Abstract: A method controls a robot. One or more processors receive sensor readings from one or more sensors that are monitoring a human in real time, where the human is currently observing a robotic action by a robot, and where the robotic action is a physical movement performed by the robot. The processor(s) determine a cognitive state of the human while the human is observing the robotic action by the robot, and then adjust the robotic action being performed by the robot based on the cognitive state of the human.

Abstract: A passively stable personal hydrofoil watercraft that has a flotation device, wherein a user can ride in a prone, kneeling, or standing position. The watercraft includes a strut having an upper end interconnected with the flotation device and lower end connected with a hydrofoil. The hydrofoil greatly reduces the power required to travel at higher speed. The watercraft also includes a propulsion system connected to the hydrofoil. Both longitudinal and directional control of the watercraft is via weight shift, eliminating the need of any movable surfaces. The flotation device, strut, and hydrofoil may be permanently interconnected or may be detachable.

Abstract: A passively stable personal hydrofoil watercraft that has a flotation device, wherein a user can ride in a prone, kneeling, or standing position. The watercraft includes a strut having an upper end interconnected with the flotation device and lower end connected with a hydrofoil. The hydrofoil greatly reduces the power required to travel at higher speed. The watercraft also includes a propulsion system connected to the hydrofoil. Both longitudinal and directional control of the watercraft is via weight shift, eliminating the need of any movable surfaces. The flotation device, strut, and hydrofoil may be permanently interconnected or may be detachable.

Abstract: A passively stable personal hydrofoil watercraft that has a flotation device, wherein a user can ride in a prone, kneeling, or standing position. The watercraft includes a strut having an upper end interconnected with the flotation device and lower end connected with a hydrofoil. The hydrofoil greatly reduces the power required to travel at higher speed. The watercraft also includes a propulsion system connected to the hydrofoil. Both longitudinal and directional control of the watercraft is via weight shift, eliminating the need of any movable surfaces. The flotation device, strut, and hydrofoil may be permanently interconnected or may be detachable.

Abstract: A hydrofoil section comprises first and second faces that create, in operation at speeds above a ventilation speed, a ventilated cavity defined by a first cavity face which departs from the first hydrofoil face and a second cavity face which departs from the second hydrofoil face. Each cavity face represents a free surface and each face separating from the said free surface at a discontinuity on that surface, the separated faces forming a continuation of the faces of arbitrary shape and enclosed by the free surfaces without contacting the said free surfaces. Below the speed at which full ventilation occurs the arbitrarily shaped portion of each face is configured to provide a modified flow configuration resulting in changed lift and or drag and or pitching moment under partial, or unventilated operation.

Abstract: A foil structure for providing buoyancy and lift to a floating device is provided. The foil structure comprises an elongated left hand side floating device section and an elongated right hand side floating device section. The left hand side floating device section and the right hand side floating device section are placed at a predetermined distance to a longitudinal axis of the floating device and oriented substantially parallel thereto. A left hand side foil and a right hand side foil protrudes from the left hand side floating device section and the right hand side floating device section, respectively, towards a vertical plane through the longitudinal axis and is oriented at an acute angle to a horizontal plane. A leading edge of each foil intersects the respective floating device section in proximity to a bow portion thereof. Each foil extends along the respective floating device section and terminates in proximity to a stern portion thereof.

Abstract: A foil structure for providing buoyancy and lift to a floating device is provided. The foil structure comprises an elongated left hand side floating device section and an elongated right hand side floating device section. The left hand side floating device section and the right hand side floating device section are placed at a predetermined distance to a longitudinal axis of the floating device and oriented substantially parallel thereto. A left hand side foil and a right hand side foil protrudes from the left hand side floating device section and the right hand side floating device section, respectively, towards a vertical plane through the longitudinal axis and is oriented at an acute angle to a horizontal plane. A leading edge of each foil intersects the respective floating device section in proximity to a bow portion thereof. Each foil extends along the respective floating device section and terminates in proximity to a stern portion thereof.

Abstract: A marine vessel comprising a command module, first and second buoyant tubular foils, and first and second struts for connecting the first and second buoyant tubular foils to the command module, respectively, wherein the first and second buoyant tubular foils provide substantially all buoyancy required for the marine vessel, and wherein the marine vessel further comprises first and second engines enclosed within the first and second buoyant tubular foils, respectively, and first and second propulsion units connected to the first and second engines, respectively, for moving the marine vessel through water, and means for reducing drag on the vessel as the vessel moves through water.

Abstract: A hydrofoil section comprises first and second faces that create, in operation at speeds above a ventilation speed, a ventilated cavity defined by a first cavity face which departs from the first hydrofoil face and a second cavity face which departs from the second hydrofoil face. Each cavity face represents a free surface and each face separating from the said free surface at a discontinuity on that surface, the separated faces forming a continuation of the faces of arbitrary shape and enclosed by the free surfaces without contacting the said free surfaces. Below the speed at which full ventilation occurs the arbitrarily shaped portion of each face is configured to provide a modified flow configuration resulting in changed lift and or drag and or pitching moment under partial, or unventilated operation.

Abstract: A vessel hull stabilization system is presented that uses hydrofoils mounted on the vessel. The hydrofoils create a counteracting force to the waves that would otherwise cause the vessel to roll and pitch. The hydrofoil is connected to the vessel in both passive and an active modes. The hydrofoil consists of a number of configurations that include a number of attached struts and foils which provide additional counteracting forces in response to wave action.

Abstract: A low drag ship hull generally includes a side air cavity initiated by wetted bow section, bottom air cavity initiated by wetted bottom nosepiece, wetted stem section that closes a lower portion of the side cavity, wetted bottom tailpiece that closes the bottom cavity, stabilizing fin, and propulsor. The bottom of a catamaran hull cross structure includes bow impact alleviator. Optional flaps in the stabilizing fins, together with optional all-movable canard fins are used for control. Different wetted bow sections and retractable plates are used for starting side cavities. A low drag hull may utilize multiple air cavities. A new low drag hull includes a new upper bottom air cavity that is initiated by an upper bottom wetted nosepiece, and closed by an upper bottom tailpiece. Alternative designs include a shortened forward hull spaced ahead of a shortened aft hull, and a hydrofoil-supported trimaran with low drag hulls.

Abstract: The invention relates to the use of gas cavities to reduce frictional drag on underwater surfaces such as hydrofoils, struts, fins, rudders, keels, propeller blades, ship hulls, underwater bodies, and wetted surfaces in general. Each gas-filled cavity is formed behind a discontinuity in the surface that causes the water boundary layer to separate from the surface. Gas is ejected into a region behind the discontinuity to fill the cavity; the gas can be air. If a cavity is open to the atmosphere, then air can typically fill the cavity naturally without air ejection. Cavities can either be closed or open. A low drag hydrofoil may have a closed cavity on one side, and an open cavity on the other side. For closed cavities, the underlying surface can be shaped to minimize cavity closure drag. Various ways to generate cavities, change hydrodynamic forces, and duct gas internally on hydrofoils and struts with cavities are covered.

Abstract: The invention is based on the objective of preventing cavitation on streamlined bodies which are immersed in a liquid (2) at high relative speed (v), permitting their use within wider speed ranges. To this purpose, in a transverse slot (4) a two-phase mixture of air and water is produced, which forms a two-phase mixture layer (9) downstream of the slot (4). The required air is supplied from an external source or precipitated from the air contained in the water in the transverse slot. Even without any air at all a water/water-vapor mixture layer is generated, which behaves in the manner of a two-phase mixture layer on account of the finely distributed vapor bubbles. The Reynold's number derived from the width of the slot (4) is greater than 20′000 .

Abstract: The invention is gas-filled cavities that reduce drag on the underwater surfaces of marine vehicles. Hydrofoils, struts, boat and ship hulls, pontoons, underwater bodies, fins, rudders, fairings, protuberances, submarine sails and propulsors are underwater surfaces that may be covered by the gas-filled cavities to reduce drag on them. The gas-filled cavities are to be used on underwater surfaces of marine vehicles, such as hydrofoil craft, monohulls, catamarans, SWATH (small waterplane area twin hull) craft, SES (surface-effect ships) and WIG (wing-in-ground effect) vehicles. Each gas-filled cavity is formed by ejecting air near the end of each nosepiece. Air is ejected at a speed and direction which is close to that of the water at the local cavity wall. The cavity is formed behind the nosepiece. The nosepiece is adapted to control the shape of the cavity.

Abstract: A floating device is provided, which allows an entire robot main body to float at a site. Mounted on the floating device are an image sensor which captures image data of persons around the robot main body; an information processing device which recognizes a specified person based on the image data captured by the image sensor, calculates a position of the specified person, and outputs a control signal for moving the robot main body toward the position of the specified person; a propulsion device which moves, based on the control signal, the entire robot main body to a close position close to the specified person so that the robot main body can be seen by the specified person; and an image display device, which displays image information useful for the specified person using the site when the robot main body reaches the close position. The information can be supplied to a specified object in a bi-directional fashion.

Abstract: The invention is gas-filled cavities that reduce drag on the underwater surfaces of marine vehicles. Hydrofoils, struts, boat and ship hulls, pontoons, underwater bodies, fins, rudders, fairings, protuberances, submarine sails and propulsors are underwater surfaces that may be covered by the gas-filled cavities to reduce drag on them. The gas-filled cavities are to be used on underwater surfaces of marine vehicles, such as hydrofoil craft, monohulls, catamarans, SWATH (small waterplane area twin hull) craft, SES (surface-effect ships) and WIG (wing-in-ground effect) vehicles. Each gas-filled cavity is formed by ejecting air near the end of each nosepiece. Air is ejected at a speed and direction which is close to that of the water at the local cavity wall. The cavity is formed behind the nosepiece. The nosepiece is adapted to control the shape of the cavity.

Abstract: A hydrofoil structures for efficient operation over a wide speed range from subcavitating to supercavitating operation is provided. The dualcavitating hydrofoil overcomes cavitation problems associated with high speed operation of prior art subcavitating hydrofoils by providing a supercavitating profile shape in the lower surface to achieve a supercavitating condition at high speeds, and overcomes performance related problems associated with low speed operation and structural problems associated with high speed operation of prior art supercavitating hydrofoils by providing a profile shape having a robust trailing edge that employs the Coanda effect to achieve a smooth flow exit at the trailing edge. The dualcavitating hydrofoil includes upper and lower surfaces defining a profile that includes a tapered section adjacent to and extending aft from the leading edge and a thick curved section adjacent to and extending forward of the trailing edge.

Abstract: A supporting strut for a hydrofoil type of watercraft that also incorporates a water inlet for a jet propulsion unit. In accordance with the invention, the strut has a generally triangular configuration and a smooth transition from the lower water inlet end to at least the water level so as to reduce turbulence and improve performance.

Abstract: A pair of integrated water propulsion and hydrofoil systems capable of moving through water at speeds of at least 20 miles per hour are disclosed, each hydrofoil system having a hydrofoil and a mounting leg removably secured to a water propulsion system. The mounting legs are supported on opposite sides of the watercraft for moving the hydrofoils between a water mode and a land mode. The water propulsion system may be an inline water jet, and the hydrofoils may be formed from interconnected lightweight hollow beams with power operated flaps on the trailing portions of the hydrofoils for adding more lift when moving at slow speeds through water. The watercraft may be a military amphibious vehicle weighing about 30 tons.

Abstract: The invention relates to a propulsion and lift system for speed boats with a submerged foil. According to the invention, foil (4) includes main lifting surface (11) and hinged trailing edge aileron (12) as well as components (14, 25; 15, 16) to inject gas at high velocity from the lower surface of the main lifting surface and the upper surface of the trailing edge aileron. This provides lift at low speed, in particular lift augmenting at takeoff and defines a nozzle (13) with a two-phase flow which alone provides propulsion at high speed by expansion of a gas-liquid emulsion in said nozzle. Application is to the design of fast hydrofoils.

Abstract: A thrust collar is disclosed for mounting around the upper portion of the propeller of an inboard/outboard engine. Each thrust collar supports a horizontal hydrofoil wing extending laterally from the collar. A second, similar wing can be provided on an opposing side of the collar. Where the collar is used in pairs on paired engines on a catamaran hull, a single hydrofoil wing can be supported between the thrust collars. The thrust collar is preferably used in conjunction with hull lifting structures. One hull mounted hydrofoil structure is supported at the lower end of the strut extending and includes a generally curvilinear gull-wing shaped lower surface. For V-type hulls, a pair of elongataed mechanical lifting structures, symmetrically positioned on either side of the keel substantially in the vicinity of the keel are attached to the hull so as to extend generally traversedly to the sloping side surfaces of the hull intersecting at the keel.

Abstract: A multi-purpose mono-element airfoil is disclosed for aerodynamic and hydrodynamic vehicles and devices. The multipurpose mono-element highlift airfoil when utilized in an aerodynamic application provides a combined no-moving-parts high lift and cruise airfoil which in conjunction with a plenum, upon pressure initiation, causes pressurized air to issue from a slot tangent to the airfoil surface and remains attached to the airfoil's shaped trailing edge, providing a controlled resultant force of thrust. Upon application to hydrodynamic vehicles, the multi-purpose mono-element airfoil is placed in the freestream and provides turning or pitching forces to the vehicle without any deflection of itself or any mechanical components.

Abstract: An improved leading edge contour for control flaps of the type suitable for use with hydrofoil vessels and the like wherein discontinuities or gaps between the leading edge of the flap and the trailing edge of the fluid foil to which it is attached are held to a minimum; yet, wherein localized or discontinuous differential deflection of the flap leading edge and the foil trailing edge, which inherently occurs as the vessel moves through a fluid medium, does not result in interference between the two edges, thereby minimizing the problem of reduced fatigue life; and, wherein excessively large discontinuities are not required between the two edges in those edge areas where no significant differential deflection occurs, thereby significantly improving the performance characteristics of both the flap and the flap/foil combination.