A wing module for an aerial vehicle in which the wing module has a flight configuration and an access configuration. The wing module includes an external wing skin having an upper skin with an upper surface having a curved profile and a lower skin forming the leading and trailing edges and having a generally planar lower surface. A hinge joint couples the upper and lower skins enabling relative rotation of the upper and lower skins between the flight configuration and the access configuration. The hinge joint is proximate the leading edge. An interior cavity is formed at least partially within the lower skin. In the flight configuration, the upper and lower skins have an airfoil cross section. In the access configuration, the upper and lower skins are split in the chordwise direction such that distal ends of the first and second skins are separated providing access to the interior cavity.

An aircraft has an airframe with a distributed thrust array attached thereto that includes a plurality of propulsion assemblies each of which is independently controlled by a flight control system. Each propulsion assembly includes a housing with a single axis gimbal coupled thereto and operable to tilt about a single axis. A propulsion system is coupled to and operable to tilt with the gimbal. The propulsion system includes an electric motor having an output drive and a rotor assembly having a plurality of rotor blades that rotate in a rotational plane to generate thrust having a thrust vector with a direction. Actuation of each gimbal is operable to tilt the respective propulsion system including the electric motor and the rotor assembly relative to the airframe to change the rotational plane of the respective rotor assembly relative to the airframe, thereby controlling the direction of the respective thrust vector.

Data captured during evolutions performed by aerial vehicles prior to one or more missions, and data regarding outcomes of the missions, may be used to train a machine learning system to predict data regarding an outcome of a mission of an aerial vehicle based on the performance of the aerial vehicle during one or more evolutions. The data may be captured by sensors provided aboard an aerial vehicle, or in association with a testing facility, and may include data captured during both pre-flight and/or in-flight evolutions performed by the aerial vehicle. The evolutions may include any pre-flight operation of motors, propellers and/or control surfaces, or any other components, as well as the in-flight operation of such components. If a machine learning system determines that a mission is unlikely to succeed, the mission may be canceled, delayed until further inspections may be performed, or assigned to another aerial vehicle.

A multimodal unmanned aerial system includes a fuselage forming a payload bay, a control wing forward of the fuselage including a first plurality of propulsion assemblies and a primary wing aft of the fuselage including a second plurality of propulsion assemblies. The primary wing has a greater wingspan than the control wing. The multimodal unmanned aerial system includes linkages rotatably coupling the fuselage to the control wing and the primary wing. The fuselage, the control wing and the primary wing are configured to synchronously rotate between a vertical takeoff and landing flight mode and a forward flight mode. The fuselage, the control wing and the primary wing are substantially vertical in the vertical takeoff and landing flight mode and substantially horizontal in the forward flight mode.

A male part and a female part can reversibly couple aircraft to one another using an attachment mechanism. The male part includes a wall forming a shaft and is operable to attach to a first aircraft. The female part includes a wall forming a cavity and is operable to attach to a second aircraft. The attachment mechanism can regulate a mechanical engagement between the shaft on the male part and the cavity on the female part while the first aircraft and the second aircraft are airborne or on land. The attachment mechanism is operable to switch between an engaged position and a disengaged position. In the engaged position, the attachment mechanism initiates the mechanical engagement to rigidly attach the first and the second aircraft to one another. In the disengaged position, the attachment mechanism discontinues the mechanical engagement to detach the first and the second aircraft from one another.

An unmanned aerial vehicle (UAV) apparatus includes an airframe, a propulsion system carried by the airframe and including at least one propulsion device, a movable component carried by the airframe, and a control system. The control system is programmed with instructions that, when executed, cause the control system to receive a first input corresponding to a characteristic of the movable component, receive a second input corresponding to a command to move the movable component, and direct a change in a setting of the at least one propulsion device in response to the first input and the second input.

The present disclosure provides a system and device for drones with ducted rotors. In some aspects, drones may comprise one or more systems of ducted rotors. In some embodiments, ducted rotors may increase the durability of the drone, limiting exposure of the rotors to external conditions and objects. In some aspects, a drone with ducted rotors may comprise a control vane or cone that may direct airflow within the drone as a mechanism to control flight path. In some implementations, a drone may comprise expandable landing gear than may allow for controlled landing, even in the event of rotor failure. In some aspects, a drone may comprise rotatable ducted rotors.

A vertical landing of an aircraft is performed using the first battery where the aircraft is unoccupied when the vertical landing is performed, the unoccupied aircraft includes the first battery, and the unoccupied aircraft excludes a second, removable battery. In response to detecting that the second, removable battery is detachably coupled to the aircraft, a power source for the aircraft is switched from the first battery to the second, removable battery. After switching the switch power source, a vertical takeoff of the aircraft is performed using the second, removable battery, wherein the aircraft is occupied when the vertical takeoff is performed.

A method for processing image information in an image to determine a movement for a movable object. The method includes detecting whether the image includes a water surface or a sky based on the image information in the image, And, in response to detecting that the image includes the water surface or the sky, determining a technique from a plurality of techniques for calculating a depth map, generating the depth map using the technique, and determining a movement parameter for the movable object using the depth map.

A tank configured to store a pressurized gas therein and carry a structural load between components of a vehicle.