Improvements in Means and Apparatus for Steering Torpedoes, Vessels and the like, and for Controlling other Mechanisms from a Distance.
Year: 1899

page_text: Date of Application, 3rd May, 1899-Accepted, 9th Sept., 1899
COMPLETE SPECIFICATION.
Improvements in Means and Apparatus for Steering Torpedoes,
Vessels and the like, and for Controlling other Mechanisms from
a Distance.
We, JAMES TARBOTTON ARMSTRONG, of Moorgate Station Chambers, Moorfields,
London, E.C., Electrician, and AXEL ORLING, Electrical Engineer, of the same
address, do hereby declare the nature of this invention and in what manner
the same is to be performed, to be particularly described and ascertained in and
by the following statement:-
This invention relates to means and apparatus for controlling mechanisms
from a distance without the use of wire or other like connections and is more
particularly adapted for such purposes as the steering of torpedoes, vessels and
the like from another vessel, light-house or other station.
To effect this purpose we employ the following means to control one or more
distant local electric circuits which, by means of one or more electro-magnets
or solenoids, operate the valve of a servo-motor or its equivalent by which the
steering gear or other mechanism is actuated in any well-known or suitable
manner.
In carrying out our said invention we employ in conjunction with other
mechanism hereinafter described a transmitting and a receiving apparatus,
characterized as follows:-the first comprising means of projecting a beam of
sheet of light, kathodic, X, or other rays, in any desired direction; and the
latter consisting of a closed electric circuit containing a Wheatstone-bridge or
other analogous arrangement which is provided with a number of suitably
located selenium cells or other like devices whose electric resistance is varied
when they are under the influence of the transmitted rays. By these means
an energizing current may be caused to pass in one direction, or the other
through the coils of a series of electro-magnets, which form a bridge, loop shunt
or analogous part, when the resistance is varied at certain points of the circuit
whereby the polarity of the said electro-magnets is controlled.
"
These electro-magnets, whose polarity is thus controlled, are wound alternately
in opposite directions and are supported at the periphery of a pivotted table
around which are located a corresponding number of stationary permanent or
electro-magnets whose poles are also arranged alternately "north" and "south"
while their location is such that the poles of one set of magnets is midway
between the poles of the other set when the pivotted table is in its central
position.
When a current passes through the coils of the electro-magnets that are sup-
ported upon the pivotted table, they will, according to the polarity imparted
to them by the direction of the energizing current, be attracted either by the
stationary magnet in front of and repelled by the one behind each or vice versa.
In this way the pivotted table, which is provided with an electric contact,
will be turned and will close a relay circuit through one or other of two suitably
located stationary contacts, according to the direction in which it is turned..

page_text: When, however, no energizing current flows through the coils of the said
electro-magnets, the pivotted table is caused to take up a central position between
the said two stationary contacts by means of a spring.
These contacts may be provided with carbon points so as to allow a greater or
less current to pass, according to the force with which the said carbon contacts
are brought together.
In this way the amount of energy imparted to the electro-magnets or solenoid
is regulated and the extent of movement of the servo-motor valve, which is
normally held in its central position by one or more springs, controlled.
In practice we locate the selenium cells or other like variable resistances in
a position that is easily accessible to the influencing rays, and so support them
as to enable the controlling vessel or station to influence the particular one,
pair or more that it may be desired to, with ease and certainty.
The remainder of the apparatus may be located in any convenient place.
In applying our invention to the steering of torpedoes we support these
variable resistances side by side transversely to the torpedo with or without a
screen or dividing plate between them and in some cases at a distance from
each other.
Shields are provided to protect the said variable resistances as much as
possible from rays coming from any other direction than behind-that is, the
point from which the torpedo was sent.
These rays which may issue through a vertical slit, are projected by the con-
trolling vessel and are directed along the centre line of the torpedo so as to
equally influence all the variable resistances under these conditions the torpedo
will steer a straight course.
When it is desired to alter or correct the torpedo's course, the beam of light
or other rays is moved to the right or left so as to more strongly influence one
or more of the variable resistances and bring into operation the steering gear
as hereinbefore explained.
In this way, by suitably connecting up the apparatus, the torpedo is caused to
follow the light and if currents or the like cause it to deviate from its proper
course the requisite correction is automatically effected by one or more of the
variable resistances crossing the influencing beam.
By modifying the arrangement of the various parts of our invention it may
be utilized to divert the course and control the engines of a vessel when it is
approaching dangerously near to another vessel, the coast, rocks or other
obstacles.
When employed for this purpose the contacts are so arranged that when the
influencing rays reach one or more of the variable resistances the relay circuit is
so closed that the current imparts a polarity to its electro-magnet or solenoid
which will operate the valve of the servo-motor in the direction that will cause
the vessel to be steered away from the point from which the rays emanated,
likewise, by duplicating the apparatus, the engines may be reversed when danger
is ahead, and again reversed should there be danger astern. For this purpose
the second set of selenium cells or their equivalents would be located fore"
and "aft."
"
In order to carry this purpose into effect it is necessary that the obstacles to
be avoided be provided with means of projecting suitable influencing rays in
all or any desired directions.
We will now proceed to more particularly describe our invention, with the
aid of the accompanying drawings, in which like reference letters indicate cor-
responding parts.
Fig. 1 shows the transmitting apparatus forming part of our invention.
Fig. 2 is a diagram showing one form of receiving apparatus provided with
a current controller and device for operating the valve of a servo-motor.
Figs. 3 & 4 show diagramatically modified forms of receiver and current con-
troller.

page_text: Fig. 5 shows diagramatically a further modification.
Figs. 6&7 show one of the selenium cells in sectional elevation and plan
respectively.
Figs. 8 & 9 show respectively an end elevation and plan of a torpedo con-
structed according to our invention, and
Fig. 10 shows the plan of a vessel fitted with our improvements.
Our transmitting apparatus (see Fig. 1) consists of a projector
of any well-
known construction which is provided with an electric arc lamp, X ray or other
vacuum tubes or other suitable well-known means (not shown) of producing
light, kathodic, X or other suitable rays.
The projector a is provided with trunnion bearings, b, which are journalled
in a yoke c formed at the top of a pillar d which is in turn journalled in the
stand e.
A worm and sector are provided at f by which the direction of the projected
beam may be adjusted vertically, while their horizontal adjustment may be
effected by means of the worm and wheel shown at g. A sighting telescope h
is also provided by means of which a beam of invisible or other rays may be pro-
jected at a small distant object with considerable accuracy.
Our receiving and current controlling apparatus comprises a pivotted table i
journalled on a vertical pin, j, secured to a suitable base upon which are
mounted a series of stationary magnets 7.
These magnets, 1, are arranged around the pivotted table, i, which is also
provided with a corresponding number of electro-magnets m, the normal position
of the said table i being such that the pole pieces n of its supported magnets m
are midway between the pole pieces o of the stationary magnets in which posi-
tion they are normally held by the spring attached to the said pivotted table i
and adapted to co-operate with the two pins, a fixed to the base, k.
l
P
The stationary magnets, may be energized by an electric current, as shown
in Figs. 2 & 3, or they may be permanent magnets as shown at in Fig. 4, but
in either case they are so arranged that their poles are alternately "north" and
66 south."
"
The electro-magnets m are each wound with a single coil alternately in oppo-
site directions, as shown in Figs. 2, 3, & 4, or according to a modification shown
in Fig. 5 these said magnets m are provided with two coils 1 & 2 wound in such
a manner that their poles will also be alternately "north" and "south when
energized by either coil, although the polarity imparted to each magnet m by
one coil will be reversed when the energizing current flows through the other
coil 2. Thus it will be seen that when the electro-magnets m are energized
each of their poles will be attracted according to the polarity imparted to
them, by the pole o of the stationary magnet in front of or behind it, and so
the turning of the table i in one direction or the other will be effected.
In the arrangement shown in Fig. 2, the direction of the current in the
electro-magnets m, is controlled by means of a Wheatstone bridge forming part
of a closed circuit which derives its current from a battery r.
The said current flows along the conductor s, through the two branches t
and u and back to the battery r through the conductor w.
These branches t and u are united at or near their centres by a bridge which
includes the coils of the electro-magnets m, the said bridge e dividing each of
the branches and u into two arms each of which includes an equal number of
stationary magnet coils and a selenium cell v. Normally, each of these four
arms have an equal resistance under which circumstances, as is well-known, no
current will flow through the bridge, and consequently the electro-magnets m
will not be energized.
If, however, the resistance in the first arm of the branch, t, and the second
arm of the branch u be lower than that of the others, a current will flow through
the bridge from the branch t towards the branch u, while a current will flow

page_text: in the reverse direction when the resistance is lowest in the other arms, on the
well-known principle of the Wheatstone-bridge.
In order to effect this variation in the resistance of the arms of the Wheat-
stone-bridge, four selenium cells are provided.
These selenium cells are arranged in pairs, one pair being located at a dis-
tance from the other and in a position that is accessible to the transmitted rays,
one cell of each pair being connected in circuit with the first arm of one branch
and the second arm of the other branch by means of the conductors y, y¹ and x, 2¹
respectively.
1
These selenium cells (see Figs. 6 & 7.) are of well-known construction, con-
sisting of a series of metal strips or plates 3 & 4 which are separated from each
other by pieces of mica or other suitable insulating material 5, every alternate
metal strip 3 being connected with one of the conductors y or z and the other
strips 4 being similarly connected with the other conductor y or z¹, while the
.said strips 3 and 4 are connected to each other by means of a selenium surface 50
whose conductivity is varied when influenced by light, kathodic X or other
rays, the whole being contained in a non-conducting case 51 as shown in the
drawing. When a beam or sheet of rays projected from the sending station
influences one pair of selenium cells more than the other, the electro-magnets
will be energized and the pivotted table i turned in one direction or the other,
as hereinbefore explained.
As a result of this movement a relay circuit will be closed by the insulated
contact 6 which is mounted upon the table i making contact with one or other of
the stationary insulated contacts 7 and 8 mounted upon the base k, whereby a
circuit will be completed through the conductors 9, & 10 or 11, and one or other
of the solenoids 12 and 13 energized.
These solenoids 12 and 13 are situated on the same centre line and have a
common core 14 which is moved forward or backward against the resistance of
the springs 15 and 16, which tend to retain it in the mid-position.
This core 14 is attached to the valve rod 17 of a servo-motor of well-known
construction operated by means of compressed air or the like, derived from any
convenient source (not shown) which is admitted by the inlet 18, the annular
channel 19 surrounding the piston 20 and the port 21 to the space 22.
When the core 14 is attracted by the solenoid 13 the valve 60 will be moved
to the right and the port 23 opened admitting pressure to the back of the piston 20,
while the front end of the cylinder 24 will be opened to the exhaust through
the port 25 and hollow piston stem 26. When the core 14 is moved in the
reverse direction pressure will be applied to the front of the piston 20 through
the port 25 while the back end of the cylinder will exhaust through the port 23
and the hollow piston rod 27.
By these means a very small pressure applied to the valve 60 which is balanced,
causes a very large force to be applied to the piston which is moved through
precisely the same distance and actuates the steering gear of other mechanism
it is desired to control through the piston rod 27, and the connecting rod 28,
or other suitable part or parts, in any convenient manner.
We
We may provide the contact 6, 7, and 8 with carbon tips 70 so that when one
pair of selenium cells is influenced with greater intensity and a greater current
caused to flow through the bridge more strongly energizing the magnets m
and more forcibly turning the pivotted table i, the improved conductivity of the
carbon tipped contacts 6. 7, and 8 due to the greater pressure will cause a greater
current to flow through the solenoid 12 or 13 enabling it to compress the spring 15
or 16 to a greater extent and so move the core 14, the valve 60 and finally the
piston 20 and its operated parts through a greater distance.
In Fig. 3 is shown another arrangement according to which the current from
the battery flows along the conductors and thereafter through the three
branches t, u, and ¹, and thence along the conductor back to the battery r.
The branches t, and u, as before energize the stationary magnets, 7, but have

page_text: no selenium cells which are included in the branch a¹ which energizes the other
magnets m, through whose coils the current flows more easily in one direction
or the other, when the selenium cells are unequally influenced according to
which pair offers the least resistance.
Thus, when the resistance of the right hand pair of cells is least a larger
current will flow along the conductor 29, one of the right hand cells v, the con-
ductor 30 and through the magnet coils m in the direction indicated by the
arrow 31 and back to the battery through the conductor 32 the other cell and
conductor 33; whereas when the other pair of cells have the lower resistance
the current will flow along the conductor 34 one of the left hand cells, the con-
ductor 35 through the coils of the magnets m in the direction indicated by the
arrow 36, thence through the conductor 37, the other cell », and the conductor, 38,
back to the battery, r.
This arrangement may be varied by including the stationary magnet coils
in one circuit deriving its current from a battery shown in dotted lines,
Fig. 3, while the electro magnets m may be energized by a separate circuit the
direction of the current through the coils being controlled in the manner last
explained. In a still further modified form of this arrangement shown in
Fig. 4, stationary permanent magnets are employed while the electro-magnets m
are energized by a current derived from the battery whose direction through
the coils is controlled in the same manner as was described with reference to
Fig. 3. In Fig. 5 is shown another modification according to which the mag-
nets m have each two coils 1 and 2 wound in reverse directions, each such coil
being in circuit with a similar coil wound in the opposite direction to itself on
the magnet next to it.
These two sets of coils 1 and 2 form alternative courses for the current to
flow through. When the selenium cells, of which two single ones are used
in this arrangement, are equally influenced the current will flow equally through
both sets of coils but when the resistances of the said cells are different the
division of the current will be unequal and the coils through which the greater
current flows will regulate the polarity of the magnets m.
The stationary magnets (not shown) employed with this arrangement may
be permanent, as shown in Fig. 4 or electro-magnets in which case they may be
energized by a separate battery circuit or they may be included in the one
circuit at a point where it is not divided.
It is obvious that any of the foregoing arrangements may be further modified
by making the polarity of the stationary magnets variable, by the means already
described, and the polarity of the magnets m supported upon the pivotted table, i,
constant, in which case the latter magnets m might be permanent. It is also
obvious that both sets of magnets may be arranged radially, in which case the
electro-magnet coils may all be wound in the, same direction so that one set will
mutually attract or repel the other according to the direction of the energising
current in the set whose polarity is variable. In this way movement in either
of two directions could be obtained and a relay circuit closed through one. or
other of two contacts or kept open when one of the said sets is de-magnetised
by means of a suitable spring.
In all the arrangements described the pivotted table, i, or an analogous part
which in all cases supports the magnets, m is provided with an insulated contact 6
adapted to co-operate with one or other of two insulated contacts 7 or 8 to close
a relay circuit through one of two solenoids whereby the mechanism is controlled
in the manner described with reference to Fig. 2.
When controlling the steering. of torpedoes, which will be provided with
vertical. rudders 43 operated in a substantially similar manner to the horizontal
rudders 44 now employed, the. transmitter (see Fig. 1) is located on board the
sending. vessel or station, while the whole of the receiving and current control-
ling apparatus except the selenium cells is contained, with the mechanism
that is to be controlled, in the body of the torpedo. These selenium cells v are

page_text: supported outside the torpedo and above water by a bracket 39 (see Figs. 8 & 9)
by which one pair is held behind a shield or screen 40 at the end of a trans-
verse arm 41, at a distance from the other pair which is similarly held behind
another shield or screen 40 at the end of another transverse arm 42.
Alternatively the selenium cells may be supported transversely to the tor-
pedo, but under water as shown in Fig. 8 by dotted lines or side by side on top
of the torpedo with a dividing plate or screen, not shown, between them, in
which case the course of the torpedo may be made visible by means of a light
shaft extending above the surface of the water.
When our invention is employed to divert the course of vessels when danger-
ously near the coast, rocks or other obstacles we use one or more transmitters
which may or may not rotate adapted to project diverging or other suitable
rays so that they may embrace an extended area, while the vessel is or may
be provided with two sets of receiving and controlling apparatus, one for the
steering gear and the other for the engines, the said apparatus being situated
in any convenient part of the vessel.
The selenium cells (see Fig. 10) for controlling the steering gear are
located transversely and those for controlling the engines are situated fore
and aft.
With such an arrangement the vessel would be steered to "port" when the
transmitted rays influence the "starboard" cells and vice versa, while the
engines will be reversed when the cells in the bows are influenced, and, contrary-
wise should the aft cells be influenced when the vessel is going astern.
In order that our invention may be useful in day light, or fog, or that a tor-
pedo may be steered during the night without the conspicuous use of a search
light we prefer to use invisible or other suitable rays.
Our invention may also be applied to life buoys similar in form to a torpedo
and provided with propelling and steering mechanism adapted to be controlled
as herein before set forth. By these means a rope or the like might be conveyed
to a wreck or other assistance rendered in the saving of life.
When our invention is employed to control other mechanisms, the connecting
rod, 28, (see Fig. 2) or an analogous part may be caused to operate a switch, in
any well-known manner, by which an electric current may be caused to drive
a motor, produce light, or serve any other useful purpose. Or, the said con-
nection rod, 28, or an analogous part, may operate a clutch or belt-shifter
through which machinery may be driven or stopped; or the said part may open
a valve in order to admit steam, water or other medium to drive an engine, tur-
bine or other motor and vice versa, or for any other purpose. In such cases the
transmitting apparatus would be located at any convenient central station.
Having now particularly described and ascertained the nature of my said in-
vention and in what manner the same is to be performed, I declare that what
I claim is:
1. The means and apparatus for controlling steering gear and other mecha-
nism from a distance, consisting of a transmitting apparatus comprising a light,
kathodic, X or other ray projector and a receiving apparatus comprising a closed
electric circuit adapted to energize a series of electro-magnets by means of one
or more shunts or loops through which the energizing current is allowed to flow
in a direction and quantity which is controlled by two or more selenium cells
or their equivalents, when one or more of them are unequally acted upon by the
⚫ transmitted rays, whereby a polarity is imparted to the said magnets which co-
operating with another series of magnets will cause a table or analogous part
which supports one of the said sets of magnets to be turned or moved in one
direction or the other so as to close a relay circuit through one or other of two
contacts and so energise one or other of two solenoids or magnets which acting.
upon its core or armature operates the valve of a servo-motor by which the parts

page_text: of the steering gear or other mechanism are actuated substantially as described
in the specification.
2. In a system of the kind referred to in Claim 1, a receiving apparatus com-
prizing a closed electric-circuit containing a Wheatstone bridge the four arms
of which energize a series of electro-magnets whose coils are wound alternately
in opposite directions while each arm is also provided with a selenium cell or
other equivalent device, which are so arranged that when one pair, which are
located together at a distance from the other pair are acted upon by light,
kathodic or other rays so as to vary the resistance of their respective arms, a
current will flow through the bridge and so energize with a polarity according
to its direction another series of suitably wound electro magnets which co-
operating with the first set of magnets will cause a table or analogous part which
supports one of the said sets of magnets to be turned or moved in one direction
or the other so as to close a relay circuit through one or other of two contacts
and so energize one or other of two solenoids or magnets by which the steering
gear or other mechanism is controlled substantially as described in the specifi-
cation with reference to Fig. 2.
3. In a system of the kind referred to in Claim 1 a receiving apparatus com-
prising a closed electric circuit adapted to energize a series of electro-magnets
whose coils are wound alternately in opposite directions and form a loop through
which the energizing current is allowed to flow in a direction and quantity which
is controlled by a series of shunts provided with selenium cells or other equiva-
lent devices which are so arranged that when unequally acted upon by light,
cathodic X or other rays the energizing current will enter the said loop at the
end which is fed by the shunt which offers the least resistance thereby giving the
magnets a polarity which cooperating with another set of permanent or electro-
magnets will close a relay circuit so as to energize one or other of two solenoids
or electro magnets and actuate parts of the mechanism to be controlled in the
manner substantially as described in the specification with reference to Figs. 3
and 4.
4. In a system of the kind referred to in Claim 1, a receiving apparatus com-
prising a closed electric circuit which is divided at one part into two branches
each of which is provided with a selenium cell or its equivalent and is in cir-
cuit with one of two oppositely wound coils of a series of electro-magnets
adapted to be energized by that branch which offers the least resistance to the
said circuit when the selenium cells are unequally acted upon by light, kathodic X
or other rays whereby a polarity is imparted to the said magnets which co-
operating with another series of magnets, which may be energized by the same
or another circuit or may be permanent magnets, will close a relay circuit and
so actuate parts of the mechanism to be controlled in the manner substantially
as described in the specification with reference to Fig. 5.
5. In a receiving apparatus of the kind referred to in the preceding claims,
the combination of a series of permanent magnets with a series of electro-magnets
the direction of whose energizing current is controlled by shunts or the like
provided with selenium cells or their equivalents when unevenly acted upon by
light, kathodic, X or other rays, one of which series of magnets is supported upon
a pivotted table or analogous part adapted to be turned or moved in one direction
or the other when the said magnets mutually attract or repel each other and
thereby close a relay circuit through one of two contacts so as to actuate parts
of the mechanism to be controlled in a manner substantially as described in
the specification.
6. In a receiving apparatus of the kind referred to in the foregoing claims,
the use of a relay having carbon contacts through which a greater or less cur-
rent is allowed to flow according to the force with which the said relay circuit
is closed, whereby one or more solenoids or magnets are more or less strongly
energised and enabled to attract or repel more forcibly one or more cores or
armatures against the resistance of one or more springs, and through such

page_text: cores or armatures to operate the valve of a servo-motor through a longer or
shorter distance whereby the parts of the mechanism it is desired to control
are correspondingly actuated in a manner substantially as described in the
specification.
.
7. In a system of the kind referred to in the foregoing claims, the use of a
suitable ray projector, having a sighting telescope or the like and means of
adjusting the direction of the projected rays, in combination with a receiving
apparatus comprising a closed electric circuit provided with selenium cells or
the like adapted to close a relay circuit through one or two contacts whereby
parts of the mechanism it is desired to control are operated, substantially as
described in the specification.
8. The means and apparatus for controlling the steering of torpedoes consist-
ing of a ray projector provided with suitable means of directing the said rays
toward so as to influence one or other of one or more pairs of selenium cells or
equivalent devices supported outside the torpedo on each side of its centre line
and forming part of a receiving apparatus with which the torpedo is provided,
by means of which a relay circuit is closed through one or other of two contacts
whereby the valve of a servo-motor is operated and the steering effected substan-
tially as described in the specification..
9. The means and apparatus for diverting the course of vessels away from the
shore, rocks, other vessels or obstacles before they are dangerously near the same,
consisting of one or more receiving apparatus provided with selenium cells or
equivalent devices whose sensitive surfaces are lirected "fore" and "aft" and
towards the "starboard" and "port" of such vessels so that when one or more
cells are influenced by rays projected from one or more obstacles one or more
relay circuits will be closed whereby one or more valves of as many servo-motors
will be operated so as to vary the steering or reverse the engines and divert the
vessel's course away from such obstacles substantially as described in the speci-
fication.
10. The combination and arrangement of parts constituting means and
apparatus for controlling mechanism from a distance without the use of wire or
other like connections, substantially as described in the specification and illus-
trated by the drawings.
DJ
1
10
1900
JAS. T. ARMSTRONG,
AXEL ORLING,
Applicants.