Abstract: A wing includes a low pressure side, a high pressure side opposite the low pressure side, and a drag reducing apparatus coupled to the low pressure using an adhesive. The drag reducing apparatus includes a first side coupled to the low pressure side of the wing, and a second side opposite the first side. The second side includes a plurality of vortex generators arranged in an array configuration. The vortex generators generate one or more vane vortices near an end of the low pressure side of the wing, thereby weakening a wingtip vortex generated by the wing.

Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

Abstract: A computer-assisted device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send one or more first commands to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner, detect a disturbance in a point of interest of the computer-assisted device caused by each brake of the plurality of brakes as the brake is released, and send one or more second commands to the plurality of joints to compensate for the disturbance. In some embodiments, the one or more first commands prevent simultaneous release of two or more brakes of the plurality of brakes. In some embodiments, the one or more first commands cause brakes of the plurality of brakes to release within a predetermined time of each other.

Abstract: In one embodiment, an airfoil includes a first end and a second end opposite the first end. The airfoil also includes a first side and a second side opposite the first side. The airfoil includes a continuous panel coupled to the first side of the airfoil. The continuous panel includes a first edge having a first uneven edge pattern. The first edge has at least four vertices disposed thereon. The continuous panel extends from the first end of the airfoil to a second end of the airfoil.

Abstract: A method and apparatus for providing environmental management in a monitored facility. In one embodiment, the method comprises obtaining at least one mathematical expression representing the behavior of at least one piece of equipment in a monitored equipment housing facility; and generating, for the at least one piece of equipment and using the at least one mathematical expression, a predicted impact of an operational state of the at least one piece of equipment.

Abstract: A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.

Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.

Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.

Abstract: A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.

Abstract: A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.

Abstract: An apparatus for suppressing shock-induced separation of high speed airflow from a relatively low-energy boundary layer. The apparatus may include an actuator or array of actuators configured to alternately inhale and exhale fluid and positioned to alternately inhale fluid from and exhale fluid into a boundary layer of a fluid mass flowing along the wall. The actuator may be positioned to inhale fluid from a boundary layer separation bubble induced by a supersonic shock wave propagated in the fluid mass.

Abstract: A method and apparatus for providing environmental management in a monitored facility. In one embodiment, the method comprises obtaining at least one mathematical expression representing the behavior of at least one piece of equipment in a monitored equipment housing facility; and generating, for the at least one piece of equipment and using the at least one mathematical expression, a predicted impact of an operational state of the at least one piece of equipment.

Abstract: An exhaust impingement cooling device for reducing heating effects of an exhaust plume on an impinged surface. An exhaust nozzle exit screen is positioned across an exhaust plume flow path, and includes a plurality of flowpath diverging apertures that spread at least a portion of an exhaust plume that is being emitted along the exhaust plume flow path from an exhaust plume source. Flow control jets are arrayed within the exhaust plume flow path in respective positions where their operation will augment the flow of exhaust plume gases through the screen, thereby increasing the momentum and mixing of the exhaust plume with cooler ambient air.

Abstract: The present invention is directed to methods and apparatuses for environmental management using a smart alarm comprising, receiving one or more readings from one or more sensors, wherein the sensors are of at least one or more distinct logical types, generating one or more derived points representing the one or more readings from the sensors and alerting one or more alarm units when the derived points satisfy an alarm condition.

Abstract: An airfoil tip vortex mitigation arrangement comprising one or more flow directors configured and positioned to re-direct freestream air over a low pressure surface of an airfoil in such a way as to displace and weaken a main tip vortex generated at a tip of the airfoil.

Abstract: In one embodiment, a wing includes a low pressure side, a high pressure side opposite the low pressure side, and a drag reducing apparatus coupled to the low pressure using an adhesive. The drag reducing apparatus includes a first side coupled to the low pressure side of the wing, and a second side opposite the first side, the second side comprising a plurality of vortex generators arranged in an array configuration, the array configuration of vortex generators operable to weaken a wingtip vortex generated by the wing by generating one or more vane vortices near an end of the low pressure side of the wing.

Abstract: A wing includes a low pressure side, a high pressure side opposite the low pressure side, and a drag reducing apparatus coupled to the low pressure using an adhesive. The drag reducing apparatus includes a first side coupled to the low pressure side of the wing, and a second side opposite the first side. The second side includes a plurality of vortex generators arranged in an array configuration. The vortex generators generate one or more vane vortices near an end of the low pressure side of the wing, thereby weakening a wingtip vortex generated by the wing.

Abstract: A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.

Abstract: A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.

Abstract: In one embodiment, an airfoil includes a first side and a second side opposite the first side, and an apparatus coupled to the first side of the airfoil, the apparatus comprising a first edge having a first uneven edge pattern.