Patent Publication Number: US-7906749-B2

Title: System and method for deployment and actuation

Description:
FIELD OF INVENTION 
     The present invention generally concerns systems and methods for deployment and/or actuation; and more particularly, representative and exemplary embodiments of the present invention generally relate to systems, devices and methods relating to deployment and/or actuation of a control surface, or to actuate and/or deploy any suitable systems and/or devices. 
     BACKGROUND OF INVENTION 
     Mechanical systems may be configured to provide motion according to a specified design. For example, gears may be configured to mesh such that rotation of a first gear imparts a conforming rotation of the second gear. As another example, a rack and pinion gear assembly may be configured to mesh such that rotation of the pinion gear imparts a conforming translation of the rack. Such systems may be employed in a variety of applications including robotics, transportation devices, power systems, household appliances, and the like. 
     An exemplary application of a mechanical system is in the deployment and actuation of a control surface system for a projectile. For a projectile having a control surface, there are at least two design issues: selective deployment and/or selective actuation of the control surface. As to deployment, in many applications it is desirable to stow the control surface at some point during the operation of the projectile. For example, a projectile may be configured to be fired from an artillery barrel. In order to maximize the kinetic energy imparted to an artillery fired projectile, the projectile may be configured with an outer diameter such that the projectile is substantially flush with the interior surface of the barrel. Because control surfaces are frequently configured to extend beyond the outer diameter of the projectile, it is may be necessary to stow the control surface and deploy it after the projectile is in flight. 
     As to actuation, a control surface may be configured to actuate in flight to modify the trajectory of the projectile. For example, a control surface may be configured to rotate about an axis substantially normal to the longitudinal axis of symmetry of the projectile in order to modify the surface characteristics of the projectile. Accordingly, a system may be implemented to actuate the control surface to a desired position. 
     Complex mechanical systems have been developed to achieve these deployment and actuation applications. For example, many control surface systems include pyrotechnic actuators configured to provide irreversible control surface implementations. As another example, many control surface systems include feedback mechanisms to selectively align a control surface. Such systems may increase the complexity of hardware and software components and may increase power consumption. Complexity may increase the mass of the control system as well as provide an opportunity for failure of components. 
     SUMMARY OF THE INVENTION 
     In various representative aspects, a mechanical deployment and actuation system may comprise a rotation module, a pinion module, a rack module, and a bevel module. The rotation module may be configured to couple to a housing and rotate about the principal axis of the rotation module relative to the housing. The pinion module may be configured to couple to the rotation module and selectively rotate about the principal axis of the pinion module relative to the rotation module. The rack module may be configured to dynamically couple to the pinion module and translate along the principal axis of the rack module in response to rotation of the pinion module. The bevel module may be configured to couple to the rotation module and selectively rotate the rotation module, wherein rotation of the rotation module occurs about the principal axis of the rotation module, the rack module, and the pinion module. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Representative elements, operational features, applications and/or advantages of the present invention reside inter alia in the details of construction and operation as more fully hereafter depicted, described and claimed—reference being made to the accompanying drawings forming a part hereof, wherein like numerals refer to like parts throughout. Other elements, operational features, applications and/or advantages will become apparent in light of certain exemplary embodiments recited in the detailed description, wherein: 
         FIG. 1  representatively illustrates a projectile in accordance with an exemplary embodiment of the present invention; 
         FIG. 2  representatively illustrates a deployment and/or actuation system in an initial state in accordance with an exemplary embodiment of the present invention; 
         FIG. 3  representatively illustrates a cross-section view of a deployment and/or actuation system in an initial state in accordance with an exemplary embodiment of the present invention; 
         FIG. 4  representatively illustrates a deployment and/or actuation system in a deployed and actuated state in accordance with an exemplary embodiment of the present invention; 
         FIG. 5  representatively illustrates a cross-section view of a deployment and/or actuation system in a deployed and actuated state in accordance with an exemplary embodiment of the present invention; 
         FIGS. 6A and 6B  representatively illustrate an alternatively deploying and rotating system in accordance with an exemplary embodiment of the present invention; 
         FIG. 7  is a flowchart for an alternatively deploying and rotating system; 
         FIGS. 8A and 8B  representatively illustrate a simultaneously deploying and rotating system in accordance with an exemplary embodiment of the present invention; and 
         FIG. 9  is a flowchart for a simultaneously deploying and rotating system. 
     
    
    
     Elements in the Figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the Figures may be exaggerated relative to other elements to help improve understanding of various embodiments of the present invention. Furthermore, the terms “first”, “second”, and the like herein, if any, are used inter alia for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. Moreover, the terms “front”, “back”, “top”, “bottom”, “over”, “under”, “forward”, “aft”, and the like in the Description and/or in the claims, if any, are generally employed for descriptive purposes and not necessarily for comprehensively describing exclusive relative position. Any of the preceding terms so used may be interchanged under appropriate circumstances such that various embodiments of the invention described herein, for example, may be capable of operation in other configurations and/or orientations than those explicitly illustrated or otherwise described. 
     DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     The following representative descriptions of the present invention generally relate to exemplary embodiments and the inventors&#39; conception of the best mode, and are not intended to limit the scope, applicability or configuration of the invention in any way. Rather, the following description is intended to provide convenient illustrations for implementing various embodiments of the invention. As will become apparent, changes may be made in the function and/or arrangement of any of the elements described in the disclosed exemplary embodiments without departing from the spirit and scope of the invention. 
     Various representative implementations of the present invention may be applied to any system including and/or comprising a mechanical system. Certain representative implementations may include, for example: as a mechanical system used to actuate and/or deploy a control surface; as a mechanical system used to actuate and/or deploy any suitable systems and/or devices; within robotics applications; combinations thereof and/or the like. 
     As used herein, the terms “actuation”, or any variation or combination thereof, are generally intended to describe a change in the state of a body in response to a signal, especially selective rotation about an axis. 
     As used herein, the terms “couple”, or any variation or combination thereof, are generally intended to describe a configuration of at least two bodies wherein each body is not rendered inoperable for its intended purpose, such as, for example: a plug slidably connected within a cylindrical tube, a fastener attached to a structure configured to receive the fastener; and/or the like. 
     As used herein, the terms “deployment”, or any variation or combination thereof, are generally intended to describe a change in the state of a body in response to a signal, especially selective translation along an axis. 
     As used herein, the terms “dynamically couple”, or any variation or combination thereof, are generally intended to describe a couple between elements wherein the coupled elements are configured for synchronized rotation and/or translation by virtue of the couple, wherein the coupled elements at least partially maintain the couple, such as, for example: a first gear meshed with a second gear; and/or the like. 
     As used herein the terms “high friction surface”, or any variation or combination thereof, are generally intended to describe an interface between at least two surfaces having a coefficient of friction sufficient to dynamically couple the at least two surfaces. For example, a pair of cylindrical structures may be aligned to have parallel longitudinal axes such that the annular surfaces meet along an interface. The surfaces have a high friction surface if counterclockwise rotation of one cylinder imparts a corresponding clockwise rotation of the other. Alternatively, if one cylinder substantially independently rotates while in contact with other cylinder, there is no high friction surface. 
     As used herein, the terms “in response to”, or any variation or combination thereof, are generally intended to describe a cause and effect relationship between at least two elements, such as translation of the shaft of a solenoid in response to a potential difference, rotation of a first gear in response to rotation of a meshed second gear; and/or the like. 
     As used herein, the terms “mechanical”, or any variation or combination thereof, are generally intended to describe a system having at least one moving part on a macroscale, such as a plurality of gears, in contradistinction to a solid state system. 
     A detailed description of an exemplary application, namely a deployment and/or actuation system for a control surface, is provided as a specific enabling disclosure that may be generalized to any application of the disclosed system, device and method for deployment and/or actuation in accordance with various embodiments of the present invention. 
     In various embodiments in accordance with the present invention, a projectile may include a mechanical system configured to deploy and actuate a control surface. For example,  FIG. 1  representatively illustrates a projectile system  100  in accordance with an exemplary embodiment of the present invention. Projectile system  100  may comprise a projectile  105  configured for translation, a launch housing  110  configured to facilitate launch of projectile  105 , a drive system  115  configured to impart kinetic energy to projectile  105 , and a control surface module  120  configured to selectively modify the trajectory of launched projectile  105 . 
     Projectile  105  may comprise any system that is configured to translate and/or rotate. Projectile  105  may be configured to operate in a specific environment. For example, projectile  105  may be configured to translate and/or rotate through outer space, through air, through liquid water, through combinations thereof, and/or the like. Projectile  105  may be configured to translate and/or rotate in response to various systems and/or devices. For example, projectile  105  may imparted with kinetic energy by way of an artillery barrel. As another example, projectile  105  may be imparted with kinetic energy by way of internal devices such as a gyroscope, a stream of ejecta, a jet engine, propellers, combinations thereof, and/or the like. 
     Projectile  105  may comprise various materials. The design parameters relating to selection of a material comprising projectile  105  may relate to the operating environments and/or operating conditions of projectile  105 . For example, if projectile  105  is to operate for an extended period of time in salt water, it may be desirable to include materials configured for operation in such environment. As another example, if projectile  105  is to operate at supersonic speeds, it may be desirable to include materials configured for these operating conditions. Taking into account these and/or other design considerations, projectile  105  may comprise any suitable material including alloys, polymers, ceramics, cellulose, combinations thereof, and/or the like. 
     Projectile  105  may be suitably configured in various geometries and dimensions. The design parameters relating to the geometries of projectile  105  may relate to the operating environments, operating conditions, and/or materials of projectile  105 . For example, if projectile  105  is an aircraft, the geometries and dimensions of projectile  105  may be substantially dissimilar to those of a projectile  105  that is a torpedo. As another example, if projectile  105  is configured to carry explosive ordnance, the geometries and dimensions of projectile  105  may be substantially dissimilar to those of a projectile  105  that is configured to carry reconnaissance equipment. Taking into account these and/or other design considerations, projectile  105  may comprise any suitable dimensions and any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like. 
     Projectile  105  may comprise any suitable systems, structures, and devices. For example, projectile  105  may comprise materials including explosive ordnance, reconnaissance equipment, communications equipment, and/or a person or persons. As another example, projectile  105  may be configured to operate with external systems, such as satellite positioning systems. 
     Projectile  105  may be suitably configured in various embodiments. For example, projectile  105  may be a device that is configured to translate through air such as an aircraft, bomb, missile, or shell. As another example, projectile  105  may be a device such as a depth charge, submarine, or torpedo that is configured to translate through water. As yet another example, projectile  105  may be a device such as a satellite, spaceship, or space station configured for operation in extraterrestrial applications such as deployment and/or actuation of a solar panel. As yet another embodiment, projectile  105  may be broadly defined to include a device such as a turbine, a waterwheel, a propeller and/or a windmill that is configured to rotate in applications such as deployment and/or actuation of a surface in response to high velocity conditions. 
     Launch housing  110  may comprise a launch tube or similar structure suitably adapted to house, protect, stabilize, etc., one or more projectiles  105  prior to and/or during launch. Launch housing  110  may comprise a structure which is distinct from the projectile  105 , where projectile  105  is propelled by a drive system  115 . A launch housing  110  may substantially concentrically conform around projectile  105  and constrain translation of projectile  105  to changes in position in a single dimension coincident with the principal axis  125  of the projectile  105  or drive system  115 . Principal axis  125  may correspond to a straight line that is coincident with the drive system&#39;s  115  highest order of symmetry (alternatively or conjunctively, principal axis  125  may be coincident with drive system&#39;s  115  vector of deployment), for example, a straight line joining the apex and the center of the base of a cone, a straight line passing through the center of a circle, a straight line passing through the centers of the circular faces of a cylinder, and/or the like. 
     Launch housing  110  may be suitably configured for re-use such that launch housing  110  generally maintains its ability to support projectiles  105  through multiple mass ejection cycles of deployment. Design considerations, such as the operating temperature of ejected mass, if any, may influence the dimensions and selection of materials for fabrication of launch housing  110 . Launch housing  110  may have a shape other than that of a cylindrical tube and may be suitably configured to provide support for a variety of projectile  105  geometries. Launch housing  110  may include other features, such as structural support members, sighting mechanisms, electronics, and/or the like. 
     Drive system  115  may be configured to impart kinetic energy to projectile  105 . For example, drive system  115  may be a system configured to provide a stream of ejecta, such as a rocket engine. As another example, drive system  115  may be a surface of projectile  105  configured to receive a force from the interaction of an artillery barrel with a cartridge coupled to projectile  105 . As yet another example, drive system  115  may be configured to both receive a force from a launch device such as an artillery barrel and provide a stream of ejecta during flight of projectile  105 . 
     Drive system  115  may be suitably configured in various geometries, dimensions, and materials. Design considerations for drive system  115  include intended operation of projectile  105 , operating environment of projectile  105 , maximum allowable mass of projectile  105 , maximum allowable dimensions of projectile  105 , combinations thereof, and/or the like. For example, drive system  115  may be configured for use with a particular launch housing  110 , a specified impulse oil launch, the internal geometry of launch housing  110 , and/or the internal dimensions of launch housing  110 . Taking into account these and other design considerations, drive system  115  may comprise any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like. Drive system  115  may also comprise any suitable dimensions and any suitable materials including alloys, polymers, ceramics, cellulose, combinations thereof, and/or tie like. 
     Drive system  115  may comprise any suitable systems, structures, and devices. For example drive system  115  may comprise a plurality of contoured fins configured to direct ejecta emitted from drive system  115  and thereby modify the trajectory of drive system  115 . As another example, drive system  115  may be actuated to achieve a specified trajectory at the direction of a control system configured to selectively direct drive system  115 . As yet another example, drive system  115  may be powered by fuel and such fuel may be stored in proximity to drive system  115 . 
     Control surface module  120  may be configured to deploy and/or actuate at least one control surface. For example, control surface module  120  may be configured to deploy and/or actuate a control surface in response to a signal from a control system. The deployed control surface may be configured to modify the surface characteristics of projectile  105  such that the trajectory of projectile  105  is thereby modified. Control surface module  120  may be configured to modify the disposition of a control surface such that the control surface module  120  may be configured to provide various surface characteristics rather than binary alternatives. For example, control surface module  120  may be configured to both deploy a control surface and actuate the control surface to achieve various surface characteristics. 
     As generally depicted in  FIG. 2 , a representative embodiment of the present invention provides an orthographic view for a control surface module  120  in an initial state. Control surface module  120  may comprise a rotation module  210 , a pinion module  220 , a rack module  230 , and a bevel module  240 . Rotation module  210  may be configured to couple to a housing such that rotation module  210  is configured to rotate about the principal axis  215  of rotation module  210  relative to the housing. Pinion module  220  may be configured to couple to rotation module  210  such that pinion module  220  is configured to rotate about the principal axis  225  of pinion module  220  relative to rotation module  210 . Rack module  230  may be configured to dynamically couple to pinion module  220  such that rack module  230  is configured to translate substantially parallel to the principal axis  215  of rotation module  210 . Bevel module  240  may be configured to couple to rotation module  210  such that bevel module  240  is configured to selectively rotate rotation module  210 . Further, rotation module  210 , pinion module  220 , and rack module  230  may be aligned such that rotation of rotation module  210  by bevel module  240  at least partially rotates about the principal axis  215  of rotation module  210 , pinion module  220  and rack module  230 . Rotation of both pinion module  220  and bevel module  240  may be imparted by corresponding dynamic couples with a rotational drive system  250 . 
     Rotation module  210  may be suitably configured in various embodiments. Rotation module  210  may be configured to provide an axis of rotation and/or translation with respect to a housing. For example, the principal axis  215  of rotation module  210  may be substantially normal to the principal axis  125  of projectile  105 . As another example, the principal axis  215  of rotation module  210  may be at an angle to the principal axis  125  of projectile  105 . Accordingly, rotation module  210  may be suitably configured to provide an axis of rotation and/or translation  215  with respect to projectile  105 . 
     Rotation module  210  may be coupled to a housing in various embodiments. For example, rotation of rotation module  210  relative to the housing may be facilitated by a bearing  213 / 216 . Bearing  213 / 216  may be a low friction surface disposed substantially annularly with respect to rotation module  210 , a distinct portion of rotation module  210  being configured for operation with a portion of housing and/or a distinct piece configured to couple to rotation module  210 . For example, bearing  213 / 216  may comprise a ball bearing, a roller bearing, grease, combinations thereof, and/or the like. Bearing  213 / 216  may be configured to restrict movement of rotation module  210  relative to the housing. For example, bearing  213 / 216  may restrict translation and rotation of rotation module  210  to rotation about the principal axis  215  of rotation module  210 . In another embodiment, rotation module  210  may be configured to selectively translate about its principal axis  215  relative to projectile  105 . 
     Rotation module  210  may comprise any suitable dimensions, geometry, and material. Design considerations include the projectile  105  into which rotation module  210  is to be installed, the properties of the various modules  220 / 230 / 240 / 250  with which rotation module  210  is to operate, the operating conditions for the projectile  105 , combinations thereof, and/or the like. For example, rotation module  210  may comprise at least one of a substantially hollow cylinder and a substantially solid cylinder. As another example, rotation module  210  may comprise a cylinder having a length of 3.500 inches, a maximum outer diameter of 1.500 inches, and an inner diameter of 1.250 inches. Taking into account these and other design considerations, rotation module  210  may comprise any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like, any suitable dimensions and any suitable materials including alloys, polymers, ceramics, cellulose, combinations thereof, and/or the like. 
     Pinion module  220  may be suitably configured in various embodiments. Pinion module  220  may be configured to provide an axis of rotation and/or translation  225 . Pinion module  220  may be variously disposed relative to the principal axis  215  of rotation module  210 . For example, pinion module  220  may be disposed substantially normal to the principal axis  215  of rotation module  210 . As another example, pinion module  220  may be disposed at an angle to the principal axis  215  of rotation module  210 . Design considerations relating to the alignment of pinion module  220  and rotation module  210  include the meshing as between pinion module  220  and rack module  230 , the meshing as between pinion module  220  and rotational drive system  250 , the meshing as between rotation module  210  and bevel module  240 , the meshing as between bevel module  240  and rotational drive system  250 , combinations thereof, and/or the like. 
     Pinion module  220  may be coupled to rotation module  210  in various embodiments. For example, pinion module  220  may be configured to selectively rotate about the principal axis  225  of pinion module  220  relative to rotation module  210 . The axis of rotation  225  of pinion module  220  may be provided by rotation module  210 . For example, rotation module  210  may comprise a plurality of notches defining a plurality of holes configured to receive pinion module  220 . The holes may be configured to restrict rotation and/or translation of pinion module  220  about and/or along an axis  225  defined by the holes. The holes may be disposed such that the axis  225  of pinion module  220  is coincident with a chord of rotation module  210 . As another example, pinion module  220  may comprise a plurality of bearings configured to restrict rotation and/or translation of pinion module  220  about and/or along axis  225  defined by the bearings. The bearings may be further configured to couple to rotation module  210  such that pinion module  220  is substantially restricted with respect to rotation and/or translation of pinion module  220  about and/or along axis  225  defined by the rotation module  210 . Any suitable dimensions, geometries, and materials may be employed in coupling rotation module  210  to pinion module  220 . 
     Pinion module  220  may comprise any suitable dimensions, geometries, and materials. Design considerations include the projectile  105  into which pinion module  220  is to be installed, the properties of the various modules  210 / 230 / 240 / 250  with which pinion module  220  is to operate, the operating conditions for the projectile  105 , combinations thereof, and/or the like. For example, pinion module  220  may comprise at least one of a substantially hollow cylinder and a substantially solid cylinder. As another example, pinion module  220  may comprise a cylindrical spur  223  configured to couple with rotational drive system  250  having a thickness of 0.100 inches and a diameter of 1.634 inches. Pinion module  220  may further comprise a cylindrical shaft having a length of 3.200 inches and a diameter of 0.200 inches. Taking into account these and other design considerations, pinion module  220  may comprise any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like. The pinion module  220  may also comprise any suitable dimensions and any suitable materials including alloys, polymers, ceramics, cellulose, combinations thereof, and/or the like. 
     Rack module  230  may be suitably configured in various embodiments. Rack module  230  may be configured to provide a control surface  232  in response to deployment of rack module  230  along the internal surface  217  of rotation module  210 . Rack module  230  may be deployed via dynamic coupling with pinion module  220 . 
     As generally depicted in  FIG. 3 , a representative embodiment of the present invention provides a cross-section view for a control surface module  120  in an initial state. Rack module  230  may comprise a control surface  232 , a plug  333 , a rack body  336  and a rack surface  339 . Control surface  232  may comprise any suitable surface including a canard, an aero-surface, combinations thereof, and/or the like. Control surface  232  may be configured to extend beyond the length of rotation module  210  when rack module  230  is fully deployed. 
     The principal axis of rack module  230  may be coincident with the longitudinal axis of symmetry of rack module  230 . For example, rotation module  230  may be disposed such that a principal axis of rack module  230  corresponding to the primary axis of symmetry of rack module  230  is substantially parallel to the principal axis  215  of rotation module  210 . Design considerations relating to the alignment of rack module  230  and rotation module  210  include the meshing as between pinion module  220  and rack module  230 , the meshing as between pinion module  220  and rotational drive system  250 , the meshing as between rotation module  210  and bevel module  240 , the meshing as between bevel module  240  and rotational drive system  250 , combinations thereof, and/or the like. 
     Rack module  230  may comprise any suitable dimensions, geometries, and materials. Design considerations include the projectile  105  into which rack module  230  is to be installed, the properties of the various modules  210 / 220 / 240 / 250  with which rack module  230  is to operate, the operating conditions for the projectile  105 , combinations thereof, and/or the like. For example, rack module  230  may comprise a canard having a length of 1.500 inches, a width of 1.00 inches, and a maximum thickness of 0.144 inches. As another example, plug  333  may have a diameter of 1.200 inches. Taking into account these and other design considerations, rack module  230  may comprise any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like. Rack module  230  may also comprise any suitable dimensions and any suitable materials including alloys, polymers, ceramics, cellulose, combinations thereof, and/or the like. 
     Rack module  230  may be configured to deploy in response to rotation of rotation module  220 . For example, pinion module  220  may comprise pinion surface  329  configured to dynamically couple with rack surface  339 . The axis of translation of rack module  230  may be defined by rotation module  210  as by conformance of a notched portion of plug  333  with a longitudinal key  218  disposed along the internal surface  217  of rotation module  210 . 
     The dynamic couple between pinion module  220  and rack module  230  may be suitably configured in various embodiments. Pinion surface  329  may comprise an annular surface of pinion module  220  and rack surface  339  may comprise a corresponding substantially planar surface of rack module  230 . Pinion surface  329  and rack surface  339  may comprise corresponding gear teeth and/or corresponding high friction surfaces. In various embodiments, rotational drive system  250  may be suitably configured to selectively translate rack module  230  by virtue of the dynamic couple between rotational drive system  250  and pinion module and the dynamic couple between pinion module  220  and rack module  230 . 
     Dimensions, geometries, and materials for pinion surface  229  and/or rack surface  339  may be suitably configured for a given application. For example, in an application featuring rapid rotation of pinion module  220 , durability requirements may favor more robust designs and materials. As another example, in an application having a high sensitivity to vibration, the design may be configured to minimize vibration due to dynamic coupling. Taking into account these and other design considerations, pinion surface  229  and/or rack surface  339  may comprise any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like. Pinion surface  229  and/or rack surface  339  may also comprise any suitable dimensions and any suitable materials including alloys, polymers, ceramics, cellulose, combinations thereof, and/or the like. 
     Rack module  230  may be configured to actuate in response to rotation of rotation module  210 . For example, plug  333  may be configured to substantially conform with the interior surface  217  of rotation module  210 . Plug  333  may be configured to lock and restrain rotation of rack module  230  about the principal axis  215  of rotation module  210  via a notch in plug  333  configured to conform to a longitudinal key  218  disposed along the interior surface  217  of rotation module  210 . Accordingly, plug  333  may substantially define the disposition of rack module  230  relative to the principal axis  215  of rotation module  210 . 
     Plug  333  may additionally be configured to provide gun hardening of control surface module  120 . Additionally, plug  333  may be configured to act as a shock absorber, provide a weather seal, prevent contamination of pinion module  220  within rotation module  210 , combinations thereof, and/or the like. Materials as well as geometric and/or dimensional designs may be implemented to achieve these capabilities. 
     In the event that multiple rack modules  230  are to be implemented within rotation module  210 , the rack surface body  336  of one rack module  230  may be variously configured for operation with the plug  333  of another rack module  230 . For example, in an initial state, the rack surface body  336  of each rack module  230  may be configured to fit within a recessed portion of the other rack module  230 . As another example, in an initial state, the rack surface body  336  of each rack module  230  may be configured to extend through the plug  333  of the other rack module  230  by virtue of a hole in each plug  333  corresponding to the dimensions of each rack surface body  336 . 
     Through translation of rack module  230 , a control surface  232  such as a canard may be selectively implemented. Control surface  232  may comprise a distinct portion of rack module  230  configured to protrude from rotation module  210  when rack module  230  is at least partially deployed. Control surface  232  may be configured to extend beyond the effective diameter of projectile  105  thereby modifying the surface characteristics of projectile  105 . For example, control surface  232  may be configured to modify the resultant coefficient of drag and/or the resultant coefficient of lift of projectile  105 . Accordingly, by deploying and/or actuating control surface  232 , the trajectory of projectile  105  may be modified. The extent to which control surface  232  modifies the surface characteristics of projectile  105  may relate to the overall change in the effective area, A, by introduction of control surface  232  according to: 
     
       
         
           
             
               
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     Where F D  is the force of drag, ρ is the density of fluid through which the surface is passing, v is the velocity of the surface relative to the fluid, A is the effective area, C D  is the drag coefficient, F L  is the force of lift, and C L  is the lift coefficient of projectile  105 . 
     Bevel module  240  may be suitably configured in various embodiments. Bevel module  240  may be configured to couple to rotation module  210  and rotate rotation module  210  about the principal axis  215  of rotation module  210 . For example, bevel module  240  may be disposed at least partially substantially annularly about the exterior surface of rotation module  210 . Design considerations relating to the alignment of bevel module  240  and rotation module  210  include the meshing as between bevel module  240  and rotational drive module  250 , the meshing as between pinion module  220  and rotational drive system  250 , the meshing as between rotation module  210  and bevel module  240 , combinations thereof, and/or the like. 
     Bevel module  240  may comprise any suitable dimensions, geometries, and materials. Design considerations include the projectile  105  into which bevel module  240  is to be installed, the properties of the various modules  210 / 220 / 230 / 250  with which bevel module  240  is to operate, the operating conditions for the projectile  105 , combinations thereof, and/or the like. For example, bevel module may extend 0.575 inches beyond the outer diameter of rotation module  210  and/or include a beveled surface formed by a 0.325 inch chamfer of the bevel module  240  along the edge facing rotational drive system  250 . Taking into account these and other design considerations, bevel module  240  may comprise any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like. Bevel module  240  may also comprise any suitable dimensions and any suitable materials including alloys, polymers, ceramics, cellulose, combinations thereof, and/or the like. 
     The couple between bevel module  240  and rotation module  210  may be suitably configured in various embodiments. For example, bevel module  240  may be a substantially fixed structure disposed at least partially annularly around the exterior surface of rotation module  210 . In such an embodiment, rotation module  210  may be configured to rotate about its principal axis  215  according to the dynamic couple between beveled surface  242  and second surface  259  of rotational drive system  250 . As another example, bevel module  240  may be an at least partially freely rotating structure disposed at least partially annularly around the exterior surface of rotation module  210 . Bevel module  240  may comprise a circumferential slot and rotation module  210  may comprise a pin configured to be constrained by the circumferential slot. In such an embodiment, rotation module  210  may be configure to rotate about its principal axis  215  according to the dynamic couple between beveled surface  242  and second surface  259  of rotational drive system  250  after a pin imparts a torque on rotation module  210  in response to contact with a corresponding portion of the slot. 
     Rotational drive system  250  may be suitably configured in various embodiments. For example rotational drive system  250  may comprise a shaft  253  with a principal axis  255 . Shaft  253  may comprise a first surface  256  configured to dynamically couple with rotation module  220  and a second surface  259  configured to dynamically couple with bevel module  240 . As another example, rotational drive system  250  may comprise a shaft  253  configured to dynamically couple with both bevel module  240  and pinion module  220  as by a high friction surface couple between shaft  253  and bevel module  240  as well as the couple between shaft  253  and pinion module  250 . 
     Rotational drive system  250  may comprise an electric motor and/or a driveshaft configured for operation with the components  210 / 220 / 230 / 240  of control surface module  120  within projectile  105 . Accordingly, rotational drive system  250  may comprise a power source configured to power drive shaft  253 , a control system configured to selectively rotate drive shaft  253 , a Hall Effect sensor configured to selectively rotate shaft  253 , an optical encoder configured to monitor rotation of shaft  253 , combinations thereof, and/or the like. Design considerations relating to rotational drive system  250  include the power needed to deploy and/or actuate control surface module  120 , the operating conditions of projectile  105 , the maximum allowable dimensions and/or mass of rotational drive module  250 , combinations thereof, and/or the like. 
     Rotational drive system  250  may be suitably configured to rotate pinion module  220  and/or bevel module  240 . As generally depicted in  FIG. 4 , a representative embodiment of the present invention provides an orthographic view for a control surface module  120  in a deployed and actuated state. In this embodiment, bevel module  240  has dynamically meshed with rotational drive system  250  and rotation module  210  has rotated about its principal axis  215  accordingly. 
     In one embodiment, pinion module  220  may be translated along its principal axis  225  after a specified rotation of pinion module  220  and a corresponding translation of rack module  230 . Translation of pinion module  220  may be configured to decouple spur  223  from first surface  256  of rotational drive system  250 . With first surface  256  decoupled, second surface  259  of rotational drive system  250  may be configured to translate along the principal axis  255  of rotational drive system  250  as by spring coupled to shaft  253 . After translation, second surface  259  may be configured to dynamically couple with bevel module  240  thereby rotating rotation module  210  about the principal axis  215  of rotation module  210 . Accordingly, pinion module  220  and rack module  230  may be rotated about the principal axis  215  of rotation module  210 . In such an implementation, control surface module  120  may be configured to provide a selectively actuated control surface  232 . 
     Translation of pinion module  220  along its axis  225  may be suitably configured in various embodiments. For example, pinion module  220  may be imparted with an axial force in response to a specified rotation of pinion module  220 . Such axial force may be imparted by a mechanical system such as a cam and/or a spring. Such axial force may also be imparted by an electromechanical system such as a solenoid. 
     Regarding a cam, in one embodiment, spur  223  may comprise a beveled surface having an inclined plane at the intersection between spur  223  and first surface  256 . Accordingly, rotation of pinion module  220  would impart translation of pinion module  220  according to the inclined plane. Pinion module  220  may be further fitted with a compliant clip such as a retainer such that translation of pinion module  220  along its axis  225  is substantially restricted once the compliant clip locks within the retainer. In this way, rotation of pinion module  220  about its axis  225  may be configured to impart translation of pinion module  220  along its axis  225 . In another embodiment, pinion module  220  may comprise a cam configured to interact with a portion of the housing such that rotation of pinion module  220  imparts translation of pinion module  220 . In yet another embodiment, pinion module  220  may be coupled to a cam shaft driven by rotational drive system  250  such that pinion module  220  is translated by the cam shaft. 
     Regarding a spring, in one embodiment, pinion module  220  may be retained within rotation module  210  with a spring  226 . Spring  226  may be compressed in an initial state. After a specified rotation of pinion module  220 , the energy stored in spring  226  may be released, as by corresponding threading of pinion module  220  to rotation module  210 , thereby translating pinion module  220  along its principal axis  225 . 
     Translation of pinion module  220  may be suitably configured in various embodiments regarding the pinion surface  329  and rack surface  339 . For example, pinion surface  329  may be an exterior surface of a sleeve portion of pinion module  220  wherein the sleeve portion is configured to remain substantially fixed within rotation module  210  with respect to translation along the principal axis  225  of pinion module  220 . Sleeve portion may be configured to a provide pinion surface  329  that is substantially fixed with respect to translation about the principal axis  225  of pinion module  220 . In such an embodiment, problems associated with translation of pinion surface  329  along the principal axis  225  of pinion module  220  may be mitigated. 
     Translation of second surface  259  may be suitably configured in various embodiments. For example, second surface  259  may comprise a distinct structure configured to translate freely along shaft  253 . Second surface  259  may be imparted with an axial force as by a spring positioned along shaft  253  such that second surface  259  dynamically couples with bevel module  240  in response to extension of spring. Such spring may be further configured to accommodate dynamic coupling of pinion module  220  with rotational drive system  250  prior to decoupling of pinion module  220 . 
     The couple between second surface  259  and bevel module  240  may be suitably configured in various embodiments. For example, second surface  259  may comprise a beveled annular surface rotatably coupled to shaft  253  of rotational drive system  250  and bevel module  240  may comprise a corresponding beveled surface  242  disposed substantially annularly around rotation module  210 . Second surface  256  and beveled surface  242  may comprise corresponding gear teeth and/or corresponding high friction surfaces. In various embodiments, rotational drive system  250  may be suitably configured to selectively rotate rotation module  210  by virtue of the dynamic couple between rotational drive system  250  and bevel module  240  and the couple between bevel module  240  and rotation module  210 . 
     Dimensions, geometries, and materials for beveled surface  242  and/or second surface  259  may be suitably configured for a given application. For example, in an application featuring rapid rotation of rotation module  210 , durability requirements may favor more robust designs and materials. As another example, in an application having a high sensitivity to vibration, the design may be configured to minimize vibration due to dynamic coupling. Taking into account these and other design considerations, beveled surface  242  and/or second surface  259  may comprise any suitable geometries including a substantially conic section, substantially ellipsoidal, substantially polyhedral, substantially toroidal, substantially cylindrical, combinations thereof, and/or the like. Beveled surface  242  and/or second surface  259  may also comprise any suitable dimensions and any suitable materials including alloys, polymers, ceramics, cellulose, combinations thereof, and/or the like. 
     As generally depicted in  FIG. 5 , a representative embodiment of the present invention provides a cross-sectional view for a control surface module  120  in a deployed and actuated state. In this embodiment, the couple between a plurality of rack modules  230  and a pinion module  220  is visible. Each rack module  230  comprises a rack body  336 / 536  and rack surface  539 . Rack body  336 / 536  further comprises a rack body recess  529  configured to conform to pinion surface  329  ( FIG. 3 ) in a substantially locked position. Rack surface  539  does not extend into rack body recess  539 . Accordingly, the couple between rack body recess  529  and pinion surface  329  acts to restrain rack module  230  about pinion module  220 . In this embodiment, deployment of rack module  230  is substantially irreversible. In other embodiments, rack body recess  529  may be omitted to provide substantially reversible deployment of rack module  230 . 
     Control system module  120  may be selectively deployed and/or actuated according to any suitable arrangement. Control surface  232  and rotational drive system  250  may be configured with a specified positional relationship due to the meshing of gear teeth. Control system module  120  may be implemented with a suitably configured Hall Effect sensor coupled to rotational drive system  250  such that rotational drive system  150  may be precisely rotated. An optical encoder and corresponding control systems may be implemented with at least one of rotational drive system  250 , rotation module  210 , pinion module  220 , rack module  230 , and bevel module  240  such that the position of a module may be precisely determined. The deployed and/or actuated control surface  232  may be configured to complete a circuit in response to deployment and/or actuation of control surface  232 . 
     As another example, control surface module  120  may be suitably configured for control of various projectiles  105 . Control surface module  120  may be implemented to control a projectile  105  without completely de-rolling projectile  105 . Alternatively, control surface module  120  may be implemented to control a projectile  105  by at least partially de-rolling projectile  105 . Control surface module  120  may be implemented to provide a control surface in a wide range of projectiles  105  ranging from intercontinental ballistic missiles to shoulder fired missiles as well as torpedoes and stationary windmills. 
     As another example, control surface module  120  may be suitably configured to minimize the weight of projectile  105 . Each of the components of control surface module  120  may be comprised of lightweight material and/or designed to minimize the volume of material used. Additionally, control surface module  120  may be suitably configured to deploy and/or actuate a control surface  232  using a single rotational drive system  250 , such as suitably configured electric motor. 
     Control surface module  120  may be suitably configured for various operational sequences. For example, as generally depicted in  FIGS. 6A ,  6 B, and  7 , representative embodiments of the present invention provide an illustration and flow chart, respectively, for an alternatively deploying and rotating control surface module  120 . In an initial state  660  ( FIG. 6A ), pinion module  220  is aligned with rotational drive system  250  and bevel module  240  is decoupled with respect to rotational drive system  250 . Accordingly, rack module  230  has not been deployed and rotation module  210  has not been rotated. 
     In deployment, drive shaft  253  is rotated ( 710 ). From an initial state, rotation ( 710 ) of drive shaft  253  may be configured to rotate spur  223  ( 712 ). Rotation of spur  223  may be configured to rotate pinion module  220  ( 714 ). Rotation of pinion module  220  ( 714 ) may be configured to deploy control surface  232  ( 716 ). Once control surface  232  is deployed ( 716 ), spur  223  may be decoupled from drive shaft  253  through translation of pinion module  220  along the principal axis  225  of pinion module  220  ( 718 ). Decoupling of spur  223  ( 718 ) may be configured to dynamically couple drive shaft  253  and bevel module  240  ( 722 ). Once bevel module  240  is dynamically coupled to drive shaft  253 , bevel module  240  may be configured to rotate in response to rotation of drive shaft  253  ( 724 ). Rotation of bevel module  240  may be configured to rotate rotation module  210  ( 726 ). Rotation of rotation module  210  ( 726 ) may be configured to rotate control surface  232  ( 728 ). 
     In a deployed and actuated state  665  ( FIG. 6B ), pinion module  220  may be rotated via rotation module  210  due to dynamic coupling between bevel module  240  and rotational drive system  250 . Accordingly, control surface  232  may be deployed and actuated via alternative deployment and actuation. 
     As another example, as generally depicted in  FIGS. 8A ,  8 B, and  9 , representative embodiments of the present invention provide an illustration and flow chart, respectively, for a simultaneously deploying and actuating control surface module  120 . In an initial state  860  ( FIG. 8A ), pinion module  220  is aligned with rotational drive system  250 , as is bevel module  240 . Accordingly, rack module  230  has not been deployed and rotation module  210  has not been rotated. 
     First, drive shaft  253  is rotated ( 910 ). Rotation ( 910 ) of drive shaft  253  may be configured to rotate both spur  223  ( 912 ) and bevel module  240  ( 922 ). Because spur  223  and bevel module  240  are dynamically coupled to drive shaft  253 , spur  223  and bevel module  240  may be rotated in response to activation of shaft  253  ( 912 )/( 922 ). Rotation of spur  223  may be configured to impart rotation of pinion module  220  about principal axis of pinion module  225  ( 914 ). Rotation of pinion module  220  may be configured to impart deployment of rack module  230  which in turn may be configured to deploy control surface  232  ( 916 ). While bevel module  240  may be configured to rotate freely about rotation module  210  over a given interval, eventually bevel module  240  locks to rotation module  210  ( 924 ) as by operation of a pin portion  819  of rotation module  210  with slot portion  843  of bevel module  240 . Accordingly, bevel module  240  may be configured to impart rotation of rotation module  210  about the principal axis  215  of rotation module  210  ( 926 ). In response to rotation of rotation module  210 , spur  223  may be configured to decouple with shaft  253  ( 918 ) and accordingly pinion module  220 , rack module  230 , and control surface  232  may be rotated ( 928 ). 
     In a deployed and actuated state  865  ( FIG. 8B ), pinion module  220  has been rotated via rotation module  210  due to dynamic coupling between bevel module  240  and rotational drive system  250 . Accordingly, control surface  232  may be deployed and actuated via simultaneous deployment and actuation. 
     In the foregoing specification, the invention has been described with reference to specific exemplary embodiments; however, it will be appreciated that various modifications and changes may be made without departing from the scope of the present invention as set forth in the claims below. The specification and figures are to be regarded in an illustrative manner, rather than a restrictive one and all such modifications are intended to be included within the scope of the present invention. Accordingly, the scope of the invention should be determined by the claims appended hereto and their legal equivalents rather than by merely the examples described above. 
     For example, the steps recited in any method or process claims may be executed in any order and are not limited to the specific order presented in the claims. Additionally, the components and/or elements recited in any apparatus claims may be assembled or otherwise operationally configured in a variety of permutations to produce substantially the same result as the present invention and are accordingly not limited to the specific configuration recited in the claims. 
     Benefits, other advantages and solutions to problems have been described above with regard to particular embodiments; however, any benefit, advantage, solution to problem or any element that may cause any particular benefit, advantage or solution to occur or to become more pronounced are not to be construed as critical, required or essential features or components of any or all the claims. 
     As used herein, the terms “comprise”, “comprises”, “comprising”, “having”, “including”, “includes” or any variation thereof, are intended to reference a non-exclusive inclusion, such that a process, method, article, composition or apparatus that comprises a list of elements does not include only those elements recited, but may also include other elements not expressly listed or inherent to such process, method, article, composition or apparatus. Other combinations and/or modifications of the above-described structures, arrangements, applications, proportions, elements, materials or components used in the practice of the present invention, in addition to those not specifically recited, may be varied or otherwise particularly adapted to specific environments, manufacturing specifications, design parameters or other operating requirements without departing from the general principles of the same.