A control device 133 acquires distance information indicating a distance between an UAV 1 and an article B positioned under the UAV 1 and controls a winch 16 to unreel a linear member 15 on the basis of the distance indicated in the acquired distance information.

The present disclosure provides various embodiments of a multicopter-assisted launch and retrieval system generally including: (1) a multi-rotor modular multicopter attachable to (and detachable from) a fixed-wing aircraft to facilitate launch of the fixed-wing aircraft into wing-borne flight; (2) a storage and launch system usable to store the modular multicopter and to facilitate launch of the fixed-wing aircraft into wing-borne flight; and (3) an anchor system usable (along with the multicopter and a flexible capture member) to retrieve the fixed-wing aircraft from wing-borne flight.

The present disclosure provides various embodiments of a multicopter-assisted launch and retrieval system generally including: (1) a multi-rotor modular multicopter attachable to (and detachable from) a fixed-wing aircraft to facilitate launch of the fixed-wing aircraft into wing-borne flight; (2) a storage and launch system usable to store the modular multicopter and to facilitate launch of the fixed-wing aircraft into wing-borne flight; and (3) an anchor system usable (along with the multicopter and a flexible capture member) to retrieve the fixed-wing aircraft from wing-borne flight.

An aft pivot assembly can include a mount device securable to an aft portion of a payload of an aircraft for facilitating release of the payload. The aft pivot assembly can include a shaft operable with the mount device and a release component, the shaft being rotatable about multiple shaft axes relative to the mount device so as to either minimize or eliminate carriage loads about the aft portion, while reacting jettison loads during a jettison event or phase. The rotation of the shaft about its shaft axes can further be limited via a limit device. As the payload transitions from a carriage phase to a jettison phase, the shaft moves in multiple degrees of freedom and in multiple axes relative to the mount device.

An aft pivot assembly can include a mount device securable to an aft portion of a payload of an aircraft for facilitating release of the payload. The aft pivot assembly can include a shaft operable with the mount device and a release component, the shaft being rotatable about multiple shaft axes relative to the mount device so as to either minimize or eliminate carriage loads about the aft portion, while reacting jettison loads during a jettison event or phase. The rotation of the shaft about its shaft axes can further be limited via a limit device. As the payload transitions from a carriage phase to a jettison phase, the shaft moves in multiple degrees of freedom and in multiple axes relative to the mount device.

A method, a composite joint, and a composite tank are presented. The composite tank comprises a curved wall, a plurality of shear fittings, and a plurality of bolts. The curved wall has an opening. The plurality of shear fittings is threaded into a plurality of blind holes in the curved wall around the opening. The plurality of bolts engages the plurality of shear fittings and joins a cap to the curved wall.

A method, a composite joint, and a composite tank are presented. The composite tank comprises a curved wall, a plurality of shear fittings, and a plurality of bolts. The curved wall has an opening. The plurality of shear fittings is threaded into a plurality of blind holes in the curved wall around the opening. The plurality of bolts engages the plurality of shear fittings and joins a cap to the curved wall.

A robot arm that can be suitably used in aerial vehicles and an unmanned aerial vehicle equipped with the robot arm. The robot arm includes: an arm unit includes a plurality of joints; arm controlling means for controlling driving of the joints; and a displacement detector configured to detect a change of a position and inclination of the arm unit. The arm unit has a base end connected to the aerial vehicle. At least a leading end of the arm unit is exposed to an outside of the aerial vehicle. When the displacement detector has detected a position error that is an unexpected change of the position or inclination of the arm unit, the arm unit controlling means is configured to cause the joints to absorb the position error so as to prevent the position error from being transmitted to a side of the leading end of the arm unit.

A robot arm that can be suitably used in aerial vehicles and an unmanned aerial vehicle equipped with the robot arm. The robot arm includes: an arm unit includes a plurality of joints; arm controlling means for controlling driving of the joints; and a displacement detector configured to detect a change of a position and inclination of the arm unit. The arm unit has a base end connected to the aerial vehicle. At least a leading end of the arm unit is exposed to an outside of the aerial vehicle. When the displacement detector has detected a position error that is an unexpected change of the position or inclination of the arm unit, the arm unit controlling means is configured to cause the joints to absorb the position error so as to prevent the position error from being transmitted to a side of the leading end of the arm unit.

The systems and methods described herein relate to fully or partially autonomous or remotely operated aerial pollination vehicles that use computer vision and artificial intelligence to automatically detect plants, orient the vehicle to a pollen dispensing position above each plant, and pollinate the individual plants.