilizing precision sensors and actuation mechanisms. As used herein, the terms “smart” and “smart-capable” are used to mean respectively that the operations are computer controlled to some degree or capable of such control. Particular embodiments can index loaded rounds in a magazine by type and location, build an inventory of remaining munitions accessible by the system, locate selected rounds in the magazine and rapidly deploy the selected rounds to a weapon for firing. Other capabilities preferably include stores management and sorting for munitions deployment optimization. In particular embodiments, an ammunition handling system as described herein will comprise a smart magazine that is reusable and that is a drop-in replacement for a conventional ammunition magazine used with for existing weapons platforms. Embodiments of the invention are not limited to any particular weapons platform and can be readily applied to all linkless ammunition handling systems 
       FIG. 2  is a schematic drawing illustrating the major components of an ammunition handling system  200  or smart magazine according to particular embodiments of the invention including the Ammunition Control Unit  29 , Storage Container  21 , and Transfer Unit  23 , which includes Diverter Unit  22  and optional Elevator Unit  24 .  FIG. 5  shows an assembled ammunition handling system or smart magazine  300  according to an embodiment sized to be a drop-in replacement for a conventional magazine in an existing weapons platform. 
     Ammunition Control Unit  29  (ACU) provides the necessary hardware, software, and internal memory components to allow for control of the operation of the ammunition handling system as described below. ACU  29  also interfaces the ammunition handling system with the weapons system of the aircraft or other weapons platform, preferably through a standard bus channel (not shown). In the embodiment of  FIG. 2 , ACU  29  uses sensor input from one or more round identification (type) and/or during an ammunition loading phase (described below) to index ammunition type and location in a database or array for later retrieval during a firing phase (also described below). In some embodiments, ACU  29  may also include or be operably coupled to sensors or other circuitry configured to monitor round placement/alignment and/or to monitor the status of the various components within the ammunition handling system. 
     ACU  29  may comprise a variety of known hardware elements, including industrial controllers that accommodate control inputs and outputs, and a processor with integral software or firmware configured to obtain data, process data, send data, control data access and storage, issue commands, control other desired operations of the ammunition handling system, and combinations thereof. In some embodiments, ACU  29  may also comprise one or more programmable controllers, microcontrollers or microprocessors, associated electronic circuitry such as input/output circuitry (digital and analog), analog circuits, programmed logic arrays, input devices (such as a keypad or touchscreen), and/or output devices (such as a display device). ACU  29  also includes associated memory configured to store executable code or instructions (e.g., software, firmware, or combinations thereof), sensor data, other types of electronic data, databases (including ammunition indexes and historical ammunition loading and use habits), and/or other digital information. 
     In particular embodiments, ACU  29  can receive commands from the fire control system on the existing weapons platform that will indicate the desired round and provide feedback to ascertain round availability and report successful deployment. ACU  29  can also make use of stored data and software that incorporates one or more algorithms to maximize efficiency of operation. For example, ACU  29  can employ use-statistics and logic to sort the ammunition mix into optimized patterns for rapid deployment. Known deployment patterns can also be pre-programmed. As ammunition is used, prediction algorithms in the ACU will keep the most-needed rounds close to the transfer and feed system, producing faster deployment times. The ACU can keep a database of ammunition loading and use habits to increase prediction accuracy as the ammunition handling system is used. 
     In conjunction with one or more sensors described below, ACU also provides round sensing capability, which determines whether a round is present at a given location, and round sorting capability, which allows the smart magazine to re-order the rounds within the SC to place particular types of rounds in particular locations within the SC. In particular, round sorting advantageously allows rounds to be arranged in optimized patterns for rapid deployment. In some embodiments, round sorting can be accomplished by moving selected rounds out of the SC and then moving them back into the SC in a desired order. In some instances, spaces or empty spaces or gaps can be left when loading ammunition rounds into the SC chain ladder to facilitate re-ordering of the rounds. 
     The Storage Container  21  (SC) can be loaded with a variety of different ammunition types—such as thermo-baric, air-bursting, armor-piercing, and/or non-lethal rounds in a single magazine. Ammunition is transferred within the SC by way of an ammunition conveyor mechanism such as a conventional linkless loading system using a closed loop (endless) chain ladder to convey individual rounds along a serpentine path within the SC. Such a path is shown in  FIG. 3 , which is a schematic drawing of the smart magazine of  FIG. 5  showing the ammunition cycle path  302  inside a storage container  21  according to an embodiment. Referring again to  FIG. 2 , the chain ladder conveyor can driven, for example, by Storage Container Drive  32 , which can be, for example, an electric motor or a drive mechanism using hydraulic power from the weapon platform itself. In some embodiments, the conveyor mechanism is capable of cycling (which is the process of moving the ammunition along the serpentine path) continuously in both the forward and reverse directions. 
     In some embodiments, Storage Container Drive  32  is capable of cycling the SC independently from the other mechanical components of the ammunition deployment system (such as other components of the ammunition handling system, including Elevator Unit  24  and the weapon platform&#39;s carrier drive system) to facilitate ammunition type selection. A Storage Container gear clutch  30  can be used to couple/decouple the Storage Container and carrier drive gear trains allowing the SC to be separately cycled during gun firing to facilitate round selection and sorting operations. Thus, when a deployment of rounds has been transferred to the carrier drive system (that feeds rounds to the gun), the smart magazine can decouple from the carrier drive chain so that the rounds can be carried to the gun and fired while the SC repositions for the next deployment. A storage container motor clutch  31  can be used to couple/decouple the storage container motor  32  and the storage container gear train so that power from the weapons system platform (such as an aircraft in which the gun is mounted) can be used to cycle the entire ammunition deployment system without back driving the storage container drive. 
     In preferred embodiments, the SC is sized to be a drop-in replacement for magazines used in existing weapons platforms, although other sizes and shapes could be used, especially on newly designed weapons systems. In a non-limiting example, the SC of  FIG. 2  holds about 405 rounds of ammunition and measures 35.2 inches wide×31.2 inches long×9.1 inches high (not including any projections of the Storage Container motor-clutch, gears and other components). The estimated weight for the SC is about 150 pounds empty and 462 pounds when filled with 405 rounds of ammunition (with an ammunition weight of 0.77 pounds per round. 
     In some embodiments, Transfer Unit  23  (TU), which includes Diverter Mechanism  22  and optional Elevator Unit  24 , contains a set of ammunition rotors to facilitate round transfer between the Storage Container chain ladder and Elevator Unit sliders (described below). A terminal drive shaft  305  couples and decouples the storage container gear train from the gear in the Transfer Unit. This eliminates interference between ammunition in the chain ladder and Transfer Unit rotor tips and also enables independent cycling of the Storage Container from the rest of the weapon system during sorting and firing operations. The terminal drive shaft is also coupled to the Diverter Mechanism movements. 
     Referring again to  FIG. 3 , ammunition Diverter Mechanism  22  (DM) is located at the round transfer port  304 , where it can be toggled between two positions: the transfer position and the containment position. In the transfer position, ammunition is transferred between the SC  21  and the Transfer Unit  23  when the ammunition is cycled along the serpentine path in the SC and out through the round transfer port  304 . In the containment position, ammunition is retained in the SC when cycled with the Storage Container Drive during ammunition type selection. This is possible because the chain ladder forms a closed loop so ammunition rounds will be successively contained in the SC as they make a continuous loop along the serpentine conveyor path. Once the SC reaches the proper position for the next round deployment, the Transfer Unit will shift to transfer mode to allow the rounds to exit the SC and enter the gun carrier drive  25  which will carry the rounds to the gun  28  for firing. 
     In some embodiments, Elevator Unit  24  (EU) interfaces with the Carrier Drive  25  of an existing weapons system, which will typically be mounted at a different height than the SC (for example to allow the use of double stack storage containers). During ammunition transfer, the Elevator raises/lowers ammunition from the SC to the Carrier Drive  25 . In some embodiments, the Elevator Unit  24  will be coupled by gear  346  to the Carrier Drive to receive aircraft hydraulic power from the hydraulic motor  36  on the Carrier Drive. During operation of the weapons system, rounds  345  are transferred from Elevator Unit  24  to the Carrier Drive  25 , which feeds the ammunition to a gun. 
       FIG. 6  is a flowchart showing an ammunition loading sequence according to an embodiment. The exact ammunition loading process to be used with the embodiment shown in  FIG. 2  will depend upon the specific weapons platform. For example, with the AH-64 Apache helicopter, rounds are loaded onto the aircraft via a load station on the exterior of the aircraft. 
     Once a loading sequence is initiated, the ACU will cause Diverter Mechanism to enter “Transfer Mode” ( 601 ). The ACU can then prepare the load station  27  (referred to as a Sideloader in some weapons platforms) for loading by initiating communication with the load station system and initiating the loading sequence. The Storage Container Dive Shaft is extended, for example by using hydraulic power from the weapons platform, to couple the Storage container gear train to the gear  306  in the Transfer Unit, and the Storage Container Motor Clutch  31  is decoupled. The ACU then prepares the gun for ammunition loading ( 703 ) by disengaging gun clutch  33  (which can be any suitable type of automatically operated clutch including an electric, hydraulic, or pneumatic clutch) to allow the carrier chain to pass by the gun without firing the gun. Ammunition can then be loaded into the ammunition handling system, typically by ground personnel, at the external loading station (not shown), sometimes referred to as a sideloader ( 704 ). 
       FIG. 4A  is a photograph of ground personnel loading ammunition into a storage container on the Apache helicopter. As in a conventional ammunition handling system, rounds are placed in trays holding 11 rounds each, and these trays are positioned up to a receiver in the load station. 
     Rounds are pulled from the trays and onto the carrier drive, which is used to cycle all ammunition rounds into the magazine SC ( 705 ). In particular embodiments, the carrier drive transfers the rounds to Elevator Unit  25 , which lowers (or raises) the rounds to the Transfer Unit  23 , which in turn transfers the rounds into the SC  21 . In some instances, loading can be continued until SC  21  is full (or at the desired capacity) and the carrier chain is full up to the load station. The ACU can then send a message to the loading station indicating that the magazine and carrier chain round positions are full, and toggle the Diverter Mechanism to “Contain Mode” ( 608 ). The storage container Drive Shaft is then retracted to decouple the Storage container gear train from the gearing in the Transfer Unit, and the Storage Container Motor Clutch is re-coupled. This results in all of the deployment system drives being engaged in the normal (deployment) direction to feed rounds up to the gun. When the first round reaches the gun, the load station is deactivated, the gun clutch is reengaged to prepare the gun for operation ( 609 ), the load station loading sequence is discontinued ( 610 ), and the system is ready to fire. 
     According to particular embodiments, different ammunition types can be loaded into the same magazine. For example, the magazine could be loaded with three different ammunition types in equal quantities by loading alternating groups of 22 rounds (2 ammunition strips) each until the magazine is fully loaded. Particular embodiments of the invention will not significantly increase ammunition loading times over those o conventional systems. In some embodiments, loaded ammunition can be cycled past the Diverter  22  and into SC  21  at a rate of at least 50 RPM, such as at least 100 RPM, at least 150 RPM, or even at least 200 RPM. While some additional time may be required to toggle the diverter to the CONTAIN mode and decouple/couple the SC clutches, in particular embodiments this additional time will be no more that 5 seconds, such as no more than 3 seconds, or even no more than 2 seconds. Assuming a loading rate into the side loader of 100 rounds per minute (RPM) with a dwell time between ammunition strip loads of 1 second, embodiments of the present invention allow loading to be fully completed in no more than 10 minutes, such as no more than 7 minutes, no more than 6 minutes, no more than 5 minutes, or even no more than 3 minutes. 
     The following table shows loading event time and running time in seconds for an exemplary loading operation for a magazine holding 396 rounds in a particular embodiment. Embodiments of the invention are applicable to any size magazine, for example the 1200 round capacity of a standard Apache magazine. 
     
       
         
           
               
               
               
               
               
               
               
               
               
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                   
                   
                   
                   
                   
                 Load  
                   
                   
                   
                   
                   
                   
               
               
                   
                   
                 Load  
                 Assumed  
                   
                 cycling to  
                   
                   
                   
                   
                   
                   
               
               
                   
                   
                 cycling -  
                 dwell  
                   
                 transport  
                   
                   
                   
                   
                   
                   
               
               
                   
                   
                 36 ammo  
                 time 
                   
                 all rounds  
                   
                   
                   
                   
                   
                   
               
               
                   
                   
                 strips (396 
                 between 
                   
                 into 
                   
                   
                   
                   
                   
                   
               
               
                   
                   
                 rounds) 
                 35  
                   
                 SmartMag 
                   
                 Storage  
                   
                   
                   
                   
               
               
                   
                   
                 into 
                 ammo 
                 LOADING  
                 (65 rnd  
                 Diverter  
                 Container  
                 Storage  
                   
                   
                   
               
               
                   
                   
                 Sideloader  
                 strip 
                 TIME  
                 pitch) 
                 Mechanism  
                 terminal  
                 Container  
                 396  
                 Gun  
                 Sideloader 
               
               
                   
                   
                 @ 100  
                 loadings  
                 FOR  
                 at 100  
                 toggled to  
                 drive  
                 motor  
                 RNDS IN  
                 prepared  
                 prepared  
               
               
                   
                 LOADING 
                 SPM  
                 of  
                 396 
                 SPM 
                 CONTAIN  
                 shaft 
                 clutch 
                 STORAGE  
                 for  
                 for  
               
               
                 LOADING 
                 BEGINS 
                 (1.67 SPS) 
                 1.0 sec 
                 RNDS 
                 (1.67 SPS) 
                 mode 
                 retracted 
                 coupled 
                 CONTAINER 
                 operation 
                 operation 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
               
               
               
               
               
               
               
               
               
               
               
            
               
                 Event  
                 0 
                 237.1 
                 35 
                   
                 38.9 
                 1 
                 0.5 
                 0.5 
                   
                 — 
                 — 
               
               
                 Time 
                   
                   
                   
                   
                   
                   
                   
                   
                   
                   
                   
               
               
                 Running  
                 0 
                 237.1 
                 272.1 
                 272.1 
                 311.0 
                 312.0 
                 312.5 
                 313.0 
                 313.0 
                 — 
                 — 
               
               
                 Time 
               
               
                   
               
            
           
         
       
     
     In some embodiments, as ammunition is loaded into the SC (as in step  604  above), the ammunition type will be determined by a round identification system including at least one round identification sensor located along the ammunition path, with the type and location of each round within the SC stored by ACU  29  in a computer database. Round positions within the SC can be arbitrarily identified in succession as the rounds are identified and loaded. In other words, the first round position loaded can be identified as “position 1,” with all remaining positions numbered consecutively as each position is filled, up to the capacity of the particular SC. The location of each particular round position can be recorded and the SC drive motor used to precisely navigate to any recorded position by way of a positional encoder  340 . 
     A suitable round identification sensor can be used to identify the ammunition type for each round loaded based upon a corresponding pre-marking scheme applied to the rounds themselves, either during or after manufacture. For example, in some embodiments, ammunition rounds could be pre-marked with different color bands designating the particular type of standard or smart ammunition and an RGB colorimetric sensor could be used to identify the ammunition type for each round as rounds are loaded into the SC. A round identification sensor could be located at any desired position along the ammunition path, such as adjacent to the terminal drive shaft area  304  where rounds are loaded into the SC. In some embodiments, a round identification sensor could be located within the SC itself. 
     In a particular embodiment, a sensor such as an RGB colorimetric sensor can be located along the ammunition path, such as located adjacent to the terminal drive shaft area  304  where rounds are loaded into the SC. In a specific example, a proximity sensor (for example, a QRD1114 IR distance sensor) can be used to determine when a round is being loaded. If the sensor senses a round blocking its aperture—in other words, the analog voltage being read in by the ACU falls below a certain value—the ACU takes in an immediate reading from the color sensor. Rounds are differentiated by this sensor returning to threshold voltage levels before the next successive read. The sensor can be set to read continuously while a round is in place, up to the maximum data rate of the controller&#39;s analog to digital converter (ADC). This represents an error checking opportunity as literally thousands of optical sensor samples can be read for each round that passes, even at a firing rate of 600 rounds per minute. The ACU then indexes this color with the round, associating the round with a location number and the color identified for that round (round type). These values are stored in a database (array) within the ACU&#39;s memory. Once the loading phase is complete, the program outputs the number of rounds of each type identified and their respective locations. 
     In other embodiments, different types of conventional sensors could be used by the round identification system depending on how the ammunition has been pre-marked to indicate ammunition type. For example, assuming that the ammunition has been correspondingly labeled or otherwise identified, a round identification sensor could comprise a bar code, QR code, or zymology scanner, an RFID reader, a camera system with image processing software, etc. Regardless of which type of round identification sensor is used, embodiments of the present invention are capable of reading at least 500 rounds per minute, such as at least 600 RPM, or even at least 700 RPM. In some embodiments, identification/selection accuracy will be greater than 75%, such as greater than 90%, greater than 95%, or even greater than 98%. 
       FIG. 4B  illustrates a display showing five different ammunition types that have been loaded, categorized, and indexed according to particular embodiments of the invention. During the loading phase, in some embodiments, the ACU will categorize and index all loaded ammunition, which can be displayed to the WSO, along with the status of key mechanical components such as the ammunition deployment system clutches and/or the Diverter mode (Continuous or Transfer). In some embodiments, estimated deployment times for each type of ammunition rounds can be calculated (based upon the position of the rounds within the SC) and displayed. Ammunition may be loaded by ground personnel in optimized patterns to reduce the amount of automated sorting operations, further improving the reliability metrics and decreasing deployments times. 
     When a round is selected for loading, the ACU calculates the location of the closest round of the type indicated by the color mode, and commands the SC drive motor to rotate to that position (as controlled by the positional encoder). In some embodiments, the ACU checks to output of a round identification sensor to ensure that the desired round is in the indexed position, before initiating a transfer of the round out of the SC and ultimately to the gun for firing. The round is then removed from the database of available rounds. In some embodiments, once a round is removed from the SC, it must be either fired or discarded. In other embodiments, unfired rounds loaded into the carrier drive chain can be returned to the SC or, in some instances, to a second SC. A secondary SC could be located, for example, near the loading station. In some embodiments, the ammunition handling system will be able to index and store rounds in the secondary SC and to transfer those rounds to the gun as needed. Transfer of the unfired rounds can either take place by reversing the chain drive to return rounds to the smart magazine or by using the gun clutch to allow the chain (with loaded rounds) to pass through the gun without firing. Allowing rounds to pass through the gun without firing allows for a smart magazine-controllable effective dual feed system, where ammunition rounds can be selected for deployment by choosing the ammunition feed path from either side of the gun. 
     The following table shows running time the steps involved in selecting and deploying ammunition so that it is transferred to the gun and ready to fire: 
     
       
         
           
               
               
               
               
               
               
               
               
               
               
               
             
               
                 TABLE 2 
               
               
                   
               
             
            
               
                   
                   
                   
                   
                   
                   
                   
                   
                   
                 System 
                   
               
               
                   
                   
                   
                   
                   
                   
                   
                   
                   
                 transfer 
                   
               
               
                   
                   
                   
                   
                   
                   
                   
                   
                   
                 cycling to 
                   
               
               
                   
                   
                   
                 SmartMag 
                   
                   
                   
                   
                   
                 advance 
                   
               
               
                   
                   
                   
                 selection 
                 SmartMag 
                 SmartMag 
                   
                   
                   
                 selected  
                   
               
               
                   
                   
                 SmartMag 
                 cycling 
                 selection 
                 alignment 
                   
                   
                   
                 ammo 
                 System 
               
               
                   
                 WSO selects 
                 selection 
                 (18 = 20 − 
                 cycling 
                 cycling 
                 Storage 
                 Storage 
                 Diverter 
                 past  
                 transfer 
               
               
                   
                 ammo type 
                 cycling 
                 1 − 
                 (ramp  
                 (final 
                 Container 
                 Container 
                 Mechanism 
                 diverter 
                 cycling 
               
               
                 INITIAL 20 
                 and qty 
                 (ramp up 
                 1 rnd 
                 down 
                 positioning - 
                 gear 
                 motor 
                 toogled to 
                 (ramp up  
                 (full rate 
               
               
                 ROUND 
                 (Type II, 
                 1 rnd 
                 pitch max 
                 1 rnd 
                 gear 
                 clutch 
                 clutch 
                 TRANSFER 
                 1 rnd  
                 18 rnd 
               
               
                 BURST 
                 qty 20) 
                 pitch) 
                 travel) 
                 pitch) 
                 timing) 
                 coupled 
                 decoupled 
                 mode 
                 pitch) 
                 pitches) 
               
               
                   
               
               
                 Event Time 
                 0 
                 0.2 
                 1.80 
                 0.2 
                 1 
                 0.5 
                 0.5 
                 1 
                 0.2 
                 1.80 
               
               
                 Running Time  
                 0 
                 0.2 
                 2.00 
                 2.20 
                 3.20 
                 3.70 
                 4.20 
                 5.20 
                 5.40 
                 7.20 
               
               
                   
               
               
                   
                   
                 System 
                   
                   
                   
                   
                   
                   
                   
                   
               
               
                   
                   
                 transfer 
                   
                   
                   
                 Carrier 
                   
                 Carrier 
                   
                   
               
               
                   
                   
                 cycling to 
                   
                   
                   
                 advanced 
                 Carrier 
                 advance 
                   
                   
               
               
                   
                   
                 advance 
                   
                   
                   
                 cycling  
                 advance 
                 cycling to 
                   
                   
               
               
                   
                   
                 selected  
                   
                   
                   
                 to 
                 cycling 
                 transport 
                 Gun 
                   
               
               
                   
                   
                 ammo 
                   
                   
                   
                 transport 
                 (10 SPS 
                 ammo  
                 clutch 
                   
               
               
                   
                   
                 past  
                 Diverter 
                 Storage 
                 Storage 
                 ammo  
                 for 98 = 
                 to gun  
                 coupled 
                   
               
               
                   
                   
                 diverter 
                 Mechanism 
                 Container 
                 Container 
                 to gun  
                 100 − 
                 (ramp 
                 (to  
                   
               
               
                   
                 INITIAL 20 
                 (ramp  
                 toggled to 
                 motor 
                 gear 
                 (ramp 
                 1 − 1  
                 down  
                 enable 
                 READY 
               
               
                   
                 ROUND 
                 down 1  
                 CONTAIN 
                 clutch 
                 clutch 
                 up 1 rnd 
                 rnd 
                 1 rnd  
                 gun 
                 TO 
               
               
                   
                 BURST 
                 rnd pitch) 
                 mode 
                 coupled 
                 decoupled 
                 pitch) 
                 pitches) 
                 pitch) 
                 firing) 
                 FIRE 
               
               
                   
               
               
                   
                 Event Time 
                 0.2 
                 1 
                 0.5 
                 0.5 
                 0.2 
                 9.8 
                 0.2 
                 0.5 
                   
               
               
                   
                 Running Time  
                 7.40 
                 8.40 
                 8.90 
                 9.40 
                 9.60 
                 19.40 
                 19.60 
                 20.10 
                 20.10 
               
               
                   
               
            
           
         
       
     
     At any time, a different type of round (and corresponding color) can be selected, which will cause the new type of rounds to be transferred to the gun for firing. When the firing button is pressed after a new type of rounds is selected, the rounds actually fired will be rounds of the newly selected type and color. In some embodiments, if any rounds of the previously selected type remain loaded into the carrier drive when a different round type is selected, the rounds of the previously selected type will be cleared from the carrier drive chain before the different rounds are loaded. This can be done, for example, by discarding the loaded rounds, reversing the carrier drive to return the previously loaded rounds to the SC, or by allowing the previously loaded rounds to pass through the gun unfired to be returned to the SC or diverted to a secondary SC. When all of the rounds of a particular color are fired, the program alerts the user and will not issue any more firing commands until a new color is selected or the ACU is reset (and re-loaded). 
     Some embodiments are capable of firing in continuous mode or in burst mode. The ACU database contains an index of each type of each round in magazine and can also index the type and locations of rounds loaded onto the carrier drive, which is filled with rounds in a desired round mix. Rounds of the desired type are removed from the SC and added to the carrier drive as firing continues as controlled by the ACU. For burst firing, the ACU database will be primarily concerned with the index of the type of each round in each position in the magazine alone. The carrier drive will typically be empty of rounds immediately prior to the initiation of a burst. Once the round type is selected by WSO, the preselected number of rounds in the burst is deployed to the gun via the carrier drive. In some embodiments, only rounds designated for the firing burst will be transferred to the chain drive, with the rest of the positions left empty. The process (from selection to transfer to deployment) is repeated for each burst. 
       FIG. 7  is a flowchart illustrating the ammunition firing and status in a particular embodiment. In the embodiment of  FIG. 7 , it can be assumed that the ammunition has been loaded as described above (alternating groups of 22 rounds of each type of round) and that a 600 rounds per minute cycling rate is used for all the firing steps, including selection cycling, system transfer (to and from SC and carrier chain), and system advance (for SC and carrier chain). Referring also to  FIG. 2 , ammunition is stored in the SmartMag Storage Container  21  behind the diverter mechanism  22  with the Storage Container in the contain mode ( 701 ). The gun clutch  33  is decoupled to allow the carrier chain  37  to pass the gun without firing ( 702 ). WSO selects the desired ammunition type and quantity to signal the beginning of the firing sequence ( 703 ), and the ammunition in the SC is cycled until the selected rounds are positioned at the diverter mechanism ( 704 ). 
     In some instances, to use a specific non-limiting example, at the time the WSO makes the selection of the desired ammunition type, it may be the case that the first of a group of 22 rounds of a first type might be positioned at the diverter mechanism when the WSO selects a 22 round burst of rounds of a second type to be fired. Where only two different types of ammunition rounds are loaded in 22 round groups as described above, for the first firing operation (with a fully loaded magazine) the maximum distance to a given round type is 22 round pitches (diameter of a round) with the SmartMag capable of cycling in the forward or reverse directions to position the selected round type at the diverter mechanism. Where three different types of ammunition rounds are loaded in 22 round groups as described above, the maximum distance to a given round type is still 22 round pitches (diameter of a round) in either the forward or reverse direction. Thus, in these particular examples (and as shown in Table 2 above), rounds of the desired ammunition type can be positioned at the diverter mechanism in approximately 2.2 seconds. 
     The Diverter Mechanism  22  is then toggled to “Transfer Mode” by the ACU  29  ( 705 ). The storage container Dive Shaft is then extended, for example by using hydraulic power from the weapons platform, to couple the Storage container gear train to the gearing in the Transfer Unit ( 706 ), and the Storage Container Motor Clutch  31  is decoupled ( 707 ). The weapons system carrier drive is then powered and used to advance the selected ammunition rounds from the SC into the carrier drive ( 708 ). In some embodiments, an Elevator Unit  24  interfaces the Transfer Unit with the weapons system carrier drive to raise or lower the ammunition rounds from the Transfer Unit to the carrier drive. 
     The Diverter Mechanism  22  is then toggled to “Contain Mode” by the ACU  29  ( 709 ). The storage container Dive Shaft is then retracted to decouple the Storage container gear train from the gearing in the Transfer Unit ( 710 ), and the Storage Container Motor Clutch is re-coupled ( 711 ). 
     Ammunition rounds transferred to the carrier drive  25  are advanced to the gun  28  ( 712 ), the gun clutch  33  is recoupled to enable gun firing ( 713 ), and the weapons system reports “Ready to Fire” ( 714 ). The selected and deployed rounds can then be fired by the gun upon the execution of a firing command ( 715 ). 
     In the specific non-limiting example described above, the 22 selected rounds of the second type will pass through the diverter mechanism and be ready for transfer to the gun at a cumulative time (measured from the initial selection and initiation of loading) of no more than 9.4 seconds. At a cumulative time of no more than 19.6 seconds, the 22 second type rounds can be positioned at the gun ready to be fired. In this example, the gun clutch is coupled to enable firing and selected ammunition can be fired at a cumulative time of no more than 20.1 seconds. 
     After the initial firing sequence has been started the WSO can select a second firing round type and quantity to be fired. In some embodiments, in step  716 , the process of cycling and transferring rounds for the second burst can return to step  704  while the first burst is being transferred and fired (steps  712 - 714 ). The overlap of the firing and selection/transfer processes decreases the time that it will take to begin firing the second (or subsequent bursts). 
     Although much of the description herein is directed at the weapon system on the AH-64 Apache helicopter, embodiments of the invention could be used with any other type of linkless ammunition handling systems, including existing systems on the Cobra, Blackhawk, or a variety of naval crafts and ground vehicles. 
     A method or apparatus according to embodiments of the present invention has many novel aspects. Because the invention can be embodied in different methods or apparatuses for different purposes, not every aspect need be present in every embodiment. Moreover, many of the aspects of the described embodiments may be separately patentable. The figures described below are generally schematic and do not necessarily portray the embodiments of the invention in proper proportion or scale unless otherwise stated. 
     It should also be understood that the techniques of the present invention might be implemented using a variety of technologies. For example, the methods described herein may be implemented in software running on a computer system, which is either a standalone computer system or integrated into the drilling system computer. The methods described herein may be implemented in hardware utilizing one or more processors and logic (hardware and/or software) for performing operations of the method, application specific integrated circuits, programmable logic devices such as Field Programmable Gate Arrays (FPGAs), and/or various combinations thereof. In particular, methods described herein may be implemented by a series of computer-executable instructions residing on a storage medium such as a physical (e.g., non-transitory) computer-readable medium. In addition, although specific embodiments of the invention may employ object-oriented software programing, the invention is not so limited and is easily adapted to employ other forms of directing the operation of a computer. 
     Portions of the invention can also be provided in the form of a computer program product comprising a physical computer readable medium having computer code thereon. A computer readable medium can include any physical medium capable of storing computer code thereon for use by a computer, including optical media such as read only and writeable CD and DVD, magnetic memory or medium (e.g., hard disk drive), and/or semiconductor memory (e.g., FLASH memory and other portable memory cards). 
     The invention has broad applicability and can provide many benefits as described and shown in the examples above. The embodiments will vary greatly depending upon the specific application, and not every embodiment will provide all of the benefits and meet all of the objectives that are achievable by the invention. Note that not all of the activities described above in the general description or the examples are required, that a portion of a specific activity may not be required, and that one or more further activities may be performed in addition to those described. Still further, the order in which activities are listed are not necessarily the order in which they are performed. 
     In the foregoing specification, the concepts have been described with reference to specific embodiments. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the invention as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of invention. After reading the specification, skilled artisans will appreciate that certain features are, for clarity, described herein in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features that are, for brevity, described in the context of a single embodiment, may also be provided separately or in any subcombination. Further, references to values stated in ranges include each and every value within that range. 
     As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of features is not necessarily limited only to those features but may include other features not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive-or and not to an exclusive-or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present). Also, the use of “a” or “an” are employed to describe elements and components described herein. This is done merely for convenience and to give a general sense of the scope of the invention. This description should be read to include one or at least one and the singular also includes the plural unless it is obvious that it is meant otherwise. 
     Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, the benefits, advantages, solutions to problems, and any feature(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature of any or all the claims. 
     Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made to the embodiments described herein without departing from the spirit and scope of the invention as defined by the appended claims. Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, manufacture, compositions of matter, means, methods, or steps, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.