A controller measures positional information of a stage within an XY plane using three encoders which at least include one each of an X encoder and a Y encoder of an encoder system, and the stage is driven in the XY plane, based on measurement results of the positional information and positional information (p.sub.1, q.sub.1), (p.sub.2, q.sub.2), and (p.sub.3, q.sub.3) in a surface parallel to the XY plane of a head (an encoder) used for measurement of the positional information. Accordingly, it becomes possible to control the movement of the stage with good precision, while switching the head (the encoder) used for control during the movement of the stage using the encoder system which includes a plurality of heads.

A device for the transportation of people and cargo is described. The device is a gyro-rotating flying device including a pod structure configured to transport one or more contents. The pod structure includes a gyro pod to contain the one or more contents. An engine is included to propel the pod structure into flight. A power supply provides energy for the engine and a control unit. The control unit allows a user the ability to regulate operation of the engines. Manipulation of the engine adjusts the orientation of the pod structure and engine around the gyro pod. The gyro pod is configured to remain level during flight.

There is provided a mechanism and a device capable of increasing a degree of freedom of positioning of the center of rotation of a rotating body relative to a reference of rotation. Also, there is provided a system for using it to reduce an attitude change of a load due to an attitude change of a flying body. A rotation reference and a rotating body are connected with a rotating mechanism, provided with joints arranged so that: a link X and a link A are connected by a joint XA; a link A and a link B are connected by a joint AB; a link B and a link Y are connected by a joint BY; a link C is connected by a joint XC on the link X and a joint BC on the link B; a link D is connected by a joint AD on the link A and a joint DY on the link Y; a line connecting the joints XA and XC, and a line connecting the joints AB and BC are parallel; a line connecting the joints AB and AD, and a line connecting the joints BY and DY are parallel; a line connecting the joints XA and AB, and a line connecting the joints XC and BC are parallel; and a line connecting the joints AB and BY, and a line connecting the joints AD and DY are parallel, wherein the link X is connected to a rotation reference, or the link X is the rotation reference, and wherein the link Y is connected to a rotating body, or the link Y is the rotating body.

There is provided a mechanism and a device capable of increasing a degree of freedom of positioning of the center of rotation of a rotating body relative to a reference of rotation. Also, there is provided a system for using it to reduce an attitude change of a load due to an attitude change of a flying body. A rotation reference and a rotating body are connected with a rotating mechanism, provided with joints arranged so that: a link X and a link A are connected by a joint XA; a link A and a link B are connected by a joint AB; a link B and a link Y are connected by a joint BY; a link C is connected by a joint XC on the link X and a joint BC on the link B; a link D is connected by a joint AD on the link A and a joint DY on the link Y; a line connecting the joints XA and XC, and a line connecting the joints AB and BC are parallel; a line connecting the joints AB and AD, and a line connecting the joints BY and DY are parallel; a line connecting the joints XA and AB, and a line connecting the joints XC and BC are parallel; and a line connecting the joints AB and BY, and a line connecting the joints AD and DY are parallel, wherein the link X is connected to a rotation reference, or the link X is the rotation reference, and wherein the link Y is connected to a rotating body, or the link Y is the rotating body.

A disc-shaped aircraft including an airfoil having a convex upper surface and a planar lower surface with the edges of the surfaces meeting at the periphery of the disc and having a plurality of rotational mini turbine jets affixed sequentially at the edge of the circumference of the disc, the turbine jets effecting vertical, horizontal, and directional thrust under computer and pilot control. Stable flight is maintained by an internal gyroscopic counter-rotating rotor blade system, individual control of the turbine jets, and a series of retractable flaps.

Systems and methods for a gyroscopic rotational wing for an aircraft are disclosed. In one embodiment, a safety and stability device for an aircraft comprises an inner ring, an outer ring that rotates relative to the inner ring, and a motor connected to the inner ring that drives rotation of the outer ring relative to the inner ring. In some embodiments, the safety and stability device rotates in a substantially horizontal plane and at a rotational speed sufficient to provide gyroscopic stability for the aircraft.

Systems and methods for a gyroscopic rotational wing for an aircraft are disclosed. In one embodiment, a safety and stability device for an aircraft comprises an inner ring, an outer ring that rotates relative to the inner ring, and a motor connected to the inner ring that drives rotation of the outer ring relative to the inner ring. In some embodiments, the safety and stability device rotates in a substantially horizontal plane and at a rotational speed sufficient to provide gyroscopic stability for the aircraft.

Systems and methods for a gyroscopic rotational wing for an aircraft are disclosed. In one embodiment, a safety and stability device for an aircraft comprises an inner ring, an outer ring that rotates relative to the inner ring, and a motor connected to the inner ring that drives rotation of the outer ring relative to the inner ring. In some embodiments, the safety and stability device rotates in a substantially horizontal plane and at a rotational speed sufficient to provide gyroscopic stability for the aircraft.

Systems and methods for a gyroscopic rotational wing for an aircraft are disclosed. In one embodiment, a safety and stability device for an aircraft comprises an inner ring, an outer ring that rotates relative to the inner ring, and a motor connected to the inner ring that drives rotation of the outer ring relative to the inner ring. In some embodiments, the safety and stability device rotates in a substantially horizontal plane and at a rotational speed sufficient to provide gyroscopic stability for the aircraft.