A method for controlling a movable object is provided. A user input that includes a first parameter corresponding to a first coordinate system is received and an operation mode is determined. In response to determining the operation mode being a first operation mode, a second parameter corresponding to a second coordinate system is generated and the movable object is controlled to move based on the second parameter. In response to determining the operation mode being a second operation mode, the first parameter is translated to a third parameter corresponding to the second coordinate system and the movable object is controlled to move based on the third parameter.

Many different types of systems are utilized and tasks are performed in a marine environment. The present invention provides various configurations of castable devices that can be operated and/or controlled for such systems or tasks. One or more castable devices can be integrated with a transducer assembly, such as a phased array, that emits sonar beams and receives sonar returns from the underwater environment. Processing circuitry may receive the sonar returns, process the sonar returns, generate an image, and transmit the image to a display.

In some examples, an unmanned aerial vehicle (UAV) employs one or more image sensors to capture images of a scan target and may use distance information from the images for determining respective locations in three-dimensional (3D) space of a plurality of points of a 3D model representative of a surface of the scan target. The UAV may compare a first image with a second image to determine a difference between a current frame of reference position for the UAV and an estimate of an actual frame of reference position for the UAV. Further, based at least on the difference, the UAV may determine, while the UAV is in flight, an update to the 3D model including at least one of an updated location of at least one point in the 3D model, or a location of a new point in the 3D model.

Systems and methods to control gain of an electric aircraft are provided in this disclosure. The system may include gain scheduling to provide stability of the electric aircraft at various dynamic states of operation. The system may include a sensor to obtain measurement datum of an operating state. The system may further include a controller that adjusts a control gain of the electric aircraft as a function of the measurement datum. The gain control may be determined by a gain schedule generated by the controller.

A method is provided. An unmanned aerial vehicle (UAV) is operated. A position of the UAV is determined while in flight, and a nonce is generated. A Merkel root is generated based at least in part on a timestamp and the position of the UAV. A current block is calculated based at least in part on a previous block, the Merkel root, and the nonce, and the current block, the timestamp, the nonce, the prior block, and the position of the UAV are transmitted.

Provided is an abnormality detection device for a rotary wing unit. The rotary wing unit includes a plurality of rotary wings that is coaxially disposed. The abnormality detection device includes a controller configured to acquire at least one of a correlation at the time of normal operation between operation parameters related to the rotary wings and a correlation at the time of abnormal operation between the operation parameters and detect abnormality of the rotary wing unit, based on a correlation at the time of actual operation between the operation parameters and at least one of the correlation at the time of normal operation and the correlation at the time of abnormal operation.

A modular quadcopter is provided for vertical flight. The quadcopter includes a housing, a quadrilateral set of extensions, and a quadrilateral set of arms. The housing contains flight control and sensor equipment, and has a relative vertical orientation. The housing is configurable for either stowage or deployment. The extensions are disposed on each corner of the housing. Each extension has a hinge that pitches outward and upward. Each arm is disposed on the hinge and contains an electric motor and a speed controller. The configurable below the housing for the stowage and extends radially from respective the extension in relation to the orientation for the deployment.

A system delivering fire retardant materials in fighting a surface fire is provided, having an aircraft carrying the fire-retardant material, a hose deployable from the aircraft, the delivery hose connected to the reservoir and having a controllable nozzle at a deployed end with a remotely operable valve, an end effector connected by a multi-axis gimbal at the deployed end of the delivery hose the end effector having fixed wings with ailerons and elevators, and a rudder, the ailerons, elevators and rudder moved by electrical actuators, and control apparatus and circuitry in the aircraft and the end effector enabling an operator in manipulating the ailerons, elevators and the rudder. An operative in the aircraft controls the end effector via the control apparatus to fly at a lower altitude and in a different path than the aircraft, and opens the remotely operable valve to deliver the fire-retardant material from the delivery hose.

A refueling system has a first vehicle having a fuel tank connected to a deployable fuel hose with a nozzle on the deployable end, a second vehicle carrying a supply of fuel, having a refueling panel with a refueling port adapted to connect to the nozzle on the deployed end of the fuel hose, an end effector joined to the fuel hose proximate the nozzle, the end effector having a plurality of thrusters providing thrust in a plurality of directions; and control circuitry in the first vehicle and in the end effector enabling an operative to vary direction and thrust of the thrusters. The operative controls the thrusters through the control circuitry to direct the nozzle toward and to connect the nozzle to the refueling port on the refueling panel of the second vehicle.

Altitude based device management is provided herein. A method can comprise transmitting, by a mobile device comprising a processor, a signaling message to a network device of a wireless network. The signaling message can comprise first data indicating a device type of the mobile device and second data indicating a distance measurement of the mobile device with respect to a reference point. The method can also comprise implementing, by the mobile device, a first instruction related to a power setting and a second instruction related to an operating parameter. The first instruction and the second instruction can be received from the network device and can be based on the device type of the mobile device and the distance measurement of the mobile device.