I’d set out to show Geoffrey Châteauneuf-du-Pape and eat and drink our way through the region. With clogged sinuses and hampered taste buds, that did not go as planned. But we did spend a brief but marvellous time together in the south of France that we will remember for life.

In portable photography equipment, single-axis gimbal heads are used in order to allow a balanced movement for camera and lenses.[21] This proves useful in wildlife photography as well as in any other case where very long and heavy telephoto lenses are adopted: a gimbal head rotates a lens around its center of gravity, thus allowing for easy and smooth manipulation while tracking moving subjects.

In spacecraft propulsion, rocket engines are generally mounted on a pair of gimbals to allow a single engine to vector thrust about both the pitch and yaw axes; or sometimes just one axis is provided per engine. To control roll, twin engines with differential pitch or yaw control signals are used to provide torque about the vehicle's roll axis.

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When we docked in Viviers, I was too ill to leave the ship, so we missed the two walking tours offered. One explored the heritage of the town, including such architectural treasures as the Cathedral of St. Vincent, built in the 11th century, and the other focused on the history of the French Resistance during the Nazi occupation of France during World War II.

The authenticity of Philo's description of a cardan suspension has been doubted by some authors on the ground that the part of Philo's Pneumatica which describes the use of the gimbal survived only in an Arabic translation of the early 9th century.[3] Thus, as late as 1965, the sinologist Joseph Needham suspected Arab interpolation.[12] However, Carra de Vaux, author of the French translation which still provides the basis for modern scholars,[13] regards the Pneumatics as essentially genuine.[14] The historian of technology George Sarton (1959) also asserts that it is safe to assume the Arabic version is a faithful copying of Philo's original, and credits Philon explicitly with the invention.[15] So does his colleague Michael Lewis (2001).[16] In fact, research by the latter scholar (1997) demonstrates that the Arab copy contains sequences of Greek letters which fell out of use after the 1st century, thereby strengthening the case that it is a faithful copy of the Hellenistic original,[17] a view recently also shared by the classicist Andrew Wilson (2002).[18]

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In inertial navigation systems, gimbal lock may occur when vehicle rotation causes two of the three gimbal rings to align with their pivot axes in a single plane. When this occurs, it is no longer possible to maintain the sensing platform's orientation.[citation needed]

Powered by three brushless motors, motorized gimbals have the ability to keep the camera level on all axes as the camera operator moves the camera. An inertial measurement unit (IMU) responds to movement and utilizes its three separate motors to stabilize the camera. With the guidance of algorithms, the stabilizer is able to notice the difference between deliberate movement such as pans and tracking shots from unwanted shake. This allows the camera to seem as if it is floating through the air, an effect achieved by a Steadicam in the past. Gimbals can be mounted to cars and other vehicles such as drones, where vibrations or other unexpected movements would make tripods or other camera mounts unacceptable. An example which is popular in the live TV broadcast industry, is the Newton 3-axis camera gimbal.

In inertial navigation, as applied to ships and submarines, a minimum of three gimbals are needed to allow an inertial navigation system (stable table) to remain fixed in inertial space, compensating for changes in the ship's yaw, pitch, and roll. In this application, the inertial measurement unit (IMU) is equipped with three orthogonally mounted gyros to sense rotation about all axes in three-dimensional space. The gyro outputs are kept to a null through drive motors on each gimbal axis, to maintain the orientation of the IMU. To accomplish this, the gyro error signals are passed through "resolvers" mounted on the three gimbals, roll, pitch and yaw. These resolvers perform an automatic matrix transformation according to each gimbal angle, so that the required torques are delivered to the appropriate gimbal axis. The yaw torques must be resolved by roll and pitch transformations. The gimbal angle is never measured. Similar sensing platforms are used on aircraft.

Very large gimbal mounts in the form 2 or 3 axis altitude-altitude mounts[22] are used in satellite photography for tracking purposes.

The next day was spent finding the nearest pharmacy in Vienne, where the pharmacist gave me some herbal capsules that made me feel a bit better, but I slept for much of the next 24 hours or so, holed up in my cabin with Geoffrey caring for me.

From Mâcon, a small group of us were shuttled through the Beaujolais region to visit Château de Pravins, a small stone winery founded in 1251.

By time we’d landed at Arles to disembark and take the journey home, we were on the mend but not 100 per cent. We took a coach to the Nice airport, then flew to Paris. I splurged on a business-class upgrade for our Air France flights home from Paris, which bought us some proper rest and relaxation during the eight-hour-and-15-minute flight.

The gimbal suspension used for mounting compasses and the like is sometimes called a Cardan suspension after Italian mathematician and physicist Gerolamo Cardano (1501–1576) who described it in detail. However, Cardano did not invent the gimbal, nor did he claim to. The device has been known since antiquity, first described in the 3rd c. BC by Philo of Byzantium, although some modern authors support the view that it may not have a single identifiable inventor.[1][2]

The rate of a mechanical marine chronometer is sensitive to its orientation. Because of this, chronometers were normally mounted on gimbals, in order to isolate them from the rocking motions of a ship at sea.

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Before that, in my 20s, I was making vin at one of those make-your-own-wine shops in Toronto, giving it to friends and thinking it was the height of sophistication. I was young, and I did not grow up with wine.

But a trip to the south of France introduced me to the rich, complex wines of the Rhône, and the penny dropped. As I sat at the edge of a vineyard, drinking a bottle of Châteauneuf-du-Pape, I fell hard. This wine was euphoric, and I knew, then and there, I had to move to Europe.

Mechanical gimbals have the sled, which includes the top stage where the camera is attached, the post which in most models can be extended, with the monitor and batteries at the bottom to counterbalance the camera weight. This is how the Steadicam stays upright, by simply making the bottom slightly heavier than the top, pivoting at the gimbal. This leaves the center of gravity of the whole rig, however heavy it may be, exactly at the operator's fingertip, allowing deft and finite control of the whole system with the lightest of touches on the gimbal.

Gyrostabilized gimbals which house multiple sensors are also used for airborne surveillance applications including airborne law enforcement, pipe and power line inspection, mapping, and ISR (intelligence, surveillance, and reconnaissance). Sensors include thermal imaging, daylight, low light cameras as well as laser range finder, and illuminators.[23]

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This column has been updated. Château de Pravins, a small stone winery, is not owned and run by the same family that founded it in 1251.

We boarded the Scenic Sapphire in Lyon, billed as a luxe little vessel designed for up to 163 guests, and settled into our balcony suite. The ship would take us south along the Rhône river, stopping at the towns of Mâcon, Vienne, Viviers and Avignon, before reaching the final port of Arles.

A gimbal is a pivoted support that permits rotation of an object about an axis. A set of three gimbals, one mounted on the other with orthogonal pivot axes, may be used to allow an object mounted on the innermost gimbal to remain independent of the rotation of its support (e.g. vertical in the first animation). For example, on a ship, the gyroscopes, shipboard compasses, stoves, and even drink holders typically use gimbals to keep them upright with respect to the horizon despite the ship's pitching and rolling.

One day I toddled downstairs to the lower deck to experience the salt therapy lounge, a room with salt-brick walls and lounge chairs said to offer a range of health benefits for respiratory and immune systems.

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So, when Scenic Luxury Cruises & Tours invited me recently to take a luxury Rhône river cruise aboard the Scenic Sapphire with my 20-year-old son, Geoffrey, I said yes. After all, the Rhône was where wine appreciation started for me. So, off we went.

The highlight of that day, as usual for vacations in France, was a meal. We stopped at a little unassuming place called Breizh Café and ordered galettes, those savoury buckwheat crepes that originated centuries ago in Brittany. The galettes arrived, folded over salty cured ham and melted mountain-air-scented Comté cheese with fried eggs on top. Each forkful was an edible dream. It set the tone for what I imagined to be a wonderful culinary adventure punctuated by glasses of marvellous wine.

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Carolyn Evans Hammond is a Toronto-based wine writer and a freelance contributing columnist for the Star. Wineries occasionally sponsor segments on her YouTube series yet they have no role in the selection of the wines she chooses to review or her opinions of those wines. All prices are subject to change. Please drink responsibly. Reach her via email: carolyn@carolynevanshammond.com. Read about Carolyn’s scoring system here.

The gimbal was first described by the Greek inventor Philo of Byzantium (280–220 BC).[3][4][5][6] Philo described an eight-sided ink pot with an opening on each side, which can be turned so that while any face is on top, a pen can be dipped and inked — yet the ink never runs out through the holes of the other sides. This was done by the suspension of the inkwell at the center, which was mounted on a series of concentric metal rings so that it remained stationary no matter which way the pot is turned.[3]

Carolyn Evans Hammond travelled as a guest of Scenic Luxury Cruises & Tours, which did not review or approve this article.

Our personal butler introduced herself. She would be a phone call away the whole time, there to bring us linens, food and drinks. She was a genuinely delightful soul who gave us the impression her only care in the world was to please us. That impression was reinforced when we found Valhrona chocolates left on our pillows at turndown service each night. It’s in the details.

All was going smoothly: Geoffrey and I were thoroughly enjoying ourselves aboard the ship — and then it happened. I fell ill with some sort of virus and was down and out, which kept me from another excursion that day. We would have visited an organic goat cheese farm to learn about open-air farming and the wild herbs the goats eat that enhance flavour of the milk, followed by a cheese tasting with local wine.

Upon our arrival to the spacious and well-appointed ship, they served us a lovely buffet lunch with sparkling wine, put our bags in our cabin and invited us to explore the boat. The sprawling sun deck, complete with hot tub, offered gorgeous views. The gym was small but useful and clean. And our balcony suite featured a floor-to-ceiling sliding-glass window for more river views.

The word lock is misleading: no gimbal is restrained. All three gimbals can still rotate freely about their respective axes of suspension. Nevertheless, because of the parallel orientation of two of the gimbals' axes there is no gimbal available to accommodate rotation about one axis.

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And there are worse things than being ill aboard a luxury ship filled with a crew who seems to want nothing more than to cater to your every whim as you rest.

Six months later, I was working in London at a wine PR firm, attending and organizing tastings by day and taking wine classes by night. It was a fast-paced, fun-filled world.

Gimbal lock is the loss of one degree of freedom in a three-dimensional, three-gimbal mechanism that occurs when the axes of two of the three gimbals are driven into a parallel configuration, "locking" the system into rotation in a degenerate two-dimensional space.

Heavy bunches of berries, ripe and swollen, hung from rows upon rows of grapevines surrounding the winery. Harvest here would take place within days. The Gamay grape I tasted was plump with sweet, concentrated nectar. The bunches were pristine, and the vines carefully tended. The château is certified biodynamic, a method that builds on organic farming by using homeopathic treatments to enhance the health of the vineyard. And that purity was evident in the glass as we tasted several bottles with the winemaker that day.

We flew into Lyon on a Tuesday in August and poked about that city, which sits at the confluence of the Rhône and Saône rivers — and breathed in the hot, sunny, gloriously calm beauty of it all.

Gimbal systems are also used in scientific optics equipment. For example, they are used to rotate a material sample along an axis to study their angular dependence of optical properties.[24]

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In Ancient China, the Han dynasty (202 BC – 220 AD) inventor and mechanical engineer Ding Huan created a gimbal incense burner around 180 AD.[3][7][8] There is a hint in the writing of the earlier Sima Xiangru (179–117 BC) that the gimbal existed in China since the 2nd century BC.[9] There is mention during the Liang dynasty (502–557) that gimbals were used for hinges of doors and windows, while an artisan once presented a portable warming stove to Empress Wu Zetian (r. 690–705) which employed gimbals.[10] Extant specimens of Chinese gimbals used for incense burners date to the early Tang dynasty (618–907), and were part of the silver-smithing tradition in China.[11]

My sinus issues meant my ability to enjoy the food and wine aboard the ship were hampered, but Geoffrey seemed to enjoy the meals.

After the first night on board, Geoffrey and I took a guided cycling tour to Lyon’s Parc de la Tête d’Or, a sprawling 117 hectares threaded by paved paths and dotted with monuments, botanical gardens and a zoo. This light activity was followed by dinner before the boat pushed off and cruised to the first port of Mâcon.

After antiquity, gimbals remained widely known in the Near East. In the Latin West, reference to the device appeared again in the 9th century recipe book called the Little Key of Painting' (mappae clavicula).[20] The French inventor Villard de Honnecourt depicts a set of gimbals in his sketchbook (see right). In the early modern period, dry compasses were suspended in gimbals.

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The ancient Roman author Athenaeus Mechanicus, writing during the reign of Augustus (30 BC–14 AD), described the military use of a gimbal-like mechanism, calling it "little ape" (pithêkion). When preparing to attack coastal towns from the sea-side, military engineers used to yoke merchant-ships together to take the siege machines up to the walls. But to prevent the shipborne machinery from rolling around the deck in heavy seas, Athenaeus advises that "you must fix the pithêkion on the platform attached to the merchant-ships in the middle, so that the machine stays upright in any angle".[19]

That was more than 20 years ago. I ultimately returned to Toronto and to my journalism roots but with a firm focus on wine. I rattled off a couple of books, wrote for various publications and began writing the wine column for the Toronto Star.

Handheld 3-axis gimbals are used in stabilization systems designed to give the camera operator the independence of handheld shooting without camera vibration or shake. There are two versions of such stabilization systems: mechanical and motorized.