Patent Publication Number: US-2009229160-A1

Title: Weapon Ball Stock With Integrated Weapon Orientation

Description:
FIELD OF THE INVENTION 
     The invention relates generally to systems and method for securing an armament and more particularly to systems and methods for providing an armament with a physical and electrical connection to a ballistic body armor, vehicle, tripod and/or other support structure using a ball-and-socket-type connection structure. 
     BACKGROUND OF THE INVENTION 
     A major focus of military research has been to reduce the weight burden on the armed forces ground combatant while providing him/her with increased functionality. Technological advances in ergonomics as well as computers and communications have made it possible to provide today&#39;s ground combatant with heretofore unseen capability and information enabling him to be safer and more effective. 
     One of the of the earliest developments in military ergonomics was the shoulder carrying sling. The shoulder sling enabled the ground combatant to distribute the weight of his/her weapon over the neck, shoulders and/or back rather than putting it entirely on the arms, and free his/her hands to perform other functions. Shoulder slings were first used hundreds of years ago, yet they remain in widespread use today. The shoulder sling is a relative cheap and effective way of carrying a machine pistol or long weapon such as a military rifle. 
     A draw back of the shoulder strap is that it requires substantial movement to go from a rest position to a fire-ready position. The ground combatant must still raise the rifle to the appropriate level while buttressing the stock against the correct spot on his body before firing. Also, the shoulder sling is merely a mechanical attachment means for tethering the weapon to the ground combatant. It does not provide any other value-added electronic functionality as is demanded by today&#39;s ground combatant. 
     Advances in technology that have been made in the late 20 th  century have created the opportunity to provide the ground combatant with real-time information including location, range finding, target acquisition, and other functions that enhancing his/her effectiveness at locating and suppressing targets. One result of this has been to equip the ground combatant with a variety of different electronic sensing, computing and communication devices, many requiring their own power supplies. As a result of equipping the ground combatant in this way, his/her weight burden has increased because in addition to one or more weapons and extra ammunition, he/she is now carrying communications equipment, power supplying equipment, locating equipment, ballistic body armor and panels, heavy helmets, night vision goggles, range finding equipment, and other equipment. 
     In reaction to distributing technological functionality through a variety of different devices, there has been a focus on trying to integrate all functionality into a single weapon system. This focus has manifested in the proposed smart weapon. Though contemplated in many variations, the smart weapon is essentially a conventional gun chassis that has been modified to include integrated computer and communications circuitry. The smart weapon system has been contemplated as a new type of weapon that includes integrated electronics such as computers and communication equipment to facilitate ammunition counting, range finding, user-specific fire control and/or target discrimination. One example of a smart weapon is that described in U.S. Pat. No. 6,449,892 to Jenkins entitled “Smart Weapon.” The smart weapon described in this patent includes a transferable core-type computer that is inserted into the butt stock of the weapon. This computer provides the processing means for achieving the various functions associated with the smart weapon. A power supply is either integrated into the gun or worn elsewhere on the body of the user and then physically connected to the weapon using a cable-type connector. Various sensors, trigger controls and other electronic features are integrated into the weapon with the use of the core computer. 
     A problem with the smart weapon is that due to the level of integration, it cannot be easily retrofitted to existing weapons, such as the M4 and M16 rifles used by Western military forces and the AK-47 military rifle used in Asia, parts of Eastern Europe and the Middle East. Furthermore, having a microprocessor and other equipment integrated into the rifle increases its weight thereby increasing the burden to the ground combatant. Also, a physical wire connector between the weapon and the ground combatant is impractical in deployed environments as they are likely to degrade or break due to physical abuse, water and other factors that cause routine damage to equipment during combat. Also, cords are likely to reduce the ground combatant&#39;s mobility and may even become snagged on terrain. Cords, will also likely make it difficult for the ground combatant to separate himself from the weapon. 
     Improvements in technology have also made possible advancements in military training operations which, using cameras, sensors, and other equipment, allow battle scenarios to be monitored and directed in real time. During training operations, ground combatants are often outfitted with blank firing weapons that are equipped with various electronic functions that allow the participants to simulate firing, and wounding fellow combatants. One short coming of simulating combat with laser-based devices is that they do not have the “look and feel” of a real rifle. Therefore, ground combatants receive incomplete firearms training because ballistic qualities are disregarded by laser-based devices that require line of sight in order to register a hit. Even partial occlusion from light foliage is sufficient to block a hit. Thus, a ground combatant may achieve a false sense of security when concealed behind foliage that would be insufficient to protect him from being shot. Also, a ground combatant doing the shooting may believe that when an enemy is thus concealed that he is unable to take a lethal shot, when in fact, he may actually be able to. Thus, laser-based systems suffer from several shortcoming that limit them to being used as a training supplement rather than enhancing his real-time combat effectiveness. 
     Many of the problems discussed above associated with providing enhanced technology to the modern ground combatant stem from the lack of a standard interface for use in combat, training and for providing value-added information to the ground combatant. In the old paradigm, the ground combatant&#39;s weapon was a conventional weapon and all the other individual equipment provided the various interfaces to the value-added information. In the newer paradigm the weapon has become a primary interface, but it has become too technology dependent rendering it cost prohibitive, slow to adopt, non-standardized, and too heavy and/or cumbersome for widespread deployment. 
     SUMMARY OF THE INVENTION 
     Therefore, it would be desirable to provide a new and useful weapon attachment system that overcomes and/or ameliorates the above-noted limitations of conventional weapon attachment systems while providing smart weapon-type functionality. In particular, it would be desirable to provide a weapon attachment system that can be removeably attached to the body of the wearer in a manner that reduces the burden on the wearer. It would also be desirable to provide a weapon attachment system that can be moved from a rest position to a fire-ready position with reduced effort and smoother movement. An additional desirable feature would be to provide a weapon attachment system that is able to draw electric power and pass information to a the wearer in a manner that is devoid of cable connections. Still an additional desirable feature would be to provide a weapon attachment system that can be easily retrofitted to existing weapons. Yet another desirable feature would be to provide a plug-less universal connection interface for providing a mechanical, power and data. Yet a further desirable feature would be to provide a weapon attachment system capable of generating weapon boreline information. 
     It is therefore a feature of an embodiment of this invention to provide a weapon attachment system that can be removeably attached to the body of the wearer in a manner that reduces the burden on the wearer. It is another feature of an embodiment of this invention to provide a weapon attachment system that can be moved from a rest position to a fire-ready position with reduced effort and smoother movement. It is an additional feature of an embodiment of this invention to provide a weapon attachment system that is able to draw electric power and pass information to a the wearer in a manner that is devoid of cable connections. It is still a further feature of an embodiment of this invention to provide a weapon attachment system that can be easily retrofitted to existing weapons. It is yet another feature of an embodiment of this invention to provide a plug-less universal connection interface for providing a mechanical, power and data. It is yet a further desirable feature to provide a weapon attachment system capable of generating weapon boreline information. 
     In one embodiment according to this invention a rifle ball stock is provided. The rifle ball stock according to this embodiment comprises a butt stock for a weapon that is adapted to be mated with a weapon at one end and configured with a ball element-type connector at another end. 
     In another embodiment according to this invention, a ball-and-socket-based system for mounting a weapon is provided. The ball-and-socket-based system according to this embodiment comprises a weapon butt stock that is adapted to be mated with a weapon at one end and configured with a ball element-type connector at another end, and a body mounted receiving socket adapted to receive the ball element connector. 
     In yet another embodiment according to this invention, a ball-and-socket based system for mounting a machine-type combat pistol is provided. The system according to this embodiment comprises a pistol butt stock adapted to be attached to a pistol at one end and configured with a ball element-type connector at another end, a body-mounted receiving socket adapted to receive the ball element connector, and a body-mounted restraining bracket for removably affixing the machine-type pistol to the torso of the user when not being fired. 
     In an additional embodiment according to this invention, a ball-and-socket-based bus for a weapon is provided. The ball-and-socket-based bus according to this embodiment comprises a butt stock adapted to be attached to a weapon at one end and configured with a ball element-type connector at another end, and a body mounted receiving socket adapted to receive the ball element connector, wherein the ball element connector is comprised of two or more electrical contact portions, and the receiving socket is comprised of two or more electrical contact portions and two or more electromechanical or optoelectrical position determining means adapted to determine an orientation of the ball-shaped connector relative to the receiving socket. 
     In an additional embodiment according to this invention, a ball-and-socket-based bus for a weapon is provided. The ball-and-socket-based bus according to this embodiment comprises a butt stock adapted to be attached to a weapon at one end and configured with a ball element-type connector at another end, and a body-mounted receiving socket adapted to receive the ball element connector, wherein the ball element connector is comprised of two or more electrical contact portions and a plurality of light emitting devices, and the receiving socket is comprised of a two or more electrical contact portions and a plurality of light receiving devices, information transmitted by the light emitting devices to the light receiving devices conveying an orientation of the ball-shaped connector relative to the receiving socket. 
     In a further embodiment according to this invention, a ball-and-socket-based control bus is provided. The ball-and-socket-based control bus according to this embodiment comprises a hand activated controller having a track-ball or joy-stick type portion adapted to be controlled by a human hand and configured with a ball element-type connector, and a body mounted receiving socket adapted to receive the ball element connector, wherein the ball element connector is comprised of two or more electrically conductive portions and the receiving socket is comprises two or more electrical contacts and two or more position determining means adapted to determine a position of an axis of the ball-shaped connector relative to the receiving socket. 
     In still an additional embodiment according to this invention, a ball-and-socket-based control system for a heavy mounted weapon is provided. The ball-and-socket-based control system according to this embodiment comprises a connector having a substantially ball shaped element and a weapon attaching means for securely attaching the connector to the weapon, and a receiving socket, adapted to receive the substantially ball shaped element, attached to a weapon platform, wherein the substantially ball shaped element comprises two or more electrical contacts, and the receiving socket comprises two or more electrical contacts and a position determining means for determining a position of the substantially ball shaped element relative to the receiving socket. 
     In another embodiment according to this invention, a vehicle-based ball-type connector is provided. The vehicle-based ball-type connector according to this embodiment comprises a ball element-type connector attached to a portion of a powered vehicle and a retractable cord connecting the vehicle to the substantially ball element, wherein, the ball element connector comprises a signal transmission means and is adapted to be removably attached to a portable body-worn receiving socket to transmit a signal between the socket an the vehicle. 
     In a yet another embodiment according to this invention, a vehicle-based ball-type charging connector is provided. The vehicle based ball-type charging connector according to this embodiment comprises a ball element connector having at least two electrical contacts and a cable attaching the connector to a power circuit, the ball-shaped connector adapted to be removably attached to a portable body-worn receiving means and to transfer power to a body worn-power storage device. 
     In still another embodiment according to this invention, a ball-and-socket-based connector system is provided for reduced exposure firing of a weapon. The ball-and-socket-based connector system according to this embodiment comprises a weapon butt stock adapted to be securely connected to a weapon and configured with a ball element-type retractable connector and a second connector for connecting to at least one electronic device data gathering device attached to the weapon, a receiving socket adapted to receive the substantially ball shaped connector, wherein the retractable connector comprises a retractable data cable adapted to transfer data from the second connector to a body worn device. 
     In yet an additional embodiment according to this invention, a ball-and-socket-based weapon mounting system is provided. The ball-and-socket-based weapon mounting system according to this embodiment comprises an apparatus that is adapted to be mated with a weapon at one end and configured with a ball element connector at another end, and a receiving socket adapted to receive the ball element connector, wherein the receiving socket comprises a variable tensioning means controllable to impart differing degrees of resistance to motion of the ball-shaped connector within the receiving socket. 
     In another embodiment according to this invention, a ball-and-socket-type body-worn fastening mechanism is disclosed. The fastening mechanism according to this embodiment comprises a body worn receiving socket and a carrying device having a receptacle portion and at least one ball element connector attached to the receptacle, wherein the receiving socket is adapted to receive the ball element connector and has a variable tensioning means controllable to impart differing degrees of resistance to motion of the ball-shaped connector within the receiving socket. 
     In another embodiment according to this invention, a ball-and-socket-based articulating bus structure is disclosed. The articulating bus structure according to this embodiment comprises a plurality of vertebrae, each vertebra comprising a substantially disk-shaped member with a ball element connector portion on one side and a receiving socket on another side and an orientation determining means, wherein each receiving socket is adapted to receive the ball-shaped connector portion of the adjacent vertebra, and a ball element connector portion at either distal end of the articulating bus structure for conveying power, data and orientation information. 
     In another embodiment according to this invention, an electronically enabled helmet support structure is provided. The electronically enabled helmet support structure according to this embodiment comprises ball-and-socket based articulating bus structure adapted to support a helmet, configured with a attachment means for attaching the structure to a substantially fixed point on the wearer&#39;s body, a ball element connector adapted to attach to a receiving port in the helmet, and operable to supply power, data and head and/or weapon to the helmet. 
     In yet a further embodiment according to this invention, a ball-and-socket-based video camera mounting system is enclosed. The ball-and-socket-based video camera mounting means comprises an apparatus adapted to be mated with a camera tripod mounting screw opening at one end and configured with a ball element connector at another end, a body-mounted receiving socket adapted to receive the ball element connector, a variable tensioning mechanism in the receiving socket, and a body worn restraining structure adapted to removably restrain the video camera when not in use. 
     In another embodiment according to this invention, a dynamic combatant behavior monitoring system is provided. The dynamic combatant behavior monitoring system according to this embodiment comprises a conventional weapon outfitted with one or more electronic information gathering devices, a weapon butt stock adapted to be attached to the butt end of a weapon at one end and configured with a ball element connector at another end and including one or more additional connectors for connecting to the one or more electronic information gathering devices, a body-worn receiving bracket adapted to receive the ball element connector, a body-worn power supply device configured to supply power to the electronic information gathering devices via contact between the receiving socket and the ball element connector, an information transmitter in the weapon butt stock for transferring information gathered by the one or more information gathering devices from the ball element connector to an electronic body worn device via the receiving socket, a body supported transceiver for transmitting the information to a remote location and for receiving feedback signals from a remote location. 
     In yet an another additional embodiment according to this invention, a ball-and-socket-based robotic limb structure is provided. The a ball-and-socket-based robotic limb structure according to this embodiment comprises a series of unitary ball-and-socket elements connected in series to a predetermined length, a controller located at one terminal end of the robotic limb structure, and an end effector located at the other terminal end of the robotic limb structure, wherein each unitary ball-and-socket element comprises a ball element, an electrical signal path, a power storage device, a controller and a motor. 
     In still yet a further additional embodiment of this invention, a haptic feedback system for a weapon is provided. The tactual feedback system according to this embodiment comprises a ball-and-socket based weapon mounting system, a two-way communication system adapted to send and receive electrical signal wirelessly, and a vibrating alert, wherein the vibrating alert is adapted to vibrate in response to a signal received at the communication system and supplied through a ball-and-socket-based signal transmission system of the weapon mounting system. 
     These and other embodiments and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, illustrating by way of example the principles of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of automatic military rifle with a ball stock according to at least one embodiment of this invention; 
         FIG. 2  is a perspective view of a ball element and a receiving socket of a weapon mounting system according to at least one embodiment of this invention; 
         FIG. 3  is a perspective view of a ball-and-socket element of a weapon mounting system shown in an engaged position according to at least one embodiment of this invention; 
         FIG. 4  is a top view of a receiving socket of a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention; 
         FIGS. 5 and 6  are side and top views respectively of a conventional military rifle attached to a combatant through a ball-and-socket-based weapon mounting system illustrating the sweep and elevation range of motion of the mounting system according to at least one embodiment of this invention; 
         FIG. 7  is a front view of a ball-and-socket-based machine pistol mounting system according to at least one embodiment of this invention; 
         FIG. 8  is a perspective view of a self-orienting receiving socket of a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention; 
         FIG. 9  is a is detail view of a garment-mounted ball-and-socket-type controller bus including an hand-activated controller according to at least one embodiment of this invention; 
         FIG. 10  is a light-transmitting ball element of a self-orienting ball-and-socket based weapon mounting system according to at least one embodiment of this invention; 
         FIG. 11  is a cut-away view of illustrating internal components of a light-transmitting ball element of a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention; 
         FIG. 12  is an axial view of a light-transmitting ball element of a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention; 
         FIG. 13  is a front view of a light receiving socket element of a self-orienting ball-and-socket-based weapon mounting system according to at least one embodiment of this invention; 
         FIG. 14  is a perspective view of a ball-and-socket assembly of a self-orienting ball-and-socket-based weapon mounting system shown in an engaged position according to at least one embodiment of this invention; 
         FIGS. 15 and 16  are side views illustrating a recoilless-type rifle attached to a ground combatant using a ball-and-socket-based weapon mounting system according to at least one embodiment of this invention; 
         FIGS. 17 and 18  are top and front view respectively of a ball-and-socket-based weapon mounting system for performing reduced exposure firing according to at least one embodiment of this invention; 
         FIG. 19  is a cut away side view of an in-vehicle ball-and-socket-based power recharging system according to at least one embodiment of this invention; 
         FIGS. 20 and 21  are front views of a ball-and-socket-based vehicle communication system for communicating with persons in an enclosed vehicle according to at least one embodiment of this invention; 
         FIG. 22  is a perspective view of an articulating bus structure according to at least one embodiment of this invention; 
         FIG. 23  is a side view of an individual vertebra element of an articulating bus structure according to at least one embodiment of this invention; 
         FIG. 24  is a top view of an alternative vertebra element of an articulating bus structure according to at least one embodiment of this invention; 
         FIG. 25  is side view of an articulating bus structure shown in a compressed configuration according to at least one embodiment of this invention; 
         FIG. 26  is a side view of a augmented reality display helmet and ball-and-socket-based helmet support structure including a self-orienting ball-and-socket mounting system and articulating bus structure according to at least one embodiment of this invention; 
         FIG. 27  is a schematic view of a ball-and-socket-based robotic limb structure according to at least one embodiment of this invention; 
         FIG. 28  is a schematic view of an unitary ball-and-socket element of the robotic limb structure according to at least one embodiment of this invention; 
         FIG. 29  is side view of an individual ball-and-socket assembly of a robotic limb structure according to at least one embodiment of this invention; 
         FIG. 30  is a perspective view of a segment of an enshrouded ball-and-socket-based robotic limb structure according to at least one embodiment of this invention; 
     
    
    
     DETAILED DESCRIPTION OF THE DISCLOSURE 
     The following description is intended to convey a thorough understanding of the invention by providing specific embodiments and details involving a ball-and-socket type mounting system for rifles, machine pistols and other equipment. It is understood, however, that the invention is not limited to these specific embodiments and details, which are exemplary only. It further is understood that one possessing ordinary skill in the art, in light of known systems and methods, would appreciate the use of the invention for its intended purposes and benefits in any number of alternative embodiments, depending upon specific design and other needs. 
     As used herein the term “weapon” will refer to any type of military, police and/or civilian weapon, ballistic or self-powered, that is manually fired including, but not limited to, automatic machine guns, long range rifles, shot guns, machine pistols, shoulder mounted rocket launchers, recoilless rifles, tripod-mounted guns and other suitable guns. 
     The present invention may be used with all of the foregoing classes of weapons, without limitation, whether ballistic or otherwise. The embodiments described herein provide, as an exemplary structure, a conventional shoulder/torso-fired machine rifle, however, this is not intended to limit the claimed invention. The invention will be understood to encompass, without limitation, all classes and types of hand-fired weapons, including those described herein. Preferably, the weapon is easily adaptable to replace the standard butt stock with a ball stock having a substantially ball-shaped ball element in accordance with various embodiments of this invention. 
     Throughout this description the term “ball-and-socket type weapon mounting system” will refer to any system in which the weapon is attached to a body-supported receiving socket by a weapon butt stock configured with a ball element connector that is received by the body-supported receiving socket. In various embodiments, the socket may be attached to a garment such as ballistic body armor, or other support vest, or may simply be attached by a belt or strap or attached by other suitable means. 
     Throughout this description the phrase “ball stock” will refer to a modified weapon butt stock device that on one end is configured to mate with a weapon in the same manner that a conventional butt stock mates with the weapon and on the other end is configured with ball element connector. 
     Throughout this description the phrase “light emitting devices” will refer to any type of information transmitting device such as, for example, a light emitting diode, an infra-red transmitter or other suitable light emitting device capable of transmitting binary information with light waves. Likewise, the phrase “light receiving device” will refer to any type of information receiving device such as a photoreceptor, photodiode, or other suitable light detecting device capable of receiving binary information transmitted with light waves. 
     Throughout this description the term “ground combatant” or simply “combatant” will refer to anyone using a weapon in accordance with the various embodiment of this invention. However, it should be appreciated that the “ground combatant” or “combatant” may actually refer to someone from any branch of the armed forces, a law enforcement person, tactical response person, or even a recreational shooter. 
     Throughout this description the phrase “weapon orientation and system integration” will refer to a system for mounting a weapon that includes a mechanical mounting means, power, and data transfer capability, which in various embodiment, will be used to transfer data used to determine weapon axis orientation, as well as other data. 
     Throughout this description the phrase “self-orienting” will refer to various embodiments of a weapon mounting system in which the orientation of the weapon&#39;s boreline may be determined based on the orientation of the ball element of the weapon mounting system within the receiving socket. Through the self-orienting functionality of the ball-and-socket joint combined with the known dimension of the weapon, caliber of ammunition, etc., a computer or other data processing device accessible by the ground combatant may determine and present to the ground combatant information including ballistic virtual objects. 
     Throughout this description the phrase “ballistic virtual objects” will refer to objects presented to the ground combatant through a helmet mounted display or other display device to create an augmented reality. A ballistic virtual object, or BVO, is disclosed. Ballistic virtual objects are predictive augmented reality artifacts that that allow individuals or groups to understand the effects of one or more weapon systems in a simulation before they are discharged. The ACRE system includes a calculation for deflection. In order to represent the Ballistic Virtual Object, the horizontal clockwise angle between the axis of a bore and the augmented reality display&#39;s line of sighting must compensate for deflection. The deflection angle is the of a deflection shot in gunnery, measured between the line of sight to the target and the line of sight to the aiming point. BVOs also account for the line of departure, or direction of a projectile at the instant it clears the muzzle of the gun. 
     Throughout this description the phrase “advanced cooperative rifle engagement” (“ACRE”) will refer to a network-based combat-ready distributed software system comprising a plurality of individual ground combatants each equipped with a weapon orientation and vision/helmet orientation and integration system. By fusing individual data supplied from each ground combatant, dynamic battlefield command and marksmanship can be facilitated using augmented reality feedback supplied to the ground combatants from the virtual environment fusion processing center. The ACRE virtual environment adjusts in real time based on the weapon orientation and integration data coming from each ground combatant&#39;s weapon and head. The ACRE method encompasses both the hardware for actually presenting sensory perceivable information, and the software or other data creation, manipulation, or other methodology for the specific purpose of presenting perceivable information to a participant. The ACRE method constitutes a component of a Soldier-as-a-System, or SaaS, infantry lethality paradigm. 
     The invention will now be described with reference to the attached drawings illustrating preferred embodiments of the invention. For clarity, features that appear in more than one FIGURE have the same reference number in each Figure. For sake of simplicity and ease of explanation, the invention will be discussed primarily in the context of a conventional machine-type military rifle. However, it should be appreciated by those possessing ordinary skill in the art, that the principles disclosed herein may be applied equally to any other type shoulder/torso fired weapon giving the term weapon its broadest reasonable interpretation as defined herein. 
     Referring now to  FIG. 1 , a portion of a conventional military rifle such as an American M4 or M16 military rifle  50  is illustrated. The rifle  50  has been modified to include a ball stock  100  of a ball-and-socket-type weapon mounting system in accordance with at least one embodiment of this invention. In various exemplary embodiments, the ball stock  100  is simply a mechanical replacement to the standard butt stock except for the ball element  110 . The ball stock mounting system  100  shown in  FIG. 1  comprises a ball element  110  located at the distal end of the rifle  50  and an axis  115  running from the ball element  110  to the connection point at the butt end of the weapon. Though shown in the figure as a solid, one-piece-type axis, the axis  115  may comprise an adjustable axis such, for example, a telescoping axis having a tensioning control to allow the length of the axis to be adjusted to the dimensions of the ground combatant for which the rifle is intended. Through the use of the tensioning control, tension may be reduced to allow the axis  115  to be extended or compressed to an optimal length. Once the optimal length has been reached, the tensioning control may then be actuated to “lock” the length of the axis  115  into place. Various tensioning controls may be utilized, such as, for example, an infinite position knob tension device or a limited position locking tension device. The specific tension device utilized is not critical to the invention. Furthermore, as used herein, tensioning devices should be construed as referring to any suitable tensioning device. Tension or friction force imparting devices are ubiquitously well known in the mechanical arts. Therefore, a specific detailed discussion of the tensioning mechanism useable with the various embodiments of this invention has been intentionally omitted. The invention should not be limited to any particular tensioning mechanisms specifically discussed in this specification. 
     Another advantage of a telescoping axis is that when the weapon is being transported or not in use, the axis may be reduced to its minimum length in order to minimize the amount of space required to transport the weapon. This may have particular advantages to deployment and re-supply where many thousands of weapons are being transported at once. 
     In still a further embodiment the axis  115  includes an integrated recoil reducing element such as, for example, a spring or other linear or non-linear resistance mechanism operable to reduce the recoil force imparted from the rifle to the body of the person firing the weapon. It should be appreciated that that a typical weapon includes a recoil mechanism. However, in order to further reduce the effects of recoil on the ball-and-socket element, the axis  115  may include an integral recoil reducing mechanism, such as, for example, a spring, a gas-based recoil reducing system or a blow-back-type recoil reducing system. 
     With continued reference to  FIG. 1 , in various embodiments, the axis  115  and the substantially ball element  110  will be made out of the same material. However, in various other embodiments, they will be made out different materials. The specific material composition of either the axis  115  or ball element  110  is not critical to the invention. However, because it is intended that the ball stock  100  be used in deployed combat environments as well as other potentially harsh environments, it is preferred that both the ball element  110  and the axis  115  be made of a strong, lightweight, non-corrosive material such as, for example, plastic, nylon or other polymer, titanium, stainless steel, aluminum, or other suitable material. Furthermore in order to prevent denting of the substantially ball element  110 , it may be preferable that it is completely solid, partially solid or of sufficiently thick construction to render it essentially impervious to denting. 
     Referring now to  FIGS. 2 and 3 , the components of a ball-and-socket type weapon mounting system according to at least one embodiment are illustrated. In these Figures a portion of a ball stock  100  and a receiving socket  200  according to various embodiments are illustrated. The portion of the ball stock component  100  comprises a ball element  110  connected axially to a weapon connecting portion (not shown) along an axis  115 . On the underside of the axis is a guide ridge  120  for guiding the ball stock  100  into a relaxed position of the weapon when the stock  100  is mated with the receiving socket  200 . The receiving socket  200  comprises a connector body  205  with a pair of receiving yokes  230  which define an opening adapted to accommodate the ball element  110  of the ball stock  100 . Also, a concave portion  240  is disposed in the body  205  at a position “behind” the ball element  110  in order to allow the ball element  110  to fit securely in the socket  200 , that is without any wobble. It should be noted, that in a preferred embodiment, the ball element  110  fits in the socket  200  with a smooth tension devoid of wobble. 
     For purposes of example only, the socket  200  of  FIGS. 2 and 3  is illustrated as a one-piece type socket. Therefore, the ball shaped portion  110  is simply “clicked in” to the socket  200  to become engaged. Either the ball element  110 , or the receiving yokes  230 , or both must be slightly flexible to allow the ball element  110 , which has a slightly larger diameter than that defined by the yokes  230 , to pass through the yokes  230 . In a preferred embodiment, if either or both of the components are flexible, they should not suffer any hysteresis effects which would, over time, reduce the “tightness” of the fit between the ball element  110  and the yokes  230 . However, in various embodiments, particularly if the ball element  110  and the yokes  230  are constructed of sufficiently rigid material, it may be desirable to include a space adjusting means to adjust the spacing between the yokes  230  in order to allow the ball element  110  to enter the socket  200  and then be “locked in” to the socket. 
     Alternatively, or in addition, various embodiments may employ a variable tension means to adjust the relative resistance to motion of the ball element within the socket  200 . For example, in certain environments, such as close or urban combat environments, it may be desirable to have maximum mobility of the ball element  110  within the socket  200 . In contrast, in other situations, such as, for example, when engaging a particular fixed target from an extended distance, it may be desirable to increase the tension of the ball element  110  in the socket  200  to thereby increases marksmanship steadiness by transferring some of the weight burden to the ball-and-socket joint defined by these components. 
     In still further alternative embodiments, the two yoke portions  230  of the socket may be spring tensioned so that tensioning enables the yokes  230  to maintain a minimum separation distance. Insertion of the ball element  110  of the ball stock  100  causes the yokes to separate. Once the maximum diameter of the ball element  110  has passed the yokes  230  the spring tension causes the ball element  110  to enter the socket the remaining distance and to stay securely but removably in place. Removal of the ball element  110  is effected in a similar but reverse process. Applying sufficient axial force to the weapon will cause the ball to “pry” apart the yokes  230  until the maximum diameter of the ball shaped portion has cleared, after which the tension will assist in “expelling” the ball element  110 . 
     In still further embodiment, the restraining yokes  230  may each have two natural positions, a dosed position and an open position. Either prying the yokes  230  open or forcing them dosed causes them to switch between positions. Alternatively, a release mechanism may, upon being actuated, cause the yokes  230  to open. 
     In yet another embodiment, the ball element is loaded into the socket  200  from the top of the socket. In this embodiment, the ball may not be removed by applying axial force away from the socket  200  unless the weapon is pointing straight up. Normally, removal in this embodiment would be effected by pushing up transversely on the axis  115  while the weapon is elevated to a fire-ready level or by pushing towards the ball element  110  along the weapon axis while the weapon is pointing downwards. This embodiment may also include a hinged or removable dust cover which, once the ball element has been inserted into the socket  200 , slides over the ball-and-socket assembly to provide protection from exposure to dirt, moisture, and other contaminants. 
     In should be noted that in this specification, a weapon mounting system is described in which a weapon butt stock is configured with a ball element that mates with a body-supported receiving socket. However, in various embodiments, the ball-and-socket assembly may be reversed such that the weapon butt stock is configured with a receiving socket and the ball element is supported by the user&#39;s body. Such an embodiment is within the scope of this invention. 
     In  FIG. 3 , the ball stock  100  is shown engaged with the socket  200  while substantially facing outward, that is, in a fire-ready position of the weapon. When the weapon is in a relaxed position, that is pointing substantially down towards the ground combatant&#39;s feet, the guide ridge  120  will serve to guide the weapon into a complimentary receiving channel  220  to prevent axial roll of the weapon which may impede the ground combatant&#39;s ability to quickly return the weapon to the fire ready position. In various embodiments, the receiving channel  220  will also “lock” the weapon into a stowed position using a friction hold or other mechanical, manually released hold mechanism (not illustrated). 
     Referring now to  FIG. 4 , a top view of the receiving socket  200  of the ball-and-socket-based weapon mounting system according to at least one embodiment is illustrated. As seen in the FIGURE, the restraining yokes  230  define an opening  210  which is slightly smaller than the diameter of the ball element of the ball stock enabling the ball to be “clicked in” to the socket  200 . The channel  220  for receiving the guide ridge can be seen at the bottom of the socket  200 . As noted above, in various exemplary embodiments, the socket  200  may be attached to a garment such as ballistic body armor or other support garment or may simply be attached by a belt or strap or attached by other suitable means. Though not shown in the FIGURE, as discussed herein, the receiving socket may employ one or more tensioning devices to allow adjustment of the gap  210  as well as the same or additional tensioning devices to adjust the resistance to motion of the ball element within the socket  200 . 
       FIGS. 5 and 6  are side and top views respectively illustrating ground combatant with a machine-type rifle  50  attached to his body using a ball-and-socket-type weapon mounting system according to at least one embodiment of this invention. As illustrated in these Figures, the rifle  50  may be moved through a full range of sweeping and elevated motions while attached to the ground combatant through the ball-and-socket-based weapon mounting system. Furthermore, as seen in  FIG. 6 , a second socket  200  may be located on the left shoulder/torso region to accommodate situations where “off-hand” shooting is required, e.g. corners. Throughout this disclosure the socket  200  is illustrated as being located in a shoulder/upper torso location. However, it should be appreciated that in various embodiments, the socket  200  may be located elsewhere on the body as desired by the wearer without departing from the spirit or scope of the invention. Furthermore, it should also be noted, that for simplicity of drawing, the socket  200  has been shown as located in a relatively fixed position on the shoulder/upper torso location of a garment or on the ground combatant&#39;s body. However, in various embodiments, the receiving socket  200  will be able to be located at different portions on the ground combatant&#39;s body. In various embodiments, this will be facilitated by sliding the socket along a track, rail or other device. However, in various other embodiments, the socket  200  may be remounted, such as, for example, to a garment having a plurality of through holes or other alternative mounting locations. In one embodiment in particular, the mounting socket  200 , may be relocated to an underarm position. This position may be particularly useful when the ground combatant must carry the weapon for an extended period of time in a “safe” or “training” environment where there is little or no chance that the ground combatant will be fired upon or otherwise required to return the location of the receiving socket  200  to a location that is better suited to supporting firing of the weapon. 
     Referring now to  FIG. 7 , a ball-and-socket-based weapon mounting system for a machine-type pistol according to at least one embodiment of this invention is illustrated. As with the ball-and-socket-based rifle mounting system, disclosed herein, this system comprises a body-supported mounting socket  200  and a pistol ball stock  100  comprising a ball element  110  that is received by the socket  200  and an axis  115  that is adapted to be mounted to the butt end of the pistol  70 . In the embodiment shown in  FIG. 7 , the weapon mounting system also comprises a strap  180  to hold the pistol  70  against the chest/torso when not in use. The strap  180  is but one example of possible restraining mechanisms that can be used in accordance with embodiments of this invention. In at least one other embodiment, the garment to which the receiving socket  200  is attached comprises an integral recess adapted to receive and hold the machine pistol  70  either alone or in combination with some other mechanical fastening means such as a strap, clip, bracket, etc. 
     In various other embodiments, the weapon mounting system includes a garment with a void designed to conform to the shape of the machine pistol. For example, the garment may include a recess comprised of foam or other flexible material in which the machine pistol may be stowed. This may or may not include a strap to assist in preventing the weapon to unintentionally be removed from the recess. 
     It should be noted that though the various embodiments of this invention have thus far been directed to ball-and-socket-based systems and apparatus&#39; for securing a weapon to the body of a ground combatant, the same principles may be used to secure other objects to the body of the ground combatant. For example, in one embodiment of the invention, a carrying receptacle configured with at least one ball element-type connector at the top may be attached to the body of a ground combatant using the receiving socket  200  illustrated in various embodiments of the invention to allow him/her to efficiently carry other objects such as water bladders, ammunition, communications equipment, a spare machine gun barrel, binoculars or other equipment. Furthermore, in a manner analogous to the ball-and-socket based weapon mounting system for a machine-type pistol embodiments discussed herein, the mounting system may be used to mount a video camera, such as, for example, for use with embedded journalists who often need to be able to move quickly and efficiently and use their hands to climb on and off of motorized equipment. In various embodiments, the video camera will include a ball element-type connector that is connected to an axis that mounts to the conventional video camera tripod mount incorporated into the bottom of the body of most video and still cameras. Furthermore, the camera may be secured to the operator&#39;s chest in a manner analogous to the machine pistol as discussed herein. 
     It should be noted that though the specification frequently refers to weapon orientation, that as discussed herein, the same principles apply to helmet orientation to the extent that the helmet is attached using a ball-and-socket-based system. Thus, weapon orientation and helmet orientation may be used synonymously to the extent that both are derived mathematically based on the orientation of one or more self-orienting ball-and-socket joints with respect to a known fixed coordinate location. Thus, the combatant&#39;s field of vision is roughly analogous to the weapon&#39;s boreline as both are based on determinations of orientation—the boreline is the straight line defined by the weapon&#39;s barrel and the field of vision is a partially conical N-degree field of view presumed to be aligned with the head of the helmet wearer, as measured by the orientation of the helmet. However, it should be noted that weapon trajectory has no analog in the context of the helmet because the helmet is merely determining orientation for the purposes of calculating a field of vision. 
     Though this specification may refer to a Cartesian or 3-dimensional X,Y,Z coordinate system, it should be appreciated that any applicable coordinate systems may be used with this invention. Moreover, it is to be assumed that any conflicts of coordinate systems in this application are resolved through simple coordinate transforms. 
     Referring now to  FIG. 8 , a perspective view of a receiving socket  200  for a self-orienting ball-and-socket-based weapon mounting system according to at least one embodiment of this invention is illustrated. In this embodiment, the socket  200  comprises a main body portion  205 , a pair of restraining yokes  230 , a pair of position detectors  240 ,  245 . For ease of explanation purposes, only 2 position detectors are illustrated in  FIG. 8 . However, in various embodiments, it may be desirable to utilize more than two position detectors to build redundancy into the system. Also, in various embodiments, one of the position detectors will detect position changes in the sweeping direction, while the other detects position changes in the elevated direction. Furthermore, though these are shown as mechanical position detectors, in various embodiments, they may be light based position detectors that, based on a pattern printed on the ball element, are able to detect rotation of the element from a reference point and therefore the orientation of the weapon to which the ball element is connected. 
     When the ball element of the ball stock is “clicked in” to the socket  200 , the rotation of the ball element may be used to determine the boreline of the weapon, assuming the center of the ball is along the axis defined by the weapon&#39;s barrel or located at a known distance and/or angle from the weapon&#39;s barrel. Thus, in a manner analogous to the way in which a mouse ball can be used to determine the location of the cursor on a computer display, theses position detectors  240  and  245  may be used to generate a set of coordinates that indicates the vector defined by the weapon by the ball element to the weapon&#39;s barrel. This data is then passed on to either a ground combatant-supported or remote data processing system, such as mobile computer system, that performs analysis such as calculating virtual ballistic objects. The results of this analysis can then be conveyed to the ground combatant through an augmented reality display or other visualization device and that is monitoring the actions of the ground combatant in real time. This is a fundamental feature of advanced cooperative rifle engagement, because information about individual combatant is used to provide virtual information to the ground combatant and to influence the ground combatant&#39;s behaviors in a way that enhances chances of achieving their current objective. As will be discussed in greater detail herein, providing feedback to provide situational awareness to the combatant is a primary feature of the advanced cooperative rifle engagement system according to various embodiments of this invention. 
     The position detectors  240 ,  245  provide coordinate data that is sufficient to enable a data processing unit information to determine the orientation of the weapon relative to the socket. A zeroing switch  250  located in the channel  220  is activated whenever the weapon is removed from the rest position. Activation of this switch  250  enables the position detectors  240 ,  245  to begin determining the orientation of the weapon barrel via the ball element from a fixed reference location. However, it should be noted that the position detectors  240  and  245  are not able to provide orientation data on the weapon with respect to the rest of the world. In various embodiments, orientation with respect to the world is provided by a universal location module (now shown) that is either embedded in or attached to a portion of the socket. The universal location module may comprise, but should not be limited to any or all of the following geonavigational and position location/orientation instruments: a timing device, compass (gyroscope), altimeter, inclinometer, accelerometers comprising a micro-inertial navigation system, wireless radio receiver/transmitter providing signal time of arrival, and/or a global positioning system receiver set. Using the data from the position locators together with the data from the universal location module, precise information such as real time, near real time or on-demand weapon orientation, current range, lethality information and even location information to both the ground combatant as well as the ACRE system. 
     In various embodiments, the self-orienting socket  200  will include a integral replaceable and/or rechargeable battery. However, in various other embodiments, the socket  200  will receive power through a wired connection to a power supply worn by the ground combatant such as radio or computer power pack. 
     It should be appreciated that although the embodiment illustrated in  FIG. 8  shows position locators, an opto-electrical location means such as that employed by an optical mouse may be used to determine ball element orientation within the socket assembly. 
     Referring now to  FIG. 9 , an illustration of a ball-and-socket type body-mounted control bus according to at least one embodiment of this invention is shown. The ball-and-socket-type control bus according to this embodiment consists of a hand controller  300  comprising a ball element connector portion  310 , mated with a body-mounted receiving socket  200 , a control arm  320  and command button  325 . The control bus according to this embodiment may be used to perform manual remote control of another apparatus such as remotely operated vehicle, a mounted remotely operated gun, or other terrestrial or air-born remotely operated device. Utilizing a self-orienting socket with two or more position locaters, the control arm may be used to turn, rotate or otherwise direct a remote object based on analogous movements of the controller  300 , thereby turning the ball-and-socket-based system into an effective control bus. The command button  325  may be used to effect a particular command such as on/off, firing, mode changes etc. For ease of illustration only one command button  325  is shown in the FIGURE. However, in various embodiments, it may be desirable to utilize several command buttons or even none at all. 
     When coupled with a video camera on the remotely controlled device and a display capable of displaying a feed from the remote camera, the control bus  300  serves a means of allowing the ground combatant to “see” what is “seen” by the remote device and therefore guide its actions accordingly without having to be in or viewing the potentially hazardous environment of the remote device. In various exemplary embodiments, the display will be a common usage head or helmet-mounted display. Though not illustrated in the FIGURE, commands executed by the ground combatant using the controller  320  of the control bus  300  are transmitted through the socket to a data processing device worn by the ground combatant which than may activate a transmitter to send the corresponding command instruction to the remotely operated device. 
     In various embodiments the control bus  300  may be used in a stand alone environment. However, in various other embodiments, the ground combatant will support two receiving sockets, one for accepting the weapon ball stock and the other for receiving a controller  300  creating a ground combatant that is not only capable of controlling various remotely operated devices, but also ready for live fire environments and able to access all the functionality available through the self-orienting ball-and-socket type weapon connector as discussed herein. 
     It should be appreciated that in various embodiments, instead of a controller  300 , the weapon itself may server as the controller. That is, movements of the weapon could be translated into control movements of a remote controllable device. In such an embodiment, the weapon may be configured with one or more command buttons on the weapon ball stock which serve the same function(s) as the command button  325 . 
     In the embodiment illustrated in  FIG. 9 , the ball-and-socket type body-mounted control bus is shown attached to a garment such as a ballistic body armor. However, it should be appreciated that, as with the ball-and-socket-based weapon mounting system, the control bus may be attached to a regular garment or may be a stand alone device attached to the body with one or more straps, harnesses or other suitable attachment mechanism. 
     Referring now to  FIG. 10 , a light transmitting ball element connector for a self-orienting ball-and-socket-type weapon mounting system according to at least one embodiment of this invention is illustrated. The light-transmitting ball element connector  400  according to this embodiment comprises a light emitting ball element  410 , an axis  414  and a guide ridge  420 . The light transmitting ball element connector  400  comprises a plurality of windows  425  through which information is transmitted in a light signal, such as, for example, an infrared light signal. In various embodiments, the windows  425  will be flush with the surface of the ball portion  410 . However, in various other embodiments, each of the windows  425  will be recessed in a dimple. 
     Behind each of the light windows  425 , within the center of the ball element  410 , is a light transmitting device such, as, for example, an IR transmitter, that is operable to transmit a light-based information signal identifying the particular transmitter that transmitted the light-based signal, as well as to provide data communications. This information may then be used by a data processor to determine the orientation of the ball element within the socket. The transmitters are also operable to transmit data from an external data source, such as, for example, a laser range finder, video camera, IR sensor or other weapon-mounted data capturing equipment. 
     As with the mechanical embodiments disclosed herein, the light transmitting connector is adapted to mount to the butt end of a conventional weapon. Interface with the various external data gathering devices is facilitated via one or more connectors located along the axis  415  near or at the weapon connecting end. In a preferred embodiment, power for the light transmitting ball element  410  is supplied through the physical connection between the ball element  410  and a receiving socket. However, in various embodiments, power may be supplied by a battery or other power storage device integral or attached to the weapon. 
     Referring now to  FIG. 11 , a cross sectional view of a portion of light transmitting ball element  410  according to at least one embodiment of this invention is illustrated. Light is transmitted out of the ball element  410  by a plurality of light transmitting devices  426  though channels  427  and out the windows  425 . In various embodiments the windows will be lenses. However, in various other embodiments, the windows  425  will merely be outlets for the light signal. Furthermore, the channels  427  may be a waveguide material, reflective material, gas, vacuum or other suitable medium. The specific composition or the scale of the channels  427  is not critical to the invention. 
     With continued reference to  FIG. 11 , a microcontroller  440  located in the ball element  410  directs a light encoder  430  to encode information to be transmitted by each of the light transmitting devices  426 . In various embodiments, the light-based information signal emitted by each of the devices  426  will only be a number or other indicator of the particular device emitting the light, thereby enabling a data processor receiving the signal to determine an orientation of the ball-portion and therefore any weapon or other device connected to the ball element  410 . However, in various other embodiments, the light-based information signal will also be a data signal from one or more data gathering devices received by the microcontroller  440  over the external bus  450 . As discussed herein, these may include signals originating from a range finding device, infra-red camera, video camera, laser microphone, thermometer, gas detector, or other devices. The microcontroller  440  may be a microprocessor, a microcontroller, a application specific integrated circuit (ASIC), a combination of software running on hardware, a digital signal processor, or other suitable instruction processing device and may include one more memory devices. The light encoder  430  may be an infrared-type light encoder conforming to the IrDA transmission protocol or other pulse-based or encoded transmission protocol. 
     Though not shown in the FIGURE, in various embodiments, the ball element  410  may also house a wireless transmitter, such as, for example, a wireless transmitter operating within frequency and power spectral density requirements of the ultra-wide band spectrum. Due to the short distances and high data rate, UWB may be particularly well suited for this application. In such embodiments, the light emitting devices  426  would only transmit information to be used for determining orientation of the ball element  410  within the socket. The UWB transmitter would be used to transmit all other signals such signals originating from other weapon-mounted devices including, as discussed herein, range finding devices, infra-red camera, video camera, laser microphone, thermometer, gas detector, or other devices. In such an embodiment, the receiving socket will have a UWB receiver operable to de-modulate the UWB signal and transmit the data to a data processor through a wired connection. 
     It should be noted that while in the Figures the light windows  425  are illustrated as being spaced in a relatively uniform pattern, this is not required. The windows  425  may be spaced uniformly, randomly, or in accordance with some predetermined non-uniform pattern. However, it should be appreciated that because information signals are being emitted through the windows  425  which are used by the receiving socket to determine an orientation of the ball element  410  relative to the socket, a certain minimum number of windows  425  may be necessary. Furthermore, the scale and shape of the windows  425  relative to the ball element  410  is for ease of illustration only. Smaller or larger windows  425  maybe used without departing from the spirit or scope of the invention. 
     As noted above, in a preferred embodiment, the surface of the ball element  410  is used as an electrical contact to receive power for the internal electric components including the microcontroller  440 , light encoder  430 , bus  450  and individual light emitting devices  426 . Therefore, as will be discussed in greater detail herein, the surface of the ball element, except for the windows  426 , will be comprised of two or more discrete sections of electrically conductive material. 
     Referring now to  FIG. 12 , an axial view of a light emitting ball element  410  according to at least one embodiment is illustrated. The ball element according to this embodiment is divided approximately down its midline into two electrically isolated hemispheres  413  and  414  by a dielectric material  412 . The purpose of the dielectric material  412  is to allow a single ball element to serve as both electrical leads necessary for DC power conveyance. As will be discussed in greater detail herein, positive and negative terminals in the receiving socket will “brush” against the ball thereby delivering power to the internal electrical components contained within the ball element  410 . 
     Referring now to  FIG. 13 , a front view of a light receiving socket of a light-based self-orienting weapon mounting system according to at least one embodiment is illustrated. The light receiving socket  500  according to this embodiment comprises a main body portion  505  a % pair of restraining yokes  530 , a pair electrical contacts  513 ,  514 , a concave portion  524  and a plurality of light receiving windows  525  connected to a plurality of light receiving devices such as, for example, photoreceptors, photodiodes, or other suitable light detecting devices capable of receiving a binary light signal and decoding it into a corresponding binary electrical signal. As with the mechanical ball-and-socket based weapon connecting system embodiments, the receiving socket  500  also comprises a guide channel  525  for orienting the weapon in the rest position without axial roll. Though only two electrical contacts  513 ,  514  are illustrated in  FIG. 13 , it should be appreciated that in various embodiments, additional redundant electrical contacts may be used to increase the likelihood that electrical continuity is maintained. Also, while the invention does not specify the location of the electrical contacts within the socket  500 , by placing them as dose to the center of the yokes  530 , that is approximately transverse to dielectric line  412  separating the two hemispheres of the ball element  410 , rotational mobility of the ball may be maximized. 
     As discussed above in the context of the light emitting ball element, the particular number, size and layout of the light receiving windows  525  is not critical to the invention. Furthermore, the windows need not be of the same dimensions as the dimensions of the light windows of the ball element. However, the windows  525  need to be spaced sufficiently close so as to enable orientation of the light emitting ball element within the socket at any mechanically feasible position. Alternatively, a single light receiving window  525  may occupy at least a portion of the concave portion  524 . The specific number of receiving windows  525  is not critical to the invention, so long as the identification of each of the light transmitting devices that project light onto the receiving window(s)  525  may be determined. Furthermore, although the light-based orientation approach obviates the need to zero out the coordinate system because precise orientation with respect to the socket  500  may be determined at any time based on the identification and thus the location of the transmitting devices that are received via the light receiving windows  525 , an activation switch  550  permits the ball-and-socket device to go into an rest state thereby reducing power consumption. This may be accomplished through a variety of well known means, such as for example, wiring the switch  550  to dose the power circuit for the ball-and-socket system when released thereby eliminating all power consumption as long as the switch  550  is depressed. 
     As discussed above in the context of various mechanical non-self-orienting receiving sockets, the light receiving socket  500  may be similarly constructed to the extent that the restraining yokes  530  may be movable, tensioned or otherwise adjustable. Furthermore, a variable tensioning means may be used to adjust the mobility of the ball element within the socket  500  to an optimal level. Also, as discussed herein, one or more tensioning devices may be used to reduce the mobility of the ball element within the socket and even to reduce and/or eliminate wobble of the ball element within the socket  500 . As noted herein, in a preferred embodiment, the ball element will be smoothly tensioned within the socket such that there is no wobble. The light receiving functionality of the receiving socket  500  of  FIG. 12  does not preclude any of the other mechanical functionality discussed herein in the context of other embodiments. Moreover, though not illustrated in the FIGURE, the light receiving socket  500  preferably includes a connector for receiving power from an external power source. Alternatively, power may supplied by an internal battery or other power storage device. Furthermore, as with the self-orienting ball-and-socket-type weapon mounting system based on electromechanical or optoelectrical position locators, the light receiving socket  500  preferably includes a universal location module in order to provide the same type of dynamic networked functionality as discussed herein. 
     Referring now to  FIG. 14 , a light-based ball-and-socket-type weapon mounting system according to at least one embodiment is illustrated. The system shown in  FIG. 14  comprises a receiving socket  500 , such as that illustrated in  FIG. 13 , mechanically engaged with a light transmitting ball element  410  of a light-based weapon ball stock  400 . When the ball stock  400  is pointing down, as shown in the FIGURE, the device is preferably passive—that is not drawing electrical power. However, upon elevating the weapon, the ball element  410  will rotate within the socket  500  releasing the activation switch  550  causing the electronic components to come online. In various embodiments, power is first available to the socket device  500 . Then, through the conductive contacts  413 ,  414 , power is supplied to the ball stock  400  via the two contact surfaces of the ball element  410 . This causes the each of the light emitting devices  426  to emit light through their respective windows  425  to the receiving windows  525  located in the recessed portion  524  of the receiving socket  500 . As the ball element  410  is rotated within the socket  500  in correspondence with the motion of the weapon or other attached device, light emitted from various windows  425  becomes occluded while light from other windows  425  is received. This has the effect of two honeycomb-like filters moving over one another. Each measurable orientation of the ball element  410  will generate a different light pattern on the receiving windows  525  such that based on the number of light beams received and the identification of the light transmitting devices that transmitted the beam, a data processor may determine the particular orientation of the ball-element within the socket  500 . Through the full range of rotation of the ball element  410  within the socket  510 , there should always be sufficient light signals on the receiving windows to enable the data processor coupled to the receiving socket  500  to determine the orientation of the ball element as well as to pass data between the ball element  410  and the receiving socket. 
     An advantage of the light-transmitting self-orienting ball-and-socket weapon mounting system according to embodiments of this invention is that because of the proximity of the transmitting devices to the receiving devices there are not interference issues. In a typical IR communication system, the transmitter must transmit an identification code to design the device for which the signal is intended. In the system defined by various embodiments of this invention, this is not necessary because the transmitting windows are within millimeters of the receiving windows. 
     In various other embodiments of this invention, data transfer is achieved by a single light transmitting device located below a portion of the socket facing part of the ball element. A single receiving socket located within reflective concave recess in the socket receives signals form this light transmitting device such that for any orientation of the ball element, other than the stowed position, data communications will be feasible between the ball element and socket. In such embodiments, the light transmitting device is not used to determine orientation. Rather, one or more separate orientation devices such as, for example, one or more separate IR orientation readers such as those used in an optoelectrical mouse are used. The ball element surface will be marked or encoded with symbols, color or other known means to enable the reader(s) to detect movement of the ball within the socket. 
     In various embodiments it will be necessary to provide the orientation readers with a fixed frame of reference by zeroing them out. In various exemplary embodiments this is done by returning the ball element to the stowed position in the socket, that is, with the weapon pointing straight down and the guide rail in the receiving channel. 
     It should be noted that various embodiments of the light-based self-orienting ball-and-socket-type weapon mounting system discussed above, the light emitting ball element is comprised of one or more light transmitting devices, while the receiving socket comprised one or more light receiving devices. However, it should be noted that in various embodiments, both the ball element and the receiving socket may comprise light receiving and light transmitting elements, enabling two-way communication between the socket and the ball element, or, in other words, between the weapon/weapon-based data acquisition systems and the outside world. This may have particular advantages in an advanced cooperative rifle engagement orientation analysis method which maintains real time or near-real time data on multiple ground combatants simultaneously and can issue commands to individual ground combatants such as, for example, friendly fire warnings based on weapon orientation, instructions to fire, etc., as will be discussed in greater detail below. In various exemplary embodiments this is accomplished through a vibrating alert integrated into an electromechanical vibrating device located in the receiving socket. A signal is received at a transceiver of the ground combatant that is tied into a body-worn data processing system. The data processing system then causes the receiving socket to send an instruction to the vibrating device by encoding the instruction in a light wave and transmitting it to the receiving elements in the ball element. Alternatively, instead of a vibrating element, a small light may be illuminated on the weapon or ball stock or an audio alert may sound off in the headgear system. 
     Referring now to  FIGS. 15 and 16 , a ball stock element for a recoilless rifle is illustrated in accordance with at least one embodiment of this invention. In  FIG. 14 , the recoilless rifle  60  is attached to a body-supported receiving socket  200  using a ball stock connector  600  comprising a ball element  610  and a support axis  615 . The support axis is mounted to the recoilless rifle using any suitable mounting means including screw, socket, bolt, bracket or other mechanical mounting means. In various exemplary embodiments, the ball element  610  is a merely a mechanical mounting mechanism in accordance with previously discussed mechanical weapon ball stock embodiments. However, in various other embodiments, the socket  200  includes either an electromechanical or light-based orientation determining means. The embodiment of  FIGS. 15 and 16  differs from previous embodiments in that the ball element  610  is not located along the axis of the barrel of the rifle  60 . However, as long as the dimensions of the support axis  615  and the angle between the support axis  615  and the rifle&#39;s  60  barrel are known, the advanced cooperative rifle engagement orientation analysis method may use the orientation data of the ball element  610  within the socket  200  to determine ballistic virtual objects of the recoilless rifle  60 . As noted above, the axis need not be located along the boreline, so long as the boreline can be determined knowing the orientation of the ball element within the socket. 
     As will be discussed in greater detail below, this same orientation method may also be used with a vision orientation measuring system based on a determination of helmet orientation as measured by a ball-and-socket-based helmet support and orientation system. 
       FIGS. 15 and 16  illustrate two support axis  615  having differing dimensions. The specific length of the axis  615  as well as the angle that the axis  615  makes with the rifle  60  are not critical to the invention. In fact, as long as the length of the axis and the angle are known, any suitable combination of length and angle may be utilized with the invention. 
     Referring now to  FIGS. 17 and 18 , a ball-and-socket-type weapon mounting system for providing reduced exposure firing according to at least one embodiment of this invention is illustrated. In these Figures, the weapon  50  is an automatic rifle that is configured with a ball stock mounting device  700 . The ball stock mounting device  700  comprises a ball element  710  connected to the rifle via an axis  715 . However, in this embodiment, unlike with previous embodiments, the axis  715 , and thereby the weapon  50 , may be separated from the ball element  710 . In various embodiments, by actuating one or more release switches, or other suitable mechanical releasing mechanism, located either on the ball element  710  itself or on the axis  715  the ball element and weapon may be separated, thereby enabling the weapon  50  to be extended away from the body while maintaining the ball element  710  in the socket  200 . A retractable cord  720  located in either the ball element or the axis maintains connection continuity with the ball-and-socket joint. 
     In a preferred embodiment the weapon  50  has a video camera  55  mounted along the axis of the barrel. In this embodiment, the retractable cord  720  not only maintains a physical connection between the weapon  50  and ball element  710 , but it also transmits video data from the weapon-mounted video camera  55  to the ground combatant via the ball element  710  and socket  200  connection. A body worn display device, such as, for example, a head/helmet mounted display can be used to display to the ground combatant what the gun “sees.” 
     However, it should be noted that by using a retractable cord  720  to maintain the connection between the ball-element  710  and the weapon  50 , weapon orientation functionality will be lost. For embodiments in which the weapon mounting system is not using position locators or a light emitting ball element to determine orientation of the weapon with respect to the socket  200 , using the retractable cord  720  will not cause any loss of functionality. However, if the weapon mounting system is a self-orienting weapon mounting system, disconnecting the axis  715  from the ball element  710  will cause the system to no longer be able to determine the orientation of the weapon. Thus, in such an embodiment, instead of a retractable cord, the axis  710 , may instead, be connected to another self-orienting ball-and-socket element (not illustrated) which, with the assistance of a locking mechanism, can be turned off for reduced exposure firing. During normal use, the locking mechanism prevents this second ball-and-socket joint from moving. Thus, the axis  715  appears to be rigidly connected to the ball element. However, when reduced exposure firing is required, the locking mechanism at the end of the axis  715  is disengaged. This allows the second ball element, on the other side of the receiving socket connected to the axis  715  to rotate within the socket. In this manner, the axis may rotate around the ball element  710  in the body-worn socket, while the weapon itself, which is connected to a second ball element, may rotate in the socket at the end of the axis  715 . In this manner, the ground combatant can use the weapon in a reduced exposure firing mode, without loss of weapon orientation and system integration functionality. Thus, the weapon will be connected to a shortened ball stock which mates with another ball stock. However, the second ball stock has a socket type connector at the end furthest from the user&#39;s body and a ball element at the end closest to the user&#39;s body which mates with the body worn receiving socket. 
     Referring now to  FIG. 19 , a vehicle-based ball-type connector according to at least one embodiment of this invention is illustrated. In the embodiment of  FIG. 19 , a personnel carrying armored vehicle  80 , is shown in a cut-away view illustrating an internal compartment  85  adapted to transport one or more ground combatant. In the compartment  85  there are several ball-type connectors  850  attached to the vehicle by cables  855 . The ball-type connectors  850  are each adapted to be connected to a body-worn receiving socket. In various embodiments, the receiving socket serves a connection interface for fast or trickle charging of a body-worn power supply carried by the ground combatant. The ball-type connector  850  provides a simple ergonomic connection interface that is relatively easy to manipulate in low light, fatigued or stressed conditions. In various embodiments, the receiving socket is a special purpose power scavenging receiving socket that is intended only as an interface to charge the body worn power supply. However, in various other embodiments, the socket is the same socket as used in the weapon mounting system according to embodiments of this invention discussed herein. In such an embodiment, the socket assembly includes an automated internal switching means which determines whether the ball element is receiving power or transferring power so as to protect internal electronic components of the socket from damage due to reverse bias. In other embodiments, the receiving socket is a conventional receiving socket as discussed herein. In these other embodiments, conversion between power scavenging mode and self-orienting mode may be effected through a mode switch on the receiving socket  800  that causes power to flow either into or out of the receiving socket. Alternatively still, the ball-type connector  850  may be of a larger diameter than can only be accommodated in the socket by manually engaging a switch, release or other element, thereby switching the socket from a power supplying mode to a power receiving mode. 
     Referring now to  FIGS. 20 and 21 , a ball-and-socket-based vehicle communication system in accordance with at least one embodiment of this invention is illustrated. In theses Figures, a tank or other track-type vehicle  90  is shown with a ball connector  900 . In various embodiments, the ball connector provides a connection interface to persons inside the vehicle  90 . Thus, a ground combatant standing outside the vehicle can merely grab the ball connector  900 , extend it from the vehicle  90  using the retractable cord  910  and snap it in a body worn receiving socket (not shown) to communicate with persons in the vehicle  90  using his existing communications equipment. For example, in various embodiments, the user&#39;s personal area network will communicate through the ball-and-socket connection. In a preferred embodiment, the ball element will deliver a trickle charge to the combatant&#39;s body-worn battery and the vehicle&#39;s communication system will be available to the combatant as a result of his connection to the vehicle&#39;s ball connector. In prior art systems, tanks or other heavy personnel carrying equipment utilized a telephone on the outside of the vehicle for communicating with vehicle crew members inside. In newer systems, based on radio communications, the combatant uses his existing radio to talk to vehicle crew members. However, this is undesirable because only radio functions are available and the combatant outside the vehicle must use his own radio power to communicate. The vehicle-based ball connector is a better solution than the vehicle telephone because its easier to use and more durable than the old telephone systems. The vehicle-based ball connector is also better than the new radio-based solutions because while talking, the combatant&#39;s body-worn battery system is recharged. Furthermore, it is anticipated that as the battlefield of the future, or tactical infosheres becomes more technologically-based, radio frequency bandwidth will become highly constrained. Because the ball-and-socket connection between the combatant and the vehicle is, in a preferred embodiment, based on infra-red communication, it does not occupy any of the RP spectrum. 
     In various embodiments, the connection between the vehicle and body-worn socket is as the previously discussed connections herein, except for the fact that the need to determine ball element orientation in the socket. In a preferred embodiment the orientation substance is “told” to be off because it is not needed. In various embodiments, the socket assembly may include power conversion circuitry to accommodate power from different sources such as DC, AC  120 , AC  110 , etc. 
     Referring now to  FIGS. 22-26 , multiple illustrations of a ball-and-socket-based articulating bus structure  1000  according to at least one embodiment of this invention are shown. For ease of explanation, the articulating bus structure  1000  will be referred to herein as an “exonotocord” or external cord. The articulating bus structure  1000  or exonotocord according to this embodiment comprises a ball element  1010  and axis  1015  connected to plurality of compacting vertebrae  1005 , each vertebra  1005  comprising a flexible, compressible disk-shaped portion  1035  with a ball element  1020  and shaft  1025  on one side and a receiving socket  1030  on the other side. In a preferred embodiment, each miniature ball-element  1020  and socket  1030  comprises a self-orienting ball-and-socket joint, such as, for example, an electromechanical or optoelectrical position locating socket, thus enabling “smart” articulation of the articulating bus structure  1000 . Furthermore, in a preferred embodiment, the ball element  1020 , shaft  1025  and receiving socket  1030  form a unitary structure such that no individual element can move independent of the other elements in any direction other than along the axis beginning with the ball element  1020  and terminating in the socket  1030 . In such an embodiment, in order to determine a reference point, the system must first be zeroed out, such as, for example, by compressing the exonotocord  1000  to a minimum length. This will zero out the locating devices so that any movement from this reference will be known with respect to the ball element  1010 . However, in various other embodiments, the ball elements  1020  and sockets  1030  merely provide a mechanical connection means. The series connection of the individual ball elements  1020 , shafts  1025 , disk-shaped portions  1035  and sockets  1030  forms a flexible spine-like structure which may be used to convey electricity, single or bi-directional information, water and/or cooling or heating fluid. 
     In various embodiments, the tension of the balls  1020  within the sockets  1030  is sufficient to outweigh the effects of gravity so that when articulated to a certain position, the exonotocord  1000  remains in that position until manually moved. In various other embodiments, the tension of the balls  1020  within the sockets  1030  will be higher than that necessary to outweigh the effects of gravity, thereby enabling the exonotocord  1000  to act as a support device. The articulating bus structure according to these embodiments may have particular utility for connecting a data processing unit such as a body worn computer to a helmet including an augmented reality display such as a pilot&#39;s helmet, ground combatant helmet for displaying weapon orientation data, or other helmet mounted display, such as the helmet  95  shown in  FIG. 26 . Depending upon the tension in the individual ball-and-socket connections of the vertebra, the articulating bus structure  900  may assist in carrying some of the weight of the helmet, reducing the burden to the ground combatant. Furthermore, unlike ball-and-socket-based embodiments previously discussed herein, the individual ball-and-socket connections forming the articulating bus structure  1000  are not intended to be disconnected. This allows the articulating bus structure  1000  to carry articulated loads such as a helmet or head mounted display and to withstand axial pressure without becoming unintentionally disconnected. 
     The exonotocord  1000  will thus move in 6 degrees of freedom in accordance with the wearer&#39;s head, neck and torso motions, while communicating position and orientation via the exonotocord  1000 , as described herein. Upon connection of the ball element  1010  to the helmet&#39;s receiving socket  97 , which in various exemplary embodiments, is located at the base of the rear of the helmet, the exonotocord  1000  will gain and maintain orientation of the wearer&#39;s head based on measured orientation of the helmet. 
     At the other end, that is the end opposite to the helmet  95  or ball element  1010 , the exonotocord  1000  is anchored to the wearer&#39;s body. In a preferred embodiment, this attachment point will include a universal location module, which, as discussed herein, provides an orientation of the exonotocord  1000 , the helmet and therefore the wearer&#39;s field of view relative to the rest of the world. 
     In various embodiments, the exonotocord  1000  will also include one or more flexible conduits  1040 A,B,  1041 A,B, running through the various vertebrae  1005  of the cord  1000 . For example,  FIG. 24  illustrates a top view of an individual vertebra element  1005 . Unlike the elements  1005  shown in  FIGS. 22 and 23  which are substantially disk-like in shape, the pads  1035  of the elements  1005  in  FIG. 24  are half/quarter moon-shaped. The half/quarter moon shape may be particularly well suited for fitting against the neck of a wearer&#39;s body when the exonotcord  1000  is supporting a helmet or head-mounted display device. 
     In the top down view of  FIG. 24  several conduits  1040 A,B and  1041 A,B are shown passing through the pads  1035 . In various embodiments, conduits  1040 A and B, along with the orientation socket link  1055  are used to transfer power and data, while the other conduits  1041 A, B are used to transfer data, coolant and water. It should be noted that the coolant and water conduits  1041 A,B are optional and may be omitted in various embodiments. 
     The power and data conduits  1040 A,B may be used to supply power to an distally connected device, such as, for example, a pilot&#39;s helmet, ground combatant&#39;s helmet, or other augmented reality type helmet display. In embodiments in which the exonotocord is self-orienting, the particular field of view of the person wearing the helmet may be determined and routed through the data conduit to a body worn transmitter and then transmitted to a remote command and control center in order to provided integrated information back to the ground combatant based on the measured helmet orientation. Alternatively, the data may be passed to a data processor worn-by or accessible by the ground combatant and used to provide feedback to the display in the pilot or ground combatant&#39;s helmet, with the ball element  1010  supplying power to the helmet and transmitting information to the helmet in a manner consistent with embodiments discussed herein. 
     As shown in  FIG. 25 , in various embodiments of this invention, a terminal microcontroller  1050  is located below the final vertabra  1005  on the opposite end of the from the ball element  1010 . The terminal microcontroller  1050  is in electrical communication with the data conduit and powered by the power conduit. The terminal microcontroller  1050  compiles the reported orientation of each vertebra&#39;s receiving socket  1030 , and the helmet ball element  1010  and socket  97  and outputs a total relative position of the center point of the helmet ball element  1010  relative to the exonotocord anchor point. 
     In various embodiments, each individual self-orienting receiving socket  1030  houses an infrared orientation reader such as those utilizing conventional orientation methods of the Infrared mouse or trackball. The infrared orientation reader reads the orientation of the ball element  1020  and reports data to the terminal microcontroller  1050  through the orientation socket link  1055 . 
     In various embodiments, the orientation socket link  1055  carries the orientation data from the orientation determining devices of each socket  1030  to the data cable in the data conduit. Within each vertebra  1005 , the orientation socket link  1055  sends the x, y, and z data collected by that particular orientation determining device along the data cable to the terminal microcontroller  1050 . The helmet ball element  1010  is also tied into the data cable transmitting its orientation relative to the helmet to the terminal microcontroller  1050 . 
     As noted above, in various embodiments, the exonotocord  1000  may also have a conduit available to deliver air or water, or separate conduits for each. The water conduit may be used to supply drinkable water to the wearer of the helmet. In various embodiments, the water conduit is an in-line fluid passage. The water conduit will adjoin to a bodyworn reservoir at or near the base of the exonotocord. In the vicinity of the helmet end of the exonotocord, the conduit will mate with another hydration tube inked to the helmet. In a preferred embodiment, water will not be passed through the ball and socket joint consisting of the ball element  1010  an the helmet socket  97 , but rather will be routed in a manner enabling a feed to the user&#39;s helmet that does not interfere with the full articulation and operation of the helmet or exonotocord. 
     Alternatively, the exonotocord  1000  may include an air conduit that supplies breathable air to a helmet, chemical suit, nuclear, radiological or biological suit, or other head mounted breathing apparatus. The air conduit is an in-line air passage that supplies air from a bodyworn air supply and/or purification system at or near the base of the exonotocord. In the vicinity of the helmet end of the exonotocord  1000 , the air conduit will adapt to another air tube linked to the helmet. In a preferred embodiment, air will not be passed through the helmet ball-and-socket joint, but will be routed in a manner enabling a feed to the user&#39;s helmet that does not interfere with the full articulation and operation of the helmet or exonotocord  1000 . 
     In various embodiments the exonotocord may also contain a liquid coolant or heat conduit to assist in removing or adding heat. In addition, if the individual vertebra pads  1035  are half or quarter moon shaped, the convex face of each vertbra pad  1035  may comprise a material, such as, for example, aluminum which is able to quickly dissipate heat. Alternatively, the exonotocord  1000  may employ one of various well-known electric cooling or heating mechanisms. 
     In various embodiments, each of the vertebra pads  1035  are filled with a gel-like material. In various other embodiments, the pads  1035  are made of an elastic foam material or other suitable compressible material. Furthermore, in order to reduce the minimum distance and increase the maximum distance, in various embodiments, the shaft portions  1025  will be collapsible, allowing them to be compressed or extended, shorting or increasing the length of the articulating bus structure  1000 . 
     It should be noted that in embodiments in which the shaft portions  1025  are collapsible/extendible along their axes, it will be necessary to determine the position of each shaft portion relative to a reference point such as, for example, it minimum compression, maximum extension, or some point between. This can be accomplished using one of various well known sensor means. 
     In still further embodiments, the exonotocord  1000  may be used as part of a head mass support mechanism. The head mass of a ground combatant includes all weighty helmet components such as computers, vision systems, displays, ballistic helmet components as well as the human head itself. In various embodiments, the wearer will be able to articulate the exonotocord  1000  into a rigid position in order to “lift” the helmet system off of the head. In various exemplary embodiments, rigidity may be achieved by a pressure control mechanism for increasing the pressure in each pad  1035  of the exonotocord  1000  to reduce compressibility of the pads  1035 . Alternatively, head mass support is accomplished by at least one draw tight wire housed within one or more of the conduits. The at least one draw tight wire is attached to retractor system supported by the wearer. Using the retractor system, the wearer may retract the at least one wire, thereby rendering the exonotocord  1000  compressed and rigid. If, for example, the wearer is a ground combatant positioned on his stomach for an extended period of time, he/she may, through either mechanism, put the exonotocord  1000  into a rigid state, thereby offloading some and preferrably most of the weight of the helmet system to the cord from his/her neck. The resulting “lift” on the wearer&#39;s head will have the effect of reducing the required force of the neck muscles to elevate the head and helmet system and to physically assist with maintaining the head in a heads up position in line with the visible horizon. However, it should be noted, that in order to prevent damage to the wear&#39;s neck and/or spine, the head mass supporting system may include a mechanical and/or electromechanical release for quickly releasing tension/rigidity from the exonotocord  1000 . 
     Determining Orientation with the Exonotocord and Helmet Ball Socket 
     Determining the orientation of the wearer&#39;s vision is more complicated than the standard self-orienting ball-and-socket-based weapon mounting system due to the additional intervening vertebrae elements of the exonotocord. At the helmet, orientation is determined using any of the self-orienting ball-and-socket embodiments discussed herein such as, for example, electromechanical, electro-optical and light based self-orienting ball-and-socket joints. Knowing the dimensions of the helmet and the orientation of the ball element within the socket, orientation of the wearer&#39;s field of vision may be determined. In order to orient this data with respect to the rest of the world, the terminal microcontroller at the base of the exonotocord will receive the orientations of the ball element in each vertebra-based receiving socket. Using the universal location module below the fixed attachment point of the terminal vertebra the terminal microcontroller is able to a base reference point. With this fixed reference point, the orientation of each vertebra may be imposed on the previous vertebra and then the orientation of the helmet ball element in the helmet and by association the field of vision of the wearer. 
     Through this system, sweeping or up and down head movements of the wearer can be monitored and will define a field of view. In various embodiments, the field of view consists of the total area viewable by a user when the head and neck are articulated for a given body position. The user&#39;s presumed field of view with natural and/or enhanced vision can be collected as data. Once this data is transmitted by a body-worn transmitter, a remote data processor may model a virtual field of regard for that ground combatant. In various embodiments, this information may be used to provided effectiveness analysis. However, in various other embodiments, this information may be used to provide real time or near real time effectiveness feedback to the ground combatant or his leadership. In various embodiments, and as will be discussed in greater detail herein, this information may include ballistic virtual objects. 
     In general, as ground combatant moves his body to a different location, or rotates his body about a fixed location his field of regard will change. Thus, in various embodiments, the virtual field of regard may comprise a virtual 360 degree virtual field of regard. This will eliminate the need for updates based only rotation of the body. Alternatively, updates may occur automatically or dynamically every N time units based on commands received from the advanced cooperative rifle engagement system. Alternatively still, updates may occur based on a request command issued by the ground combatant to receive updates. 
       FIGS. 27-30  illustrate various views of a ball-and-socket-based self-orienting robotic limb structure according to at least one embodiment of this invention. Referring initially to  FIGS. 27 and 28 , a robotic limb structure  1100  is illustrated. The limb structure  1100  comprises a plurality of ball-and-socket assemblies  1101 , a terminal CPU module  1150 , and an end effector  1160 . The CPU module determines the precise orientation of the end effector  1160  based on the orientation of each of the self-orienting ball-and-socket assemblies  1101 . Though not illustrated, a power circuit such as battery or other power supplying device provides power to the CPU module  1150 . In various embodiments, the CPU module  1150  may comprise a microprocessor, a microcontroller, a combination of hardware and software, a digital signal processor, an application specific integrated circuit (ASIC) or other suitable data processor. Also, as with previous self-orienting embodiments, a universal location module is preferably located near or at the CPU module  1150  to enable the module to determine a fixed reference point from which to reference the individual ball and socket assemblies  1101  and ultimately the end effector  1160 . 
     The end effector  1160  may be a simple mechanical device such as a clasp, a cutting tool, a foot or hand, or other such tool, or even a weapon. Alternatively, the end effector  1160  may be a data acquisition device such as a sensor, camera, or other transducer device that converts some observed phenomena into electrical signals. 
     In various embodiments, each ball-and-socket assembly  1101  comprises a ball element  1110 , a connecting axis  1115  and a socket element  1105 . The ball element  1110 , axis element  1115  and socket element  1105  form a unitary structure that is fixed. Line AA in  FIG. 28  shows that the midline of the ball element  1105  also passes through the center of the concave portion of the socket element  1105 . While the axis  1115  may be compressed or extended, it is preferred that the ball element  1110  does not articulate in other directions independent of the socket  1105 . Without this relationship, it may be difficult to determine orientation of the robotic limb structure  1100 . 
     Various embodiments of the robotic limb  1100  according to this invention are based, in part, on spherical stepper motors such as are known in the art. The spherical stepper motor is a motor that develops spherical mechanical motion and is therefore able to move in any direction rather than rotating on a single axis. The spherical stepper motor consists of a semi-spherical stator that is implanted with electromagnets and a spherical rotor implanted with permanent magnets. The forces between the permanent magnets or rotor poles on the rotor surface and the activated electromagnetic stator poles inside the stator produce the required torque for joint motion. 
     In various embodiments of this invention the ball element and receiving socket serve as the rotor and stator respectively. The spherical stepper motor is configured as a socket assembly having multiple electromagnets arranged in a precise pattern. Permanent magnets are also arranged on the ball element surface. The magnet-laden ball element is inserted into the socket assembly with the uniquely identifiable electromagnets. By activating two or more of these electromagnets, the processor causes them to attract certain permanent magnets in the ball element. The developed forces between the permanent magnets and the activated electromagnets inside the receiving socket produces the required torque for joint motion. 
     With continued reference to  FIGS. 27-31 , in various embodiments of this invention, a plurality of spherical stepper motor equipped self-orienting ball-and-socket elements are linked together to form the robot limb. A series of electromagnets located in a stator layer  1130  in each socket assembly  1105  are used to drive the individual ball elements  1110  to the desired orientation. As seen in  FIG. 28 , each socket assembly  1105  comprises a stator layer  1130  comprising a plurality of electromagnets, a processor  1125  for selectively supplying power to the electromagnets in the stator layer  1130  based on a desired orientation, and a hub battery  1120  that stores power for the processor  1125  and stator layer  1130 . 
     The receiving socket  1105  also comprises one or more light receiving elements interspersed with the electromagnets for receiving a light-based signal from the ball element  1110 . In various embodiments the light-based signal is an IR signal conveying information used to determine the orientation of the ball element  1110  in the socket  1105  in accordance with the various self-orienting ball-and-socket systems discussed herein. 
     In order to cooperate with the stator layer  1130 , the ball element  1110  functions as a rotor. In addition to a plurality of light windows  1112 , the ball element  1110  also comprises a plurality of permanent magnet portions  1113  which are distributed around the surface of the ball element  1110  in a configuration that allows the stator layer  1130  to articulate the ball element  1105  into a particular position within the socket  1105 . IR data transmission is preferable over other electromagnetic wave-based methods of data transfer because the presence of the magnetic field caused by the stator layer  1130 . 
     In various embodiments a hub battery  1120  is located in each socket element  1105  to provide electrical power for the processor  1125 , stator layer  1130  and light receiving elements. The reason for incorporating the hub battery  1120  in each element  1101  is because of anticipated difficulty in transferring power through each ball element  1110  while at the same time activating the spherical stepper motor. Rather, in various embodiments, power may be supplied to the hub batteries  1120  periodically in a mode where the spherical stepper motor functionality is disabled. In such an embodiment it may be preferably to “lock” the ball-and-socket elements to prevent motion of them while the hub batteries  1120  are being charged. The hub batteries  1120  are supplied with power from a power subsystem comprising a hybrid distributed power system such that each hub battery  1120  is independently rechargeable and controlled by an intelligent power optimization scheme. 
     The robotic limb  1100  is premised in part on the same concept as the weapon orientation and integration system discussed herein. The microcontroller  1125  performs control for the spherical stepper motor based on commands received from the CPU module  1150 . Commands are passed from element  1101  to element  1101  using a bi-directional IR data transfer protocol between the ball elements and receiving sockets. Data runs along an axial data bus which runs generally along axial line A-A as shown in  FIG. 28 . 
     In various embodiments, the CPU module  1150  calculates the position of each ball element  1110  required to give orientation of the end effector  1160 . This provides precise coordinated articulation control. Mathematical determination of the orientation of the end effector  1160  is performed by the CPU module  1150  in a manner consistent with that discussed above in the context of the weapon orientation and system integration except that the coordinate matrix is increased in size by the number of individual elements comprising the robotic limb  1100 . However, once the orientation of the first element is determined with respect to the world via the universal location module, a simple transform may be performed to determine the adjustment to that orientation caused by each subsequent ball-and-socket element  1101 . 
     The robotic limb structure  1100  disclosed herein may be used to provide motion to a remote controlled articulating robot structure comprised of a single robotic limb structure, such as, for example, a snake-like robotic structure made of several individual ball-and-socket elements  1101 . Alternatively, two or more robotic limb structures maybe used to create a N-legged robotic structure. 
     As seen in  FIG. 29 , the robotic limb structure  1000  disclosed herein has particular advantages over existing robots. One advantage is that the robotic limb structure  1100  is operable to move with greater freedom of motion than is typically available from robotic systems. The snake-like motion of the robotic limb  1100  facilitated by the series connection of the ball-and-socket elements  1101  permits articulation with 6 degrees of freedom. 
     Another advantage of the robotic limb  1100  according to various embodiments of this invention is that the need for wires or other cables is obviated by the internal connection of the ball-and-socket elements  1110  and the manner in which power and data transfer occurs internally. Al components may be contained within a flexible shroud without limiting the limb&#39;s  1100  ability to articulate. This reduces the susceptibility of the limb  1100  to snagging or otherwise becoming entangled while traversing terrain. 
     Advanced Cooperative Rifle Engagement Orientation Analysis Method Based on Self-Orienting Ball-and-Socket Assembly 
     The discussion of several embodiments will encompass a self-orienting ball-and-socket-type weapon mounting system, which in addition to mechanically securing the weapon with a ball stock and receiving socket, will also be useful for determining weapon orientation and conveying this information to other systems including ground combatant worn/supported systems and remote systems to provided “intelligent” functionality to the ground combatant such as, for example, laser range finder data (weapon-to-ensemble), video feed (weapon-to-ensemble), ballistic computations for programmable rounds (ensemble-to-weapon), diagnostic/prognostic/logistic (round-counting) weapon data (weapon-to-ensemble), user interface input device commands (weapon-to-ensemble), and positive safing control (ensemble-to-weapon), robotic vehicle control (weapon-to-ensemble-to-vehicle). 
     I. Determining Weapon Orientation in Advanced Cooperative Rifle Engagement 
     While various mathematical methods for determining the vector from the ball-and-socket to the weapon barrel with respect to the rest of the world, in at least one embodiment this vector may be determined utilizing the method set forth herein. The invention should not be limited to this particular method of determining weapon orientation. Rather, any suitable method may be utilized with the various embodiments of this invention. 
     Weapon frame. A right-hand Cartesian (x, y, z) coordinate frame with an origin at the center of the ball element is provided. The weapon frame is a mathematical construct, not a physical object. The x-axis of the frame extends from the center of the ball element in a direction parallel to the weapon barrel. The y-axis extends from the center ball element out the right side of the weapon if one is looking from the rear of the weapon towards the front and the weapon has a zero degree cant relative to local gravity. The z-axis extends from the center of the ball element in the direction of local gravity. One weapon frame exists for each weapon using Advanced Cooperative Rifle Engagement Orientation Analysis Method. It should be noted that in most cases, weapon frame also implies a helmet frame—that is similar calculations are used to determine the helmet frame. However, the use of boreline in the context of determining trajectories has no analogy in the context of helmet orientation because helmet orientation is only concerned with determining a field of vision, not trajectories. 
     Socket frame. A right-hand Cartesian coordinate frame called the ‘socket frame’ is provided. The origin of this frame is the location of the ball element center point when it is positioned in the socket. Like the weapon frame, the socket frame is a mathematical construct. The x-axis of the socket frame extends forward from the wearer of the socket assembly. The y-axis extends to the right of the wearer if the observer is looking at the back of the wearer. The z-axis extends down parallel to local gravity. One socket frame exists for each weapon using the Advanced Cooperative Rifle Engagement Orientation Analysis Method. 
     Terrain frame. A right-hand Cartesian co-ordinate frame with an origin at the location of the ball element center point when it is positioned in the socket is provided. Like the weapon frame, the terrain frame is a mathematical construct The terrain frame is parallel to the shared frame; however, it does not share an origin with the shared frame. One terrain frame exists for each weapon using the Advanced Cooperative Rifle Engagement Orientation Analysis Method. The origins of the weapon frame, socket frame, and terrain frame are all located at the same position. The three frames differ only in their orientation relative to each other. 
     Shared frame. A right hand Cartesian co-ordinate frame shared by all systems in a given area is provided. The shared frame is essentially the map frame. The origin of this frame is determined when ever the Advanced Cooperative Rifle Engagement Orientation Analysis Method is used. The xy plane of this frame is perpendicular to local gravity. The x-axis extends north from the origin. The y-axis extends east, and the z-axis extends down, parallel to local gravity. 
     Virtual Bore Line. The Virtual Bore Line, a mathematical representation of the weapon&#39;s bore line, is calculated. Being a line in three dimensional space, the bore line is completely defined by any two points it contains. Here, the chamber of the weapon and its muzzle are used, as both are known in weapon reference frame. The point representing the chamber serves as the start point of a vector extending through the muzzle point to infinity. 
     Determine Weapon Orientation Relative to Socket Frame 
     Weapon orientation relative to the socket element (traverse α w-s , elevation β w-s , cant γ w-s ) is converted to a 3×3 rotation matrix. The construction of rotation matrices about fixed-axis is a well known mathematical technique. Any series of rotations can be described as a 3×3 matrix. 
     Determine Ball Element in Shared Frame 
     The position of the center of the ball element when it is seated in the socket element as measured in the shared frame is defined as P be-shared  and is defined as a column vector of the form of Equation 1 below: 
     
       
         
           
             
               
                 
                   
                     P 
                     
                       be 
                       - 
                       shared 
                     
                   
                   = 
                   
                     [ 
                     
                       
                         
                           
                             x 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                       
                         
                           
                             y 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                     ] 
                   
                 
               
               
                 
                   Equation 
                    
                   
                       
                   
                    
                   1 
                 
               
             
           
         
       
     
     In a preferred embodiment, this vector is output directly from the universal location module. No manipulation is done to alter the x, y, or z values of P be-shared , but the information is stored for use later in the algorithm. 
     Determine Socket Frame Orientation Relative to Terrain Frame 
     The universal location module describes the orientation of the socket frame relative to the terrain with the heading α s-t , inclination β s-t , and roll γ s-t . As noted above, the orientation of the socket frame relative to the terrain frame may also be calculated using a 3×3 rotation matrix 
     A socket→terrain    
     Determine Weapon Orientation Relative to Terrain Frame 
     The 3×3 matrix describing orientation of the weapon relative to the terrain frame is now determined with Equation 2: 
       A weapon-terrain =A socket-terrain A weapon-socket   Equation 2 
     Determine Bore Line or Trajectory Decision Point 
     At this point the determination is made whether the weapon&#39;s boreline is calculated or whether the predicted trajectory is calculated. It should be noted that the remaining analysis applies only to ballistics and not to vision orientation as trajectory is not relevant to vision orientation. 
     Determine Bore Line in the Terrain Frame 
     The virtual bore line is defined by the weapon chamber and muzzle. These two points never change in the weapon frame, yet do so in the other three as the weapon moves through space. The chamber is represented in the weapon frame with (x c-w , y c-w , z c-w ), and the muzzle is represented in the weapon frame with (x m-w , y m-w , z m-w ). To move the two points into the terrain frame, they are defined as column vectors and are placed into a single matrix P weapon  as shown. P weapon  describes the position of the chamber and muzzle in the weapon frame according to Equation 3: 
     
       
         
           
             
               
                 
                   
                     P 
                     weapon 
                   
                   = 
                   
                     [ 
                     
                       
                         
                           
                             x 
                             
                               c 
                               - 
                               w 
                             
                           
                         
                         
                           
                             x 
                             
                               m 
                               - 
                               w 
                             
                           
                         
                       
                       
                         
                           
                             y 
                             
                               c 
                               - 
                               w 
                             
                           
                         
                         
                           
                             y 
                             
                               m 
                               - 
                               w 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             
                               c 
                               - 
                               w 
                             
                           
                         
                         
                           
                             z 
                             
                               m 
                               - 
                               w 
                             
                           
                         
                       
                     
                     ] 
                   
                 
               
               
                 
                   Equation 
                    
                   
                       
                   
                    
                   3 
                 
               
             
           
         
       
     
     This matrix is then multiplied by the A weapon→terrain  matrix to rotate the two points into the terrain frame with the following equation in which P terrain  describes the position of the chamber and muzzle in the terrain frame according to Equation 4: 
       P terrain =A weapon→terrain P weapon   Equation 4 
     Define Bore Line in Shared Frame 
     Once the bore line has been defined in the terrain frame, the chamber and muzzle points are added to the position of the center of the ball element in the shared frame (x be-shared , y be-shared , z be-shared ) as shown in Equation 5: 
     
       
         
           
             
               
                 
                   
                     P 
                     shared 
                   
                   = 
                   
                     [ 
                     
                       
                         
                           
                             
                               x 
                               
                                 c 
                                 - 
                                 t 
                               
                             
                             + 
                             
                               x 
                               
                                 be 
                                 - 
                                 shared 
                               
                             
                           
                         
                         
                           
                             
                               x 
                               
                                 m 
                                 - 
                                 t 
                               
                             
                             + 
                             
                               x 
                               
                                 be 
                                 - 
                                 shared 
                               
                             
                           
                         
                       
                       
                         
                           
                             
                               y 
                               
                                 c 
                                 - 
                                 t 
                               
                             
                             + 
                             
                               y 
                               
                                 be 
                                 - 
                                 shared 
                               
                             
                           
                         
                         
                           
                             
                               y 
                               
                                 m 
                                 - 
                                 t 
                               
                             
                             + 
                             
                               y 
                               
                                 be 
                                 - 
                                 shared 
                               
                             
                           
                         
                       
                       
                         
                           
                             
                               z 
                               
                                 c 
                                 - 
                                 t 
                               
                             
                             + 
                             
                               z 
                               
                                 be 
                                 - 
                                 shared 
                               
                             
                           
                         
                         
                           
                             
                               z 
                               
                                 m 
                                 - 
                                 t 
                               
                             
                             + 
                             
                               z 
                               
                                 be 
                                 - 
                                 shared 
                               
                             
                           
                         
                       
                     
                     ] 
                   
                 
               
               
                 
                   Equation 
                    
                   
                       
                   
                    
                   5 
                 
               
             
           
         
       
     
     The two columns now represent the position of the chamber and muzzle respectively in the shared reference frame. 
     Determine Elevation of Weapon Relative to Terrain Frame 
     The elevation of the weapon relative to the ground is calculated with a two step process. First, the coordinates of the point (1, 0, 0) in the weapon frame are determined in the terrain frame (x terrain , y terrain , z terrain ) with Equation 6: 
     
       
         
           
             
               
                 
                   
                     [ 
                     
                       
                         
                           
                             x 
                             terrain 
                           
                         
                       
                       
                         
                           
                             y 
                             terrain 
                           
                         
                       
                       
                         
                           
                             z 
                             terrain 
                           
                         
                       
                     
                     ] 
                   
                   = 
                   
                     
                       A 
                       
                         weapon 
                         → 
                         terrain 
                       
                     
                      
                     
                       [ 
                       
                         
                           
                             1 
                           
                         
                         
                           
                             0 
                           
                         
                         
                           
                             0 
                           
                         
                       
                       ] 
                     
                   
                 
               
               
                 
                   Equation 
                    
                   
                       
                   
                    
                   6 
                 
               
             
           
         
       
     
     The second step is to find the weapon elevation relative to the ground with the Equation 7: 
       elevation=arcsin(− z   terrain )  Equation 7 
     Elevation is defined such that a positive value implies the weapon is pointed above the horizontal. A negative value says the weapon is pointed below the horizontal. Elevation is constrained to the range of 
     
       
         
           
             
               - 
               
                 π 
                 2 
               
             
             ≤ 
             elevation 
             ≤ 
             
               
                 π 
                 2 
               
               . 
             
           
         
       
     
     Determine Cant of Weapon Relative to Terrain Frame 
     The cant of the weapon is determined with a method similar to that used to find elevation. First, coordinates of the point (0, 1, 0) in the weapon frame are determined in the terrain frame (x terrain , y terrain , z terrain ) with the Equation 8: 
     
       
         
           
             
               
                 
                   
                     [ 
                     
                       
                         
                           
                             x 
                             terrain 
                           
                         
                       
                       
                         
                           
                             y 
                             terrain 
                           
                         
                       
                       
                         
                           
                             z 
                             terrain 
                           
                         
                       
                     
                     ] 
                   
                   = 
                   
                     
                       A 
                       
                         weapon 
                         → 
                         terrain 
                       
                     
                      
                     
                       [ 
                       
                         
                           
                             0 
                           
                         
                         
                           
                             1 
                           
                         
                         
                           
                             0 
                           
                         
                       
                       ] 
                     
                   
                 
               
               
                 
                   Equation 
                    
                   
                       
                   
                    
                   8 
                 
               
             
           
         
       
     
     Weapon cant is then found with Equation 9: 
       cant=arcsin(− z   terrain )  Equation 9 
     We now calculate the terrain frame coordinates of the point (0,0,1) in the weapon frame with Equation 10: 
     
       
         
           
             
               
                 
                   
                     [ 
                     
                       
                         
                           
                             x 
                             terrain 
                           
                         
                       
                       
                         
                           
                             y 
                             terrain 
                           
                         
                       
                       
                         
                           
                             z 
                             terrain 
                           
                         
                       
                     
                     ] 
                   
                   = 
                   
                     
                       A 
                       
                         weapon 
                         → 
                         terrain 
                       
                     
                      
                     
                       [ 
                       
                         
                           
                             0 
                           
                         
                         
                           
                             0 
                           
                         
                         
                           
                             1 
                           
                         
                       
                       ] 
                     
                   
                 
               
               
                 
                   Equation 
                    
                   
                       
                   
                    
                   10 
                 
               
             
           
         
       
     
     If the z terrain  value resulting from this equation is negative, then the cant value calculated above must be altered with the following. If z terrain  is negative and cant is positive, then an additional π/2 is added to the cant value. If z terrain  is negative and cant is negative, then n/2 is subtracted from the cant value calculated above. If z terrain  is positive, then cant remains unchanged. 
     Cant is defined such that a positive value implies the weapon is tilted counterclockwise if the shooter is looking from the end of the weapon towards the muzzle. Cant is constrained to the range 
       −π≦cant≦π. 
     Determine Trajectory in Weapon Frame 
     The cant and elevation of the weapon relative to the terrain frame is now used to reference the trajectory models. These models calculate, for the weapon frame, discrete points along the trajectory of the projectile given initial weapon elevation and cant. These models are specific to a single weapon and projectile type pairing, and they include considerations for local gravity intensity, and weather. 
     Determine Trajectory in Terrain Frame 
     As was done with the virtual bore line, the discrete points representing trajectory relative to the weapon frame are rotated into the terrain frame. Here, the points are again defined as column vectors and inserted into the P weapon  matrix as shown in Equation 11: 
     
       
         
           
             
               
                 
                   
                     P 
                     weapon 
                   
                   = 
                   
                     [ 
                     
                       
                         
                           
                             x 
                             
                               1 
                               - 
                               w 
                             
                           
                         
                         
                           
                             x 
                             
                               2 
                               - 
                               w 
                             
                           
                         
                         
                           
                               
                           
                         
                         
                           
                             x 
                             
                               n 
                               - 
                               w 
                             
                           
                         
                       
                       
                         
                           
                             y 
                             
                               1 
                               - 
                               w 
                             
                           
                         
                         
                           
                             y 
                             
                               2 
                               - 
                               w 
                             
                           
                         
                         
                           … 
                         
                         
                           
                             y 
                             
                               n 
                               - 
                               w 
                             
                           
                         
                       
                       
                         
                           
                             z 
                             
                               1 
                               - 
                               w 
                             
                           
                         
                         
                           
                             z 
                             
                               2 
                               - 
                               w 
                             
                           
                         
                         
                           
                               
                           
                         
                         
                           
                             z 
                             
                               n 
                               - 
                               w 
                             
                           
                         
                       
                     
                     ] 
                   
                 
               
               
                 
                   Equation 
                    
                   
                       
                   
                    
                   11 
                 
               
             
           
         
       
     
     This matrix is then multiplied by the A weapon→terrain  matrix (derived in step 7.5.2.4) to rotate the points into the terrain frame with the Equation 12 in which P terrain  describes the position of the n trajectory points in the terrain frame: 
       P terrain =A weapon→terrain P weapon   Equation 12 
     Determine Trajectory in Shared Frame 
     Once the trajectory points have been defined in the terrain frame, the position of the ball element center in the shared frame is added to each as shown in the following. 
     
       
         
           
             
               P 
               shared 
             
             = 
             
               [ 
               
                 
                   
                     
                       
                         
                           
                             
                               x 
                               
                                 1 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             x 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                   
                     
                       
                         
                           
                             
                               x 
                               
                                 2 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             x 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                   
                     
                         
                     
                   
                   
                     
                       
                         
                           
                             
                               x 
                               
                                 n 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             x 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                 
                 
                   
                     
                       
                         
                           
                             
                               y 
                               
                                 1 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             y 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                   
                     
                       
                         
                           
                             
                               y 
                               
                                 2 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             y 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                   
                     … 
                   
                   
                     
                       
                         
                           
                             
                               y 
                               
                                 n 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             y 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                 
                 
                   
                     
                       
                         
                           
                             
                               z 
                               
                                 1 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             z 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                   
                     
                       
                         
                           
                             
                               z 
                               
                                 2 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             z 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                   
                     
                         
                     
                   
                   
                     
                       
                         
                           
                             
                               z 
                               
                                 n 
                                 - 
                                 t 
                               
                             
                             + 
                           
                         
                       
                       
                         
                           
                             z 
                             
                               be 
                               - 
                               shared 
                             
                           
                         
                       
                     
                   
                 
               
               ] 
             
           
         
       
     
     The columns now represent the position of the n discrete trajectory points in the shared reference frame. 
     As discussed herein, in various embodiments, advanced cooperative rifle engagement (ACRE) is a network-based distributed system comprising a plurality of individual ground combatants each equipped with a weapon and vision orientation and integration system. ACRE is a virtual fighting environment in the service of ground combatants during actual close combat. The system enables a first-person-perspective immersive application to run aboard a bodyworn computer in live wartime situations. The core ACRE functionality is the effect produced when vision orientation and weapon orientation are tracked, paired, and shared by individuals as they move, shoot, and communicate. By fusing individual data supplied from each ground combatant, dynamic battlefield command and marksmanship can be facilitated using augmented reality feedback supplied to the ground combatants from the virtual environment fusion processing center. The ACRE virtual environment adjusts in real time based on the weapon orientation and integration data coming from each ground combatant&#39;s weapon and head. The ACRE Method encompasses both the hardware for actually presenting sensory perceivable information, and for software or other data creation, manipulation, or other methodology for the specific purpose of presenting perceivable information to a participant. The ACRE Method constitutes a component of a Soldier-as-a-System, or SaaS, infantry lethality paradigm. 
     In various exemplary embodiments, ACRE is a virtual fighting environment. Unlike orthodox conceptions, ACRE envisions the technological leaps described above to render a mission capability for ground combatants similar to fighter pilot heads-up displays. Unlike training applications today that simulate an imaginary environment with users interacting with and manipulate that world, ACRE provides simulation of an environment that is experienced by a human operator in addition to the naturally sense world. 
     In various exemplary embodiments, ACRE is an integrated fire control system which combines weapon laying and firing data, primarily using electronic means assisted by electromechanical devices. The process of analyzing an enemy situation, selecting targets and matching the appropriate response to them is generally inappropriate at the rifle unit level. The “appropriate response” is computed by the minds of the ground combatants involved. The ACRE system merely assists that decision-making process by allowing users to visualize the effects of their weapon systems on the terrain in which they are fighting. An ACRE capability is fully interoperable with other battlefield management systems which may or may not be targeting systems. 
     ACRE depends on a tactical infosphere which is a distributed system consisting of a collection of autonomous computers linked by a wireless network and equipped with distributed system software. This software enables computers to coordinate their activities and to share the resources of the system hardware, software, and data. Users of the distributed system perceive a single, integrated computing facility even though it may be implemented by many computers in different locations. In a preferred embodiment the ACRE system is transparent to the user. 
     The fidelity and latency of the ACRE system is dependent on the performance of its “trackers,” such as for example, each combatant contributing weapon, and or helmet orientation information. As discussed herein, a major input to the ACRE system is head and weapon orientation information available through the self-orienting weapon and helmet mounting system discussed herein. Additional input devices may include, other “active sensors” for the ACRE virtual environment including the Universal Location Module. Any combination of “trackers” that sufficiently supply the location in space and orientation of a ground combatant in real time may serve as ACRE system inputs. 
     In various embodiments, ACRE functionality is predicated on five prerequisites: weapon and vision and orientation, tactical infosphere, micro-terrain coordinate frame, geolocational accuracy and georectifed augmented reality displays. As discussed in various embodiments of this invention, the weapon and vision orientation system is fundamental to ACRE as it provides the distributed system with the field of view and virtual boreline of each combatant contributing to the system. 
     The tactical infosphere refers to the information network superimposed on the battlefield environment. In the 1990&#39;s, the term “Battle Management Command, Control, Communications, Computers, and Intelligence” or BMC 4 I was established to describe an integrated system to basically enhance one source of combat power—leadership. What shortly followed was the advent of a tactical infosphere. It is a distributed network of BMC 4 I systems linking information databases and fusion centers. In the first decade of the 21 st  Century, network-centric wireless war fighting systems are in development. In time, mobile ad hoc digital communications combined with superior processing technology is expected to render fully capable tactical infospheres. 
     The digital radio and wearable computer, mentioned above, provide the interface for the individual ground combatant to a future rifle unit&#39;s tactical infosphere. For the ground combatant, reporting and pulling data from various sensors to create a real-time or near real-time situational awareness picture will increase his lethality and effectiveness. 
     Another technological prerequisite to ACRE is the microterrain coordinate frame. Traditional grid coordinate reference systems, like world geographic reference system (GEOREF) and universal transverse mercator grid, are currently weak. They stand at fidelity levels that are not particularly useful to ground combatants in close terrain. ACRE will rely on geodetic surveying several orders of magnitude more precise than is currently available. 
     In various exemplary embodiments, in any area where ACRE operable rifle units are expected to operate, an intelligence preparation of the battlefield process must first determine and mark exact locations as points of reference. In turn, rapid reporting and plotting of these points in the ACRE virtual environment is possible. This involves measuring the geometric quantities of the battlespace with satellite or drone imaging to a degree that will produce a suitable microterrain model 
     In various embodiments of the invention, in order for the ACRE method to work effectively, precise combatant location information must be available to provide the reference from which vision and weapon orientation are determined. In the context of this application this is performed by the universal location module. The current state-of-the-art in position finding of self-reporting body-worn instruments is inferior for ACRE purposes. A problem exists wherein individual moving ground combatants are indiscernible blobs on contemporary tracking systems. Precision positioning and navigation, or “geolocation,” is on the order of within a spherical error probable of three meters. Similarly, the tactical infosphere today is unable to update positions every second. The ACRE capability rests on the eventual feasibility and affordability to geolocate several orders of magnitude more precisely than is currently possible. 
     Potential solutions to the problem to precise geolocation measurement include global positioning system and the more accurate differential global positioning system, network assisted GPS based on triangulation using delay of arrival times of signal arriving from “known” locations in the network and inertial navigation based on high resolution accelerometers and inclinometers. 
     Other possible location determining technologies include geodonation whereby cross-cueing, or georeferencing of friendly entities or artifacts is continuously performed within the network. All friendly actors will proactively donate their positions, through a variety of means, to each other. In geodonation, a “line of observation” is the line from a position finder to a target at the exact time of a recorded observation. This phenomenon of unremitting, incessant, proactive donation of location, or “geodonation”, is running constantly in the background of a BMC 4 I system which is hosting the ACRE System. 
     Rangefinder technology, specifically laser in the contemporary sense, is a key component of geodonation. Given a robust and timely tactical infosphere, the range between multiple sensors and the present positions of their geo-located entities may be compiled and processed. In various embodiments, when not engaged in enemy-oriented taskings, unmanned vehicles will default to rangefinding taskings. Location sharing will be carried out by separate fleets of “pos/nav” robots, thereby aggressively filling in gaps in the force&#39;s position states. The ACRE virtual environment is consequently updated, making it possible to plot distances and directions in real time. 
     In terms of weapons effects, the state of the natural environment is of critical geolocational concern. Meteorological sensors supporting the rifle unit, perhaps on dedicated unmanned air vehicles, will survey the operating environment. Values critical to an ACRE capability, such as range wind (the horizontal component of true wind in the vertical plane through a ballistic trajectory), temperature and barometric pressure, will be accumulated and supplied to the tactical infosphere. 
     The final technological prerequisite to the ACRE system is the georectified augmented reality display. In a preferred embodiment this is a helmet-mounted display. Currently, mobile information displays are text-based and use 2-D imaging. Having to hold displays in the hand is sub-optimal for a combatant because his hands need to remain free to operate his rifle. In various embodiments of this invention, the ACRE capability is based on advanced, mobile, geo-rectified Augmented Reality (AR) viewed with individual ground combatant helmet mounted displays. 
     An ACRE augmented reality application will require graphics to be precisely aligned with the environment. Consequently, an accurate tracking system and a detailed model of the environment are required. Today, constructing these models is an extremely challenging task as even a small error in the model (order of tens of millimeters or larger) can lead to significant errors that dilute the effectiveness of an ACRE augmented reality system. Today, developing detailed synthetic models of ground combatant environments for mobile augmented reality systems is an immature art. Significant progress in mobile augmented reality is expected, such as, for example, a wrap-around, 180-degree, see-thru augmented reality-helmet mounted display. Such a display, employing a ball-and-socket-based helmet vision tracking device incorporates an opaque liquid-crystal display to simulate the ACRE virtual environment with a three-dimensional sensation of depth. As the user visually acquires objects in the real world, the data from the augmented reality helmet-mounted display is additionally imparted. The wearer operates in the real world with added capability from the augmented reality helmet-mounted display. 
     In various exemplary embodiments, in order for the ACRE system to provide real-time or near real-time augmented reality information to the ground combatants, various information inputs must be received by the system. For example, the angle of traverse, that is, the angle through which the weapon is traversed, angle of elevation and angle of cant, is provided by the self-orienting ball-and-socket-based weapon mounting system. The barrel whip, that is, the movement of a gun barrel in a plane normal to the longitudinal axis of the gun bore, as the gun operates through a complete firing cycle, may also be provided by the self-orienting weapon mounting system. 
     In various embodiments of the invention, the ACRE system stores information to generate ballistic virtual objects. For example, in various embodiments, the ACRE system operates a database of firing tables, that is data necessary to model the firing of a weapon, range tables, that is tables that give elevations corresponding to ranges for a gun or other weapon, under various conditions, range probable error, that is a subset of a firing table describing the range error caused by dispersion that will be exceeded as often as not in an infinite number of rounds fired at the same elevation and is one-eighth of the length of the dispersion pattern at its greatest length, and elevation tables, that is a portion of a firing table giving a list of elevation settings, with the corresponding of ranges for given weapon. 
     In various embodiments of the invention, the ACRE system retains a processing engine capable of deriving deflection, elevation, range and dispersion. Deflection correction must be applied to the azimuth or shift measured on a firing chart so that the line of fire will pass through the target. In various embodiments, a degree of deflection error remains, and is accounted for in the representation of a Ballistic Virtual Object on a user&#39;s augmented reality helmet-mounted display. Determination of the minimum elevation, or the lowest elevation of a weapon at which the projectile will safely clear an obstacle between the weapon and the target. Superelevation is an added positive angle to the trajectory that compensates for the fall of the projectile during the time of flight due to the pull of gravity. Range must be for all nonstandard conditions, such as variations in weather and ammunition. In various embodiments, a degree of range error remains, and is accounted for in the representation of a ballistic virtual object on a user&#39;s augmented reality helmet mounted display. Dispersion error, that is, the chance variation in a series of shots even though firing conditions, is kept as constant as possible. In various embodiments, a degree of dispersion error remains, and is accounted for in the representation of a ballistic virtual object on a user&#39;s augmented reality helmet mounted display. 
     As previously discussed herein, a ballistic virtual objects, or BVOs are predictive augmented reality artifacts that allow individuals or groups to understand the effects of one or more weapon systems in a simulation before they are discharged. In a preferred embodiment, the ACRE system includes a calculation for deflection. In order to represent the BVO, the horizontal clockwise angle between the axis of a bore and the augmented reality display&#39;s line of sighting must compensate for deflection. The deflection angle is the angle of a deflection shot in gunnery, measured between the line of sight to the target and the line of sight to the aiming point. BVOs also account for the line of departure, or direction of a projectile at the instant it clears the muzzle of the gun. 
     In various exemplary embodiments, BVOs are georectified. Georectification is the process of referencing points on an image to the real world coordinates. For an Augmented Reality Helmet Mounted Display, or AR-HMD, extremely sophisticated graphics engines will be developed to provide georectified information on head movements for updating visual images. These images are the ACRE graphics, or BVOs. BVOs will preferably be computer-generated three-dimensional pictures or symbols. In various embodiments, the scale of ACRE graphics will be exactly proportional to the naked eye views experienced by the wearer. 
     In various exemplary embodiments, the ACRE system includes meteorological check points. The meteorological check points are provided by sensors within the rifle unit&#39;s organizational equipment. They are arbitrarily selected points for which meteorological sampling is conducted and corrections are determined. These corrections are applied to any target located within transfer limits of the meteorological check point. A meteorological correction is an adjustment made in the firing data of a weapon to allow for the effect of wind, air pressure, and so forth, on the flight of a projectile. The BVOs can be expected to alter their appearance on the AR-HMD, for example, when a gust of crosswind occurs or the ambient temperature falls after sunset. 
     An exemplary, but non-exhaustive list of ACRE BVOs is provided below: A virtual boreline (VBL) is a model of a weapon boreline to the limit of the weapon&#39;s maximum range. A virtual trajectory (VT) is a model of the predicted curve described by a projectile fired from a gun moving through space, usually approximated as a parabola. A virtual cone of fire (VCOF) is a model of a ballistic trajectory reflecting consideration of the predicted round dispersion during flight. The virtual point-of-aim/point-of-impact (VPAPI) is a computer-aided aiming point, being a model of a point on which the orientation of a weapon is laid for direction. VPAPI is a model of the ballistic trajectory plus horizontal range data, or the distance measured horizontally between a gun and its target. The virtual maximum ordinate (VMO) is a model of a point on a VT indicating the maximum height of that trajectory. The viral beaten zone (VBZ) is a model of a dispersion zone, that is, the predicted surface area over which shots scatter when fired with the same weapon orientation. The virtual fields of fire (VFOF) is a model of a cone of dispersion, that is, the predicted pattern in space formed by recorded phenomena from point sources (shots on a target) from the same weapon that spread out in conical form. The virtual dead space (VDS) is a model of area within the ACRE virtual environment with the following characteristics: it is area within the maximum range of weapons which cannot currently be covered by fire or observation, based on weapon and helmet orientation respectively, from any friendly weapon or sensor position because of intervening obstacles, originating from the nature of the ground, or the characteristics of the trajectory, or the limitations of the pointing capabilities of the weapons. The virtual minimum safe distance (VMSD) is a virtual object representing the minimum distance from the modeled ground zero of a munition. The virtual blast radius (VBR) is a model of a spherical error probable (SEP) or radius of a sphere within which the munition is expected to explode and harm occupants 50% of any given instances. 
     In various exemplary embodiments, ACRE may also be used to support logistics and supply. For example, by collecting round counting information, dynamic ordinance resupply may be performed. Round counting systems, such as, for example, the “Accu-Counter” device manufactured by Accu-Counter Technologies Inc., Crestview Hills, Ky., are known in the art. 
     In a preferred embodiment, the round counting system is unobtrusive and tied into the ACRE data upload platform and operates continuously and in a manner that is transparent to the ground combatant. The WOASI-L&amp;S counting system is unseen by the operator and functions without operator interface (with no on/off button, for instance). In various embodiments, this round counting information is automatically pushed to the ACRE system along with weapon and/or helmet orientation information. However, in various other embodiments, this information may be selectively pulled on demand by the ACRE system. 
     The ACRE system provides the functionality for yet another embodiment of this invention. In this embodiment, a ball-and-socket-based tactile feedback system for a weapon is provided. The system premised on the fact that a combatant&#39;s weapon boreline and/or visual field of view are known, that the combatant&#39;s manual grip on his/her weapon can be used as means of providing haptic feedback to correct or even direct behavior. As used herein, the terms “haptic” or “haptics” will refer to any type of tactile or cutaneous feedback supplied to a combatant through his weapon in response to the orientation of his weapon and/or his field of vision. 
     In various embodiments this is accomplished through an individual fire control feedback method in which a combatant is provided with haptic feedback based on the orientation of his weapon. This haptic feedback may be used to prevent particular behavior, such as for example, as weapon orientation that runs the risk of fratricide. Fratricide or “friendly fire” is problem in nearly all combat environments due to the fast-paced, intense nature of modern warfare. Fratricide is the destruction of friendly personnel and/or equipment by friendly weapon systems. Fratricide is by definition an accident. The causes of fratricide are errors and failures of positional/navigational systems, and combat identification failures. 
     Proposed solutions have been based on IR or other non-visible emitters to give of the location of other friendly entities. However, this is an undesirable solution because with the right sensing equipment, enemies may be able to use this signature to gain position information. By using a haptic alert system, based on the Advanced Cooperative Rifle Engagement Orientation Analysis Method, fratricide can be prevented by sending a radio signal to a receiver worn by the ground combatant causing the ball-and-socket based mounting and communication system to send a signal to actuate an electromechanical vibration device in the weapon ball stock. In various embodiments, the vibrating signal will indicate to the combatant that his current virtual cone of fire is within a dangerous proximity to a fellow combatant. Thus, rotating the weapon into a direction that runs the risk of fratricide will cause the haptic alert to activate. In various embodiments, simply rotating, pointing, and/or raising or lowering the weapon away from that potential harmful orientation will cause the haptic alert to stop. In a preferred embodiment, the haptic alert is dynamic in that the user&#39;s virtual cone of fire is frequently monitored for fratricide. 
     In various embodiments transmission of the haptic alert signal to the weapon ball stock is facilitated through the existing two-way communication protocol between the receiving socket and ball element of the ball stock. In various embodiments, the vibrating device is located in the receiving socket, in the ball element, in the axis, or even elsewhere on the weapon, such as, for example, on the weapon grip. In such an embodiment where the vibrating alert is located on the weapon, a connector will connect the alert to a portion of the ball stock near the butt end of the weapon. 
     It should be noted that the haptic alert system as described herein has been characterized as a vibrating-type alert system. However, the term “vibrating” should be understood to refer to shaking, clicking, rumbling, or other force feedback type that is detectable through the combatant&#39;s grip on the weapon. 
     It should also be noted that in various embodiments, the haptic alert system will be triggered when the ground combatant rotates his weapon within the socket into a vector that has the potential of fratricide. However, in various other embodiments, even if the ball element of the weapon ball stock remains fixed relative to the socket, the haptic alert system may activate if the combatant simply rotates his body in a such a manner that his weapon has a virtual code of fire that has the potential for fratricide. In fact, various embodiments of the invention may respond to both rotation and motion, as natural human motion of a combatant will likely involve both. 
     Furthermore, it should be noted that although the haptic alert system has been described herein as a behavior curtailing system, in various embodiments of the invention the haptic alert system may be used to induce behavior. For example, if a ground combatant is sweeping a target area, the haptic alert system may be used to “direct” the combatant to a particular orientation likely to provide a firing opportunity on an enemy target. In such an embodiment the haptic alert system will be used to inform ground combatant that he is “looking in the right direction.” In another example, haptic alerts or haptic feedback may be used to assist a ground combatant in adjusting fire on a target. 
     In other embodiments of the invention, a ball-and-socket-based tactual force feedback system for a weapon is provided. In such embodiments, in addition to providing haptic feedback, at least a portion of a ball-and-socket-based robotic joint is used in weapon ball stock in place of the axis in order to provide directed articulation of the weapon. For example, in a fratricide alert mode, the robotic joint could be used to “push” the weapon or provide a rotating force intended to induce the combatant to alert the weapon&#39;s boreline to avoid potential damages to comrades or friendly equipment. 
     In various embodiments, the ball-and-socket-based tactual force feedback system for a weapon may also be used to replicate current marksmanship behaviors. Utilizing control of the robotic joint connecting the combatant to the weapon, a person may be “trained” in marksmanship techniques. Via the spherical stepper motors of the robotic joint, force feedback provides the user with resistance to unsafe weapon orientation and/or guidance to safe or recommended weapon orientation. The electromagnetic pull and push of spherical motors provides the force feedback. For example, in one embodiment, during a training exercise, an observing instructor or coach may interface with the user&#39;s ball-and-socket-based tactual force feedback system remotely. Upon observing marksmanship habits in need of correction, the observer may communicate to the tactual force feedback system the intended corrective technique through a forced or induced kinesthetic response. The tactual force feedback system will consequently resist user movements not in accordance with incorrect solutions and gently guide the user&#39;s movements in accordance with the correct solutions. Through the tactual force feedback system, significant training advantages may be gained by augmenting traditional verbal instruction with performance-oriented, hands-on learning techniques. 
     The ball-and-socket-based tactual feedback system improves weapon system trainability. Tactual displays that communicate to a user through the sense of touch are intuitive to use and easily and uniformly interpreted, even for first-time users. In military applications, these qualities have a high premium due to limited resources in personnel and training. 
     The ball-and-socket-based the tactual feedback system also improves combat effectiveness. Tactile information is salient, intuitive, and greatly enhances existing visual/auditory interfaces in situations where visual/auditory channels are heavily loaded. Performance in combat situations generating heavy cognitive load conditions is believed to be improved by appealing to the human sense of touch. 
     As a “display,” the tactual feedback system thus contributes to increased performance by ground combatants wearing advanced bodyworn systems. The tactual feedback system offers the bodyworn system a means to issue feedback to multiple senses in concert to improve the use of the high bandwidth that humans are capable of processing in real interactions. The tactile information displayed is effectively used with little training on the user&#39;s part. 
     Other embodiments, uses, and advantages of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The specification and drawings should be considered exemplary only, and the scope of the invention is accordingly intended to be limited only by the following claims and equivalents thereof.