1111111111111111111inuuu1111111111u ~ (12) United States Patent (1o) Patent No.: (cid:9) US 9,238,572 B2 Hoyt et al. (45) Date of Patent: (cid:9) Jan. 19, 2016 (54) ORBITAL WINCH (56) (cid:9) References Cited (71) Applicants: Robert Hoyt, Bothell, WA (US); Jeffrey U.S. PATENT DOCUMENTS T. Slostad, Lynnwood, WA (US); Scott Frank, Seattle, WA (US); Ian M. 3,025,009 A * 3/1962 Aschinger (cid:9) .................. 242/388.8 4,045,001 A* 8/1977 Harvey, Jr . (cid:9) .................... 254/369 Barnes, Kirkland, WA (US) 6,631,886 B1* 10/2003 Caudle et al . (cid:9) ................. 254/327 7,594,640 B1 * 9/2009 Mann (cid:9) ............................ 254/294 (72) Inventors: Robert Hoyt, Bothell, WA (US); Jeffrey 2007/0256230 Al* 11/2007 Phizackerley (cid:9) .................... 4/502 T. Slostad, Lynnwood, WA (US); Scott 2008/0061277 Al* 3/2008 Grapes et al . (cid:9) ................. 254/352 Frank, Seattle, WA (US); Ian M. 2011/0193037 Al* 8/2011 Smith (cid:9) ........................... 254/336 Barnes, Kirkland, WA (US) 2012/0080652 Al* 4/2012 Mann (cid:9) ............................ 254/334 * cited by examiner (73) Assignee: TETHERS UNLIMITED Inc., Bothell, WA (US) Primary Examiner Emmanuel M Marcelo (*) Notice: (cid:9) Subject to any disclaimer, the term of this (74) Attorney, Agent, or Firm Arthur M. Dula; Scott L. patent is extended or adjusted under 35 Maddox; Law Office of Art Dula U.S.C. 154(b) by 0 days. (57) (cid:9) ABSTRACT (21) Appl. No.: 14/217,434 Orbital winch having: lower and upper frames; spool having upper and lower flanges with lower flange attached to lower (22) Filed: (cid:9) Mar. 17, 2014 frame; axial tether guide mounted to upper frame; secondary (65) (cid:9) Prior Publication Data slewing ring coaxial with spool and rotatably mounted to upper frame, wherein secondary slewing ring's outer surface US 2014/0284531 Al (cid:9) Sep. 25, 2014 has gearing; upper tether guide mounted to inner surface of Related U.S. Application Data secondary slewing ring; linear translation means having upper end mounted to upper frame and lower end mounted on (60) Provisional application No. 61/801,910, filed on Mar. lower frame; primary slewing ring rotatably mounted within 15, 2013. linear translation means allowing translation axially between (51) Int. Cl. flanges, wherein primary slewing ring's outer surface has B66D 1126 (cid:9) (2006.01) gearing; lower tether guide mounted on primary slewing B66D 1138 (cid:9) (2006.01) ring's inner surface; pinion rod having upper end mounted to (52) U.S. Cl. upper frame and lower end mounted to lower frame, wherein CPC ........................................ B66D 1138 (2013.01) pinion rod's teeth engage primary and secondary slewing (58) Field of Classification Search rings' outer surface teeth; and tether passing through axial, CPC .............. B66D 1/02; B66D 1/04; B66D 1/36; upper, and lower tether guides and winding around spool. B66D 1/38; B66D 2700/0191 See application file for complete search history. 19 Claims, 5 Drawing Sheets 80 1 21 3 U.S. Patent (cid:9) Jan.19, 2016 (cid:9) Sheet 1 of 5 (cid:9) US 9,238,572 B2 so 1 21 3 FIG 1 U.S. Patent (cid:9) Jan.19, 2016 (cid:9) Sheet 2 of 5 (cid:9) US 9,238,572 B2 4 42 FIG 2 U.S. Patent (cid:9) Jan.19, 2016 (cid:9) Sheet 3 of 5 (cid:9) US 9,238,572 B2 FIG 3 U.S. Patent (cid:9) Jan.19, 2016 (cid:9) Sheet 4 of 5 (cid:9) US 9,238,572 B2 30 20 0 1 1 4 F IG 4 U.S. Patent (cid:9) Jan.19, 2016 (cid:9) Sheet 5 of 5 (cid:9) US 9,238,572 B2 12 FI G 5 US 9,238,572 B2 2 ORBITAL WINCH higher sensitivity along with the fact that these sensors pro- duce vector magnetometer measurement are driving the need This application claims the benefit of provisional applica- for these sensors to be towed with greater stability, which for tion No. 61/801,910. this effort has been determined to be ±0.5° in all three axes. 5 The approaches described in this section are approaches STATEMENT REGARDING FEDERALLY that could be pursued, but not necessarily approaches that SPONSORED RESEARCH & DEVELOPMENT have been previously conceived or pursued. Therefore, unless otherwise indicated, it should not be assumed that any of the This invention was made with Government support under approaches described in this section qualify as prior art contract number NNM04AAIOC awarded by NASA. The i0 merely by virtue of their inclusion in this section. Government has certain rights in the invention BRIEF DESCRIPTION BACKGROUND An embodiment provides a stable winch system that in Embodiments relate generally to cable spooling and more i5 order to increase stability and decrease strain, uses a rotating particularly to a mechanism for deployment and retraction of slewing ring 40 to wind a tether around a stationary spool, as long lengths of cables that may be under high tensile load, and well as a system designed to regulate the tension on the tether doing so without requiring rotation of the spool upon which the cable is wound. due to the payload and to reduce wear on the tether due to Other winch mechanisms designed for deployment and 20 abrasion of the tether on itself. retraction of high strength cable use rotating spools. BRIEF DESCRIPTION OF FIGURES Other winch or cable deployment mechanisms do not have the ability to perform either free or controlled deployment and controlled retraction. FIG. 1 shows a Tether Rewind System comprising a ten- A spin-casting reel used in fishing accomplishes transla- 25 sion management system and slewing rings 40 that rotate to tion of the winding point along the spool axis by moving the accomplish winding in accordance with an embodiment. spool relative to the enclosing body, not by translating the FIG. 2 shows a Tension Management Module comprising guide mechanism relative to the spool. spaced rollers 60 and capstan 50 around which the tether runs The "Tethered Satellite System" (TSS) deployer flown on in accordance with an embodiment. the space shuttle used a rotating spool. 30 (cid:9) FIG. 3 shows an Orbital Winch in operation under tension The detection of enemy submarines is one the US Navy's in accordance with an embodiment. most challenging jobs today, in spite of various technologies FIG. 4 shows an orbital winch in accordance with an and modalities developed and fielded over the past several embodiment comprising two ball screws 30 driven in parallel decades. A key tool in the Navy's Anti-Submarine Warfare by being mechanically connected with a 1:1 ratio. (ASW) arsenal is the use of magnetic anomaly detection 35 (cid:9) FIG. 5 shows a tether path in accordance with an embodi- (MAD). The MAD technique calls for a sensitive magnetom- ment. eter to be towed behind an aircraft close to the surface of the These and other features, aspects, and advantages of an ocean looking for small and short-trace changes in the dip and embodiment will become better understood when the follow- variation of the magnetic field that may represent the signa- ing detailed description is read with reference to the accom- ture of a submerged submarine. This signature is the result of 40 panying drawings in which like characters represent like parts the effective magnetic moment of the submarine, which is a throughout the drawings. combination of the ferrous mass of the submarine, the fields of its electrical equipment, and the hull currents and dynamic DETAILED DESCRIPTION electric fields of the vessel. Since these field disturbances are very small, highly sensitive magnetometers are used to 45 An embodiment can be conceptually similar to a common increase the detection range and probability of detection. To maximize the signal to noise of the system, the MAD sensor spincasting reel used for fishing. In a spincasting reel a guide is most commonly deployed on a towline from an aircraft that rotates around the spool wraps the fishing line around the both to minimize the effect of magnetic noise from the aircraft spool, and moving the wind point up and down the spool is and to reduce the distance between the sensor and the target, 50 accomplished by translating the spool up and down in an thereby making the measured signal larger. To enable aircraft oscillatory manner relative to the body of the reel. However, to fly long missions and reduce operational costs, it is desir- in the case of an orbital winch in accordance with an embodi- able to integrate MAD sensors into small aircraft and in ment, the spool remains fixed relative to the body of the reel, particular unmanned aerial vehicles (UAVs). One key chal- and moving a wind point along the spool axis is accomplished lenge here is the reduced payload capacity of smaller aircraft, 55 by translating a slewing ring 40 along the spool axis using a which requires that components of the sensor towing system mechanism such as a ball screw assembly 30. be not only non-magnetic, but also lightweight as well. To An embodiment's preliminary tension management can benefit from the increased sensitivity and tri-axial capabilities comprise an arrangement of capstans 50. Capstans 50 may be of the latest MAD sensors, such as the AN/ASQ-233 magne- static or driven. Rollers 60, due to the frictional contact with tometer, the towed body must be highly stable. A MAD sys- 60 the tether, provide an arresting force to the tether that allows tem consisting of an AN/ASQ-233 towed by an unmanned air a much smaller force to be applied at the restraining end than vehicle would provide the Navy with pervasive ASW recon- the load that is being held. Furthermore, if rollers 60 are naissance with integral targeting. Advanced magnetic driven in such a way as to pull against the target load, the take anomaly detector's such as Polatimic's AN/ASQ-233 multi- up tension at the opposite end would be similarly reduced. mode magnetic detection system uses anAdvanced Optically 65 However, such a system could be large and heavy, and could Driven Spin Precession Magnetometer have sensitivity 100 require a large amount of power to drive the system due to the times better than the current MAD systems in the fleet. This losses built up in the gearing of these rollers 60. US 9,238,572 B2 3 4 For an embodiment where the number of capstans 50 is just abrading of the surface, which can both reduce the coefficient one, as shown in FIG. 3, the embodiment can be lighter and fit of friction as well as produce aluminum dust that can foul the in a smaller, and more mass efficient and power efficient tether and abrade it. package. An embodiment comprises an orbital winch winding Since, theoretically, the load reduction due to friction 5 mechanism to enable deployment or retraction of tether 70 between the capstans 50 and the tether is a function only of the without rotating the spool 90. This has several benefits, coefficient of friction and the total wrap angle of the tether including reducing the power required to deploy or retract the around the capstans 50, an embodiment could comprise a tether 70, reducing torques imparted to the host vehicle dur- single capstan 50 with the tether wrapping around the capstan ing winding, and eliminating the need for high-voltage elec- 50 a number of times equivalent to the total wrap angle 10 trical slip-rings if the tether has a conducting element. required for the desired load reduction ratio. For en embodi- A configuration in accordance with an embodiment, shown ment where the mission load is 700 N with a 50 N take up in FIG. 1, comprises a spool 90 (shown in FIG. 5, but not tension theratio is 14:1. The coefficient of friction was experi- shown in FIG. 1) located concentrically within two large mentally determined to be approximately 0.119. For an 15 slewing rings 40. Both rings are driven in rotation by a single embodiment that has 90-degree wraps at the input and output actuator driving a pinion rod 10 that meshes with the teeth on of the system, four additional 270-degree wraps are required the outer surface of the slewing rings 40. The pinion rod 10 is to achieve the desired reduction ratio. rotatably mounted at one end to lower frame 140 and at the Each wrap on the embodiment's capstan 50 is divided by other end to upper frame 130 (as shown in FIG. 4). The an idler roller 60. This prevents the tether from abrading itself 20 purpose of the secondary ring is to prevent the tether 70 from or from having the wraps criss-cross each other, which could dragging along the flange of the spool. result in entanglement. Additionally, the rollers 60 serve to An embodiment may comprise a second actuator that distribute the loads along the capstan 50, and ensure that each drives the linear translation along the axis of the spool of the wrap makes full contact with the capstan 50. primary slewing ring 40. An embodiment can be configured to handle design load 25 (cid:9) The tether enters the embodiment's rewind sub-system conditions where the total load on the capstan 50 would be axially from the tension management subsystem and is redi- 2500 N, imparting a maximum bending stress of 12 MPa, and rected radially from an axial tether guide comprising an axial a maximum shear stress of 1.6 MPa. With a tensile yield pulley or axial guide ring 100 to the outside of the spool strength of 276 MPa for 6061 aluminum tubing (3.8 cm outer flanges through an upper tether guide comprising an upper diameter, 3 mm wall thickness), there is a factor of safety of 30 guide ring 110 or upper small pulley located on the secondary 6.7 for the loads expected to be encountered in the demon- slewing ring 40. The tether path then traverses axially along stration mission. the spool to the primary slewing ring 40, where it is redirected In this embodiment, the total torque imparted to the capstan to the tether pack on the spool through a pulley or ceramic 50 by the frictional contact of the wraps is approximately 13 Nm. The capstan 50 drive motor should be able to handle 35 guide ring 120, as illustrated in FIG. 5. The embodiment's two actuators are then driven together twice the torque (-26 Nm), and pull the 700 N load at approxi- to obtain the desired winding pitch and tether intake rate. The mately 10 cm/s yielding a minimum power requirement of 70 W. tether intake rate is the primary driving factor of the actuation An embodiment can comprise a capstan winch tension rate because it must match the desired intake rate of the management device. It can be constructed out of 6061 alumi- 40 tension management system. num, and comprise hardened steel bearing shafts for the roll- An embodiment's rewind system can accept the output ers 60 and capstan 50. The capstan 50 can engage the drive load of a tension management system. motor through a standard spur gear. Some embodiments can comprise a single lead screw, with Slipping can polish the surface of an aluminum capstan 50, a passive linear slide opposite the screw for stabilization. This removing the rougher oxide coating and further decreasing 45 configuration conserves mass and reduces complexity. The the friction coefficient. In certain embodiments, the tether can linear slide is meant to constrain the slewing ring 40 by be threaded into the device, making one full wrap around the locating the ring relative to the spool and to constrain the end capstan 50 between each separator. This results in 360 opposite the ball screw 30 to support the ring like a fixed-fixed degrees per wrap (instead of 270), for a total of 2700 degrees, beam. This makes the ring much stiffer which makes it pos- or 15 radians. This larger total wrap angle can enable an 50 sible to use only one ball screw 30 in a smaller rewind mecha- embodiment to pull a tether without slipping at a greater load. nism. However, sufficient play in the linear slide components A tether can abrade itself in certain embodiments, as addi- could cause the primary ring to jam slightly as the load point tional wraps cause the tether to ride on top of itself. As a result, from the tether on the ring revolved around the unit. An for a flight embodiment the Tension Management module embodiment with a rewind mechanism of certain magnitude design should comprise additional idler rollers 60 to enable a 55 maypreferably comprise a second drivenball screw assembly larger total wrap angle without chance of the tether overwrap- 30. ping itself. Some embodiments can comprise two or more ball screws Due to differences in friction coefficient from one embodi- 30 driven in parallel (see FIG. 4 where each ball screw 30 is ment to another, certain embodiments may comprise more or rotatably mounted in a lower frame 140 at one end and rotat- less 270 degree wraps. For example one embodiment may 6o ably mounted in an upper frame 130 at the other end). This comprise ten 270 degree wraps while another only comprises configuration requires that theball screws 30 be mechanically four. A ten wrap embodiment will provide sufficient winching connected with a 1:1 ratio. A dual (or multiple) ball screw force for a load ratio of 15:1 quite easily, and perhaps as high configuration makes it possible for the slewing ring 40 to as 30:1. To achieve this, the idler rollers 60 can be redesigned handle higher tether loads, and prevents the ring from torque- to be much smaller in order to fit within the same volume, and 65 ing, and consequently jamming. However, a dual ball screw to maintain the current mass of the system. Additionally, the configuration can also cause the system to jam if the drive capstan 50 can be hard anodized to prevent polishing or system between the ball screws 30 slips or if they are not US 9,238,572 B2 5 6 clocked correctly. This issue is greatly reduced with a larger abrasion or crimping of the tether to prevent stress concen- embodiment that can flex slightly and allow for some varia- trations that could cause fiber failure. tions in the drive system. An embodiment comprising a tether deployer, as shown Embodiments can be scalable and can be very large or very mounted on an upper frame 130 in FIG. 2, meets all of these small while being strong for their size and weight. An 5 goals. This tether deployer combines an `orbital winch' reel- embodiment comprising an orbital winch can pull a 49 N ing mechanism, so named because winding of the tether is accomplished by a slewing ring 40 that orbits the tether spool, load, and coupled with the tension management system with a tension management module that reduces the tension should be capable of winding tether under —800 N loading on the tether by a factor of 15 between the deployed tether and conditions. An embodiment can operate smoothly in all tran- io the tether wound on the spool. sitions of direction along the spool axis. Certain embodiments The tether deployer according to an embodiment shown in can have minimal mass. For a modular MXER system archi- FIG. 2 is sized and optimized for a MXER-1 demonstration tecture, minimizing the mass of the deployer hardware is mission. This design minimizes its mass by utilizing the preferred, because the mass of deployers distributed along the structure of its host spacecraft to provide a significant portion length of the tether have a very strong impact on the tether 15 of the structural support and stiffness that it requires for mass required. Embodiments have non-rotating spools. For launch and operation. The mass of an embodiment sized to MXER and other tether applications, tether deployment and deploy a 17 kg, 15 km long tether, comprising Orbital Winch, winding can be accomplished without rotating the spool. Tension Management Module, and associated motors and Such a design will have a number of advantages: first, it motor drivers, could be approximately 10 kg. The embodi- minimizes rotational torques on the spacecraft; second, it can 20 ment shown is designed for slow, controlled deployment and minimize the power required to accomplish deployment or retraction of tether. With the addition of an actuator and a retrieval; and third, it eliminates the need for a rotating high- `swing-arm' guide as is used on spincasting reels in sport voltage electrical joint in systems that use electrodynamic fishing, this mechanism can be modified to enable rapid, tether propulsion. low-tension deployment of tether off the end of the spool in An embodiment could have fast deployment/controlled 25 addition to the controlled high-tension deployment and retraction capability. There are two different approaches that retraction. are possible for deploying a tether in orbit. The first is to Certain embodiments can comprise a small MXER tether impulsively eject a tethered endmass away from the host system capable of enabling responsive launch of nano- and spacecraft and rely upon the endmass's momentum to pull the micro-satellites to high altitude orbits. The capability to tether out of the deployer until gravity gradient forces become so deploy satellites into orbit within days of a `go' order requires large enough to continue to pull the tether out. This method launch systems that can be loaded, prepared, and launched has been demonstrated successfully on several flight mis- very rapidly. Embodiments enable small, low-cost launch sions, including the SEDS-1, SEDS-2, and PMG experi- systems capable of rapid response times. ments. It requires the capability for relatively fast deploy- An embodiment's orbital winch mechanism enables high- ment, on the order of several meters per second, and low 35 load tethers to be deployed and retracted without rotating the deployment tensions. The second method is to push the end- spool on which the tether is wound. An orbital winch mecha- mass gently away from the host and actively feed the tether nism eliminates the need for rotating high-voltage electrical out at just the right rate to match the endmass's velocity. This connections in tether systems that use propellantless electro- method is more complex to achieve. It was demonstrated dynamic propulsion. It will also eliminate the need for rotat- successfully on the TSS-1R mission, but problems with this 40 ing optical connections in applications where the tether con- deployment method led to the premature termination of tains optical fibers. NRL's ATEx experiment on the STEX spacecraft. For the An embodiment's orbital winch mechanism eliminates the MXER tether system and several other space and terrestrial need for rotating high-voltage electrical connections in tether tether applications, it would be advantageous to be able to systems that use propellantless electrodynamic propulsion. It utilize either deployment method with minimal or no modi- 45 will also eliminate the need for rotating optical connections in fications to the deployer hardware, so that a single mechanism applications where the tether contains optical fibers. Embodi- can be used for rapid deployment of cable at low tensions and ments can incorporate a tension management module that for slow, controlled retraction of tether at high tensions. enables deployment and retraction of tethers under very high An embodiment could comprise multi-line tether capabil- loads while preventing damage to the tether and wound pack- ity. To ensure that the MXER tether can survive the microme- 5o age during reeling maneuvers. teoroid and space debris (M/OD) environment for long dura- Potential commercial applications include deployment of tions, an embodiment can comprise a multi-line tether high strength tethers containing optical fibers and/or electri- structure, called the Hoytetherrm, that provides multiply cal conductors for systems such as tethered aerostats, tethered redundant load-bearing paths within the tether's structure. In wind turbines, and UAV-deployment of tethered sensors. handling, however, the Hoytether, behaves as much like a net 55 An embodiment's orbital winch mechanism is designed to as it does a cable, and as a result special care must be taken in deploy and retract long lengths (10's to I0,000's of meters) of winding, deploying, and retracting it to prevent tangling of cable. The cable may be under tensile loads ranging from zero the multiple lines in the structure. tension (slack cable) to very high tension (up to 100% of the An embodiment can comprise a Tension Management breaking strength of the cable). The cable may comprise a Module to minimize tether wear. A significant challenge for 60 single strand of material (braided, knitted, twisted, or implementing a MXER tether system is the fact that in opera- monofilament), or may comprise multiple individual strands tion, the deployed tether will often be under extremely high that are periodically interconnected, such as a Hoytether loading, at 50% or more of its breaking load, and in order to structure. The cable may comprise textile yarns, optical prevent damage to the tether as it is retracted and wound onto fibers, conducting wires, or any combination of these. a spool, this tension should be transitioned gracefully from 65 FIG. 4 shows a spool 90 fixedly mounted to a lower frame the tether fibers to the deployer structure before the tether is 140. A unique feature of an embodiment's Orbital Winch is wound. This transition shouldbe accomplished with minimal that deployment and retraction of a cable is accomplished US 9,238,572 B2 7 8 without rotation of the spool upon which the cable is stored. drag and tension, off the end of the spool. The guide system Instead, the cable 70 is brought into the mechanism along one can then re-engage the cable and wind it back onto the spool axis of the spool 90, and fed around to the side of the spool by in a controlled manner. a set of guides 100, 110, 120. The cable is then wound onto or The two slewing rings 40 and associated guides could be off of the spool 90 by a pair of slewing rings 40 that rotate 5 replaced by a mechanism that would also rotate around the around the axis of the spool 90. Rotation of the slewing rings spool's axis, but could release and later re-capture the cable, in a manner similar to the swing-arm on a spincasting reel. 40 can be accomplished using a pinion rod 10 engaged with This would enable free-deployment of the cable from the gearing on the exterior of the slewing rings 40. Control of the spool in an end-off manner followed by controlled retraction axial traverse of the winding point is achieved by translating one of the slewing rings 40 along the axis of the spool. l0 and winding of the cable. This mechanism could be designed to flip out of the way or retract into a cavity in the shroud or Slewing ring 40 translation can be achieved by a mechanism enclosure of the winch mechanism to mitigate chances of such as a ball screw 30 and nut 20 assembly, where a nut 20 is snagging of the cable on the mechanism during free deploy- fixedly attached to a slewing ring 40 and the nut 20 mates with ment. a ball screw 30 so that rotation of the ball screw 30 causes the 15 To maximize embodiments' adaptability to any number of nut 20 and attached slewing ring 40 to translate along ball vehicles, the drag of the towed body can be reduced through screw's 30 length. FIG. 4 shows one end of ball screw 30 the use of an actively controlled lifting body design. This has rotatably mounted in lower frame 140 and the other end of the added benefit of reducing the torque requirements on the ball screw 30 rotatably mounted in upper frame 130. In all motors as well as the strength requirements of load bearing embodiments, pinion rods 10 and ball screws 30 should be 20 members of the system. The towing cable can be constructed parallel to the spool's axis to ensure that, as they engage a using fiber optics for communication, copper wires for power, slewing ring 40, the spool 90 and slewing ring 40 remain and an aramid fiber layer for strength. This cable can be coaxial as the slewing ring rotates and translates. A means for deployed and retrieved using an embodiment's orbital winch linear translation of the primary slewing ring 40 or other that does not spin the spool further reducing motor torque guide mechanism along the spool axis could comprise a set of 25 requirements and eliminating the need for slip joints for data actuated cables connected to the slewing ring 40, rather than and power. An embodiment can meet these requirements with the ball screw assembly 30, 20. a total mass of 16.9 kilograms. As shown in FIGS. 1, 2, and 3, according to some embodi- Embodiments can be of benefit to towing systems that ments, an orbital winch can be integrated with a tension require electrical power and/or signals between the vehicle control module (TCM), comprising one or more powered 30 and towed body as the unique deployer/retriever design elimi- capstans 50, which can serve as a traction winch to reduce the nates the need for slip rings further reducing the mass and cost cable tension before it is wound onto a spool 90. This reduc- of the overall system, particularly for systems that tow sen- tion in cable tension by the TCM mitigates abrasion and sors or active decoys. In addition to DoD-related applications, compression damage to the cable 70 wound on the spool 90, embodiments may enable UAV-based tethered sensors to and enables the embodiment's actuators to be sized for rela- 35 compete effectively in the commercial arena for applications tively low torques. A unique feature of an embodiment's such as mineral and petroleum exploration eliminating the tension control module design is that it utilizes several guide need for large aircraft. rollers 60 to ensure that as the cable 70 makes multiple wraps An application for certain embodiments is a "Small around the powered capstan 50, it maintains proper spacing VEhicle Lightweight Towing Equipment" (SVELTE) system between the wraps so that the cable does not experience 40 to enable small aircraft and UAVs to deploy and tow magnetic damage due to rubbing against or over itself. This spacing of anomaly detection sensors with highly stable sensor attitude. the wraps also prevents loose strands in a multi-stranded An embodiment could comprise a AN/ASQ-233 sensor tow- structure, such as a Hoytether cable, from becoming pinched ing system for UAVs that having a system weight less than 40 under adjacent wraps and causing binding of the mechanism. pounds (18.14 kg) while achieving sensor tow body stability In applications where cable tensions are not large, an 45 objectives of ±0.5 ° in all three axes. To meet the weight limit embodiment's Tension Management Module can be replaced for the towing system an embodiment can integrate an orbital by a set of pinch rollers. These pinch rollers can ensure the winch mechanism with a lightweight towing cable capable of cable is fed out of the winch properly during deployment, and providing data and power transfer to the sensor payload. during retraction can ensure that the cable being wound inside Embodiments can integrate inertial sensors and active control the mechanism has is tensioned sufficiently to permit proper 50 surfaces into the towed endbody. winding. To maximize embodiments' adaptability to any number of Achieving winding of the cable without rotating the spool vehicles, the drag of the towed body can be reduced through has several advantages. First, compared to a rotating-spool the use of an actively controlled lifting body design. This has winch, it reduces the torques imparted by the winch upon the the benefit of reducing the torque requirements on the motors body that contains it. Second, changing the speed and direc- 55 as well as the strength requirements of load bearing members tion of winding does not require rotational acceleration of the of the system, saving weight on both components. The towing spool, so deployment rates and directions can be changed cable can be constructed using an optical fiber link for com- faster and with lower power requirements than a rotating munication, copper wires for power, and an aramid fiber layer spool system. Third, if the cable contains conducting wires or for strength to minimize the mass and diameter of the cable. optical fibers, an embodiment comprising an orbital winch 60 This cable can deployed and retrieved using an embodiment's eliminates the need for rotating slip-ring feedthroughs for the orbital winch mechanism, which accomplishes reeling with- electrical and optical signals. Fourth, if the winding is accom- out spinning the spool, thereby further reducing motor torque plished by a guide system that can release and later re-engage requirements and eliminating the need for slip joints for data the cable, an embodiment can deploy the cable in either a and power. The resultant system meets all of the requirements controlled manner, in which the feed system controls the rate 65 with a total mass of 16.9 kg. at which the cable winds off the spool, or in a free deployment Embodiments can weigh less than 40 pounds and meet manner, in which the cable can deploy very rapidly, at low sensor tow body stability objectives of ±0.5 ° in all three axes.