Described are systems and methods for deploying and stowing a refueling boom. In certain examples, deploying the refueling boom includes lowering a refueling boom structure with a hoist while a boom aerodynamic control surface of the refueling is deactivated, determining that first transition conditions have been met, switching the hoist actuator state mode, and activating the boom aerodynamic control surface. In other examples, stowing the refueling boom includes flying the refueling boom towards a fuselage, determining that second transition conditions have been met, switching the hoist actuator state mode, and raising a refueling boom structure of the refueling boom with the hoist.

A method of operating a fuel tanker aircraft for in-flight fuelling comprises: transmitting a deploy command signal from a communication unit of the tanker aircraft to a communication unit of a fuel receiver aircraft, to cause a line and drogue to deploy from the receiver aircraft; controlling at least one of the tanker aircraft and the drogue to engage the drogue with a first end of a fuel hose of the tanker aircraft, a second end of the fuel hose being connected to the tanker aircraft; and transmitting a return command signal from the communication unit of the tanker aircraft to the communication unit of the receiver aircraft, to cause the line and drogue to return to the receiver aircraft with the first end of the fuel hose, wherein the tanker aircraft is located behind the receiver aircraft and the deploy command signal is for causing the line and drogue to deploy rearwardly of the receiver aircraft.

A method of operating a fuel tanker aircraft for in-flight fuelling comprises: transmitting a deploy command signal from a communication unit of the tanker aircraft to a communication unit of a fuel receiver aircraft, to cause a line and drogue to deploy from the receiver aircraft; controlling at least one of the tanker aircraft and the drogue to engage the drogue with a first end of a fuel hose of the tanker aircraft, a second end of the fuel hose being connected to the tanker aircraft; and transmitting a return command signal from the communication unit of the tanker aircraft to the communication unit of the receiver aircraft, to cause the line and drogue to return to the receiver aircraft with the first end of the fuel hose, wherein the tanker aircraft is located behind the receiver aircraft and the deploy command signal is for causing the line and drogue to deploy rearwardly of the receiver aircraft.

A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition.

A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition.

A method for controlling maneuver of a refueling device, that includes: a refueling device is attached by a hose to a component of an aircraft. That component maintains a reference force on the hose. The desired position and current position of the refueling device are obtained. A determination is made, based on the current and desired positions of the refueling device, whether to extend or retract the hose. Depending on the determination, a command is sent for adjusting force generating arrangements that are attached to the refueling device. This causes the component to detect a changed force and to maintain the reference force on the hose. The distance between the fueling device and the aircraft is thereby changed.

A method for controlling maneuver of a refueling device, that includes: a refueling device is attached by a hose to a component of an aircraft. That component maintains a reference force on the hose. The desired position and current position of the refueling device are obtained. A determination is made, based on the current and desired positions of the refueling device, whether to extend or retract the hose. Depending on the determination, a command is sent for adjusting force generating arrangements that are attached to the refueling device. This causes the component to detect a changed force and to maintain the reference force on the hose. The distance between the fueling device and the aircraft is thereby changed.

An in-flight charging system includes a first electric air vehicle, a second electric air vehicle, an elevated power supply system (EPSS) and a flexible tension member coupled to the first electric air vehicle and coupled to the second electric air vehicle. The flexible tension member provides power from the second electric vehicle to the first electric vehicle. The EPSS further includes one or more current carrying conductors, wherein the second electric air vehicle travels along the one or more current carrying conductors and receives power transferred from the one or more current carrying conductors.

An in-flight charging system includes a first electric air vehicle, a second electric air vehicle, an elevated power supply system (EPSS) and a flexible tension member coupled to the first electric air vehicle and coupled to the second electric air vehicle. The flexible tension member provides power from the second electric vehicle to the first electric vehicle. The EPSS further includes one or more current carrying conductors, wherein the second electric air vehicle travels along the one or more current carrying conductors and receives power transferred from the one or more current carrying conductors.

A system for refueling has a boom having a rigid portion and, extendible portion and a fuel nozzle at an end of the extendible portion, the fuel nozzle mates with a port on an aircraft. Control circuitry in the tanker aircraft has input elements by which an operator controls actuators moving the boom left, right and up and down, and a first imaging device proximate the end of the extendible portion of the boom, capturing images and transmitting the captured images to the control circuitry, where the images are displayed on a monitor visible to the operator. The operator controls extension and attitude of the fuel nozzle at the end of the extendible portion, according to the images displayed, mating the fuel nozzle with the refueling port, and transferring fuel from the tanker aircraft to the aircraft to be refueled.