Abstract: A pylon is coupled to a wing. A tiltrotor, having a range of motion, is coupled to the wing via the pylon, such that the tiltrotor is aft of the wing. The tiltrotor includes a redundant drivetrain, including a plurality of motors and a plurality of motor controllers, that drives one or more blades included in the tiltrotor.

Abstract: A geometry-based flight control system is disclosed. In various embodiments, a set of inceptor inputs associated with a requested set of forces and moments to be applied to the aircraft is received. An optimal mix of actuators and associated actuator parameters to achieve to an extent practical the requested forces and moments is computed, including by taking into consideration dynamically varying effectiveness of one or more actuators based on a current dynamic state of the aircraft. An output comprising for each actuator in the optimal mix a corresponding set of one or more control signals associated with the set of actuator parameters computed for that actuator is provided.

Abstract: A short takeoff and landing (STOL) vehicle which comprises a tail having a surface and a fuselage having a surface, where the tail and the fuselage have a continuity of surfaces where the surface of the tail is directly coupled to the surface of the fuselage. The vehicle further includes a forward-swept wing having a trailing edge and a rotor that is attached to the trailing edge of the forward-swept wing via a pylon, where the rotor has a maximum downward angle from horizontal that is less than or equal to 60° and the STOL vehicle takes off and lands using at least some lift from the forward-swept wing and at least some lift from the rotor.

Abstract: A cinched parachute is disclosed. In various embodiments, a cinched parachute as disclosed herein includes a canopy comprising one or more sections of canopy material, and a device integrated with the canopy that controls dimensions of the canopy material. For example, in some embodiments the device may be used to control the size of an opening atop the parachute.

Abstract: A system to maintain a phase difference is disclosed. Two or more aircraft fly in a continuous periodic trajectory. The system maintains a phase difference between the two or more aircraft. Telemetry information for a reference aircraft moving in a first periodic trajectory is received. A phase difference between a primary aircraft and the reference aircraft with respect to the first periodic trajectory is determined. A variance in the phase difference between the primary aircraft and the reference aircraft from the target phase difference is determined. A new trajectory for the primary aircraft that decreases the variance in the phase difference with respect to the new periodic trajectory is determined, and the primary aircraft is maneuvered to follow the new trajectory.

Abstract: While an aircraft is mid-flight, a braking start point associated with a stoppable rotor is calculated where the stoppable rotor includes a first and second blade and the stoppable rotor is configured to rotate about a substantially vertical axis. A process to stop the stoppable rotor is started, while the aircraft is mid-flight, when the stoppable rotor reaches the braking start point, where the stoppable rotor is stopped with the first blade pointing forward and the second blade pointing backward.

Abstract: A tiltrotor has a range of motion between a forward flight position and a hovering position, where a pylon and the tiltrotor are coupled via a telescoping actuator, a rigid bottom bar, and a fixed hinge that is attached between the rigid bottom bar and the tiltrotor. The tiltrotor moves from the forward flight position to the hovering position includes extending the telescoping actuator so that the tilt rotor rotates about the fixed hinge.

Abstract: Techniques to deploy a parachute are disclosed. In various embodiments, a first projectile is configured to be propelled in a first direction, causing the parachute to be deployed. A second projectile configured to be propelled in a second direction is coupled to a line tethered to the parachute in such a way that a force in a direction opposite the first direction is applied to the line of the parachute when the second projectile is propelled in the second direction.

Abstract: An aircraft includes a canard having a trailing edge, a forward swept and fixed wing having a horizontal plane and a trailing edge, and a plurality of tilt rotors. At least one of the plurality of tilt rotors is attached to the trailing edge of the canard and at least one of the plurality of tilt rotors is attached to the trailing edge of the forward swept and fixed wing. The aircraft also includes a T-tail having a horizontal plane, where the horizontal plane of the T-tail is at a height that is higher than the horizontal plane of the forward swept and fixed wing.

Abstract: A short takeoff and landing (STOL) vehicle which comprises a tail having a surface and a fuselage having a surface, where the tail and the fuselage have a continuity of surfaces where the surface of the tail is directly coupled to the surface of the fuselage. The vehicle further includes a forward-swept wing having a trailing edge and a rotor that is attached to the trailing edge of the forward-swept wing via a pylon, where the rotor has a maximum downward angle from horizontal that is less than or equal to 60° and the STOL vehicle takes off and lands using at least some lift from the forward-swept wing and at least some lift from the rotor.

Abstract: A tiltrotor has a range of motion between a forward flight position and a hovering position, where a pylon and the tiltrotor are coupled via a telescoping actuator, a rigid bottom bar, and a fixed hinge that is attached between the rigid bottom bar and the tiltrotor. The tiltrotor moves from the forward flight position to the hovering position includes extending the telescoping actuator so that the tilt rotor rotates about the fixed hinge.

Abstract: A first power source, a second power source, and a power controller are provided, where a vehicle that includes the first power source, the second power source, and the power controller is capable of flying in a transitional mode between a hovering mode and a forward flight mode. The power controller selects one or more of the first power source and the second power source to power a rotor included in the vehicle during the transitional mode.

Abstract: A pylon is coupled to a wing. A tiltrotor, having a range of motion, is coupled to the wing via the pylon, such that the tiltrotor is aft of the wing. The tiltrotor includes a redundant drivetrain, including a plurality of motors and a plurality of motor controllers, that drives one or more blades included in the tiltrotor.

Abstract: A system for adjusting a load on a tethered aircraft is disclosed. The aircraft is tethered to a payload. The system determines a new position for the tethered aircraft in the event that due to environmental effects, e.g., the aircraft is flying upwind or downwind, the load experienced by the tethered aircraft is not optimal.

Abstract: 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.

Abstract: A selection is made between single stage and multistage parachute deployment for a vehicle based at least in part on vehicle state information. In the event multistage parachute deployment is selected, a drogue parachute is deployed during a first deployment stage and afterwards, a main parachute is deployed during a second deployment stage. In the event single stage parachute deployment is selected, at least the main parachute is deployed in a single stage where in the event the drogue parachute is deployed during the single stage, the drogue and main parachute are deployed simultaneously.

Abstract: A propeller includes a blade free to rotate about a longitudinal axis of the blade. The propeller also includes a mechanical stop positioned to engage mechanically a first portion of the blade and/or a first structure coupled mechanically to the blade when the blade is in a first position. The propeller also includes a magnetic stop positioned to engage magnetically a second portion of the blade and/or a second structure coupled mechanically to the blade when the blade is in a second position. The blade rotates to the first position against the mechanical stop when the propeller is rotated at a first rotational speed and the blade rotates to the second position against the magnetic stop when the propeller is rotated at a second rotational speed in a same direction as when the blade is in the first position.

Abstract: An aircraft includes a canard having a trailing edge, a forward swept and fixed wing having a horizontal plane and a trailing edge, and a plurality of tilt rotors. At least one of the plurality of tilt rotors is attached to the trailing edge of the canard and at least one of the plurality of tilt rotors is attached to the trailing edge of the forward swept and fixed wing. The aircraft also includes a T-tail having a horizontal plane, where the horizontal plane of the T-tail is at a height that is higher than the horizontal plane of the forward swept and fixed wing.

Abstract: A distributed parachute system is disclosed. In various embodiments, a parachute is at least partially deployed along one or more dimensions. A deployment mechanism configured to deploy the parachute is provided. The distributed parachute system is configured to be deployed in an aircraft that comprises a channel oriented along the one or more dimensions.