A boom lift includes a base having a first end and an opposing second end, a turntable coupled to the base, a boom coupled to the turntable, an assembly pivotably coupled to the first end of the base, and a first actuator coupled to the first end of the base and the assembly. The assembly includes a tractive element. The assembly extends from the base such that the tractive element is longitudinally offset from and spaced forward of the first end and the opposing second end of the base.

An inspection-plan based inspection method includes receiving data characterizing an inspection plan associated with inspection of one or more nodes in an inspection site by an inspection device. A first step of the inspection plan includes a first set of operating parameters of the inspection device associated with the inspection of a first node of the one or more nodes and a first set of constraints associated with one or more inspection criteria at the first node by the inspection device. The method also includes generating a first control signal configured to instruct the inspection device to inspect the first node of the one or more nodes. The first control signal is based on one or more of the first set of operating parameters and a user input. The method further includes receiving data characterizing the inspection measurement of the first node by the inspection device.

A system includes an inspection robot, comprising a plurality of wheels that engage an inspection surface; a plurality of sensors positioned to interrogate the inspection surface; and wherein the plurality of wheels each comprise a first magnetic hub coupled to a second magnetic hub, and wherein the plurality of wheels further define a channel between the magnetic hubs.

An automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a steerable rear wheel, a vehicle tilting device, and a control unit. The vehicle tilting device includes a swing member, a tilt actuator for swing the swing member, and a pair of tie rods pivotally attached to the swing member and the knuckles. The control unit calculates a target lateral acceleration of the vehicle, estimates a lateral acceleration of the vehicle caused by the gyro moments of the wheels and calculates a target tilt angle of the vehicle based on a sum of the target lateral acceleration and the lateral acceleration caused by the gyro moments.

A leaning vehicle has a frame; a shock tower pivotally connected to the frame; front left and right ground engaging members; front left and right suspension assemblies; portions of the front left suspension assembly, the front left ground engaging member and other components of the vehicle suspended by the front left suspension assembly have a first unsprung mass; portions of the front right suspension assembly, the front right ground engaging member and other components of the vehicle suspended by the front right suspension assembly have a second unsprung mass; a moment of inertia of the shock tower being at least twenty-five percent of a combined moment of inertia of the first and second unsprung masses; a steering assembly; a rear suspension assembly; at least one rear ground engaging; and a motor.

A leaning vehicle includes an actuator, a left steerable front wheel, a right steerable front wheel, a steering mechanism and a leaning mechanism. The steering mechanism includes a first center steering shaft, a second center steering shaft disposed at the front side of the first center steering shaft, and a center steering shaft rotation interlocking mechanism that interlocks rotation of the first center steering shaft with rotation of the second center steering shaft. The actuator is provided between a left end and a right end of a link member of the leaning mechanism in the left-right direction. At least one part of the actuator is provided at a position that overlaps with a movable range of the center steering shaft rotation interlocking mechanism as viewed from the up direction or the down direction.

Automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a rear wheel steered by a steering actuator, a vehicle tilting device, and a control unit. The control unit calculates a target tilt angle of the vehicle and a target steered angle of the rear wheel based on a steering angle and a vehicle speed, controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle, and controls the steering actuator so that a steered angle of the rear wheel becomes the target steered angle. When the vehicle is turning and decelerating, a steered angle of the rear wheel is controlled not to be the target steered angle but to zero, and a tilt angle of the vehicle is reduced by a gyro moment of the rear wheel.

An automatic tilting vehicle is provided that includes left and right wheels supported by knuckles, a vehicle tilting device, and a control unit. The vehicle tilting device includes a swing member, an actuator for swing the swing member, and a pair of tie rods pivotally attached to the swing member and the knuckles. When a tilt angle of the vehicle is equal to or less than an allowable maximum tilt angle, a pivot point of the pivotal attachment portion at the lower end of the turning outer tie rod is located inside the vehicle with respect to a line segment connecting a grounding point of the corresponding wheel and a pivot point of the pivotal attachment portion at the upper end of the same tie rod.

A flying vehicle with folding wings that drives well on the ground and flies well in the air; controlled from inside, it changes from automotive to aircraft configuration without the operator needing to get out of the vehicle. The balance point of the vehicle is located midway between the front and back wheels, providing good handling on the road. In the aircraft configuration with wings unfolded, there is a front wing and a back wing. The incidence of the front wing is controllable, enabling the craft to rotate and take off with a center of gravity located well ahead of the rear wheels. The back wing is fitted with foldable vertical stabilizers near its wing tips. In automobile configuration the wings are folded on top of the body; the wings resemble a roof rack with large surfboards on it. Driven wheels provide motive power on the ground; ducted fans provide thrust for air travel. An autopilot system provides stability and navigation aid, particularly in bad weather or poor visibility. In the roadable configuration, filling water ballast tanks provides additional crosswind stability and crash protection. Also in a roadable configuration, the present invention may be licensed as a three-wheeled motorcycle towing a two-wheeled trailer. In its flying configuration, the invention can be licensed as a Light Sport Aircraft.

A system includes an inspection robot comprising a main body and at least one payload; a plurality of arms, where each of the plurality of arms is pivotally mounted to the at least one payload to rotate around respective ones of a plurality of axes while the inspection robot traverses an inspection surface in a direction of travel, and where at least one of the plurality of axes is in the direction of travel; a plurality of sleds mounted to the plurality of arms; a plurality of inspection sensors coupled to the plurality of sleds such that each sensor is operationally couplable to the inspection surface; and where the plurality of sleds are distributed horizontally at adjustable positions spaced apart from each other across the at least one payload to inspect the inspection surface at a selected horizontal resolution.