A propulsion device includes a platform with a pair of elbowed tubular thrust nozzles respectively located on opposite sides of the platform. An input end of each nozzle is mounted to the platform and rotatable about a transverse axis that is normal to a longitudinal axis of the platform, and is connected to a source of pressurized fluid. A pair of actuators are respectively connected to the tubular nozzles to rotate the nozzles around the transverse axis and thereby change the orientation of output ends of the nozzles relative to the platform. A processor controls the position of the platform by activating the actuators to rotate the nozzles, and thereby change the direction of thrust emitted by the pressurized fluid at the output ends of the nozzles.

A propulsion device includes a platform with a pair of elbowed tubular thrust nozzles respectively located on opposite sides of the platform. An input end of each nozzle is mounted to the platform and rotatable about a transverse axis that is normal to a longitudinal axis of the platform, and is connected to a source of pressurized fluid. A pair of actuators are respectively connected to the tubular nozzles to rotate the nozzles around the transverse axis and thereby change the orientation of output ends of the nozzles relative to the platform. A processor controls the position of the platform by activating the actuators to rotate the nozzles, and thereby change the direction of thrust emitted by the pressurized fluid at the output ends of the nozzles.

An inner middle rotor is rotated while an inner front rotor, an inner back rotor, and an outer rotor are not rotated. The inner middle rotor is surrounded by the inner front rotor, the inner back rotor, the outer rotor, and a fuselage. After rotating the inner middle rotor while not rotating the inner front rotor, the inner back rotor, and the outer rotor, the inner middle rotor, the inner front rotor, the inner back rotor, and the outer rotor are simultaneously rotated.

An inner middle rotor is rotated while an inner front rotor, an inner back rotor, and an outer rotor are not rotated. The inner middle rotor is surrounded by the inner front rotor, the inner back rotor, the outer rotor, and a fuselage. After rotating the inner middle rotor while not rotating the inner front rotor, the inner back rotor, and the outer rotor, the inner middle rotor, the inner front rotor, the inner back rotor, and the outer rotor are simultaneously rotated.

Boundary information for a three-dimensional (3D) flying space is obtained. An input associated with steering a vehicle is received from an input device and location information associated with the vehicle is received from a location sensor. A control signal for the vehicle is generated based at least in part on the boundary information, the input, and the location information. In the event the input would cause the vehicle to cross the boundary of the 3D flying space if obeyed, the control signal for the vehicle is generated so that the vehicle is prevented from crossing the boundary of the 3D flying space. In response to receiving an indication associated with the vehicle landing, the boundary information is modified so that the 3D flying space includes a landing pathway.

A watercraft is provided with fin on its transom. The fin extends outwardly from a portion of the transom that extends into the water. The fin includes a first portion and a second portion positioned rearwardly of the first portion. The second portion is inclined downwardly and rearwardly relative to the first portion and positioned so as to provide lift and to channel water toward the propeller. The watercraft may be a pontoon boat having first and second laterally-spaced pontoons located under the deck on opposite sides of the transom. Additional fins may be mounted on the first and second laterally-spaced pontoons.

A watercraft is provided with fin on its transom. The fin extends outwardly from a portion of the transom that extends into the water. The fin includes a first portion and a second portion positioned rearwardly of the first portion. The second portion is inclined downwardly and rearwardly relative to the first portion and positioned so as to provide lift and to channel water toward the propeller. The watercraft may be a pontoon boat having first and second laterally-spaced pontoons located under the deck on opposite sides of the transom. Additional fins may be mounted on the first and second laterally-spaced pontoons.

Airframes configured for stable in-flight transition between forward flight and vertical takeoff and landing are described herein. In one embodiment, an aircraft can include a fuselage, opposed wings extending from opposed sides of the fuselage, and a plurality of engines. At least one engine can be mounted to each of the opposed wings and at least a portion of each opposed wing including at least one of the plurality of engines can rotate relative to the fuselage around a rotation axis that is non-perpendicular and transverse to a longitudinal axis of the fuselage. Rotating portions of the wings including at least one of the plurality of engines in the described manner can provide a stable and smooth transition between vertical and forward flight.

Airframes configured for stable in-flight transition between forward flight and vertical takeoff and landing are described herein. In one embodiment, an aircraft can include a fuselage, opposed wings extending from opposed sides of the fuselage, and a plurality of engines. At least one engine can be mounted to each of the opposed wings and at least a portion of each opposed wing including at least one of the plurality of engines can rotate relative to the fuselage around a rotation axis that is non-perpendicular and transverse to a longitudinal axis of the fuselage. Rotating portions of the wings including at least one of the plurality of engines in the described manner can provide a stable and smooth transition between vertical and forward flight.

A search and rescue drone system includes a buoyant body member, a frame attached to the buoyant body member for carrying a motor and propeller, and an electronic array including a camera, GPS, an EPIRB radio distress beacon, and a transmitter/receiver for remote control flying the drone and communicating with an operator. A laser guidance system may provide coordinates for landing near a swimmer in distress. The search and rescue drone may also be programmed to simply fly to the location of an electronic wearable device, like a bracelet, that is worn by a man overboard. In another embodiment, the search and rescue drone includes pivoting motor mounts, so that it can take off and land vertically with propellers rotating in a horizontal plane, and then the propellers may pivot to rotate in a vertical plane for propulsion across water similar to a fan boat with rescued people aboard.