CPC B66C 13/46 (2013.01) [B66C 13/06 (2013.01)] | 20 Claims |
1. An apparatus to rotate or laterally move a load suspended on a suspension cable, comprising:
a thruster, a thruster controller, and a sensor suite, wherein the sensor suite is to obtain a sensor data, wherein the sensor data comprises a last-measured orientation of the load;
a computer processor and a memory, wherein the memory comprises a gain adjustment module and a decision and control module;
wherein the computer processor is to execute the gain adjustment module and the decision and control module, wherein the gain adjustment module is to change a parameter of the decision and control module to control a gain of a thrust control signal of the decision and control module and wherein the decision and control module is to determine the thrust control signal based at least in part on the last-measured orientation of the load, a target orientation or position of the load, and the parameter and is to output the thrust control signal;
and wherein the thruster controller is to act on the thrust control signal to cause the thruster to output a thrust, wherein the thrust is to rotate or propel the load suspended on the suspension cable.
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