Abstract: System and methods for controlling the oscillation of floating ground stations in aerial wind turbine systems are disclosed. Thrusters on the ground station or on one or more aerial vehicles associated with the ground station apply a compensatory force to the oscillating ground station to reduce and/or substantially eliminate wave-induced oscillations. Submerged thrusters may also rotate the ground station to a preferred alignment direction with the waves. Additionally, control systems use environmental and/or positional sensor data to develop a predictive force profile that maps desired compensatory force magnitude versus time. The control systems use that predictive force profile to direct the thrusters to apply a varying compensatory force over time.

Abstract: System and methods for controlling the oscillation of floating ground stations in aerial wind turbine systems are disclosed. Thrusters on the ground station or on one or more aerial vehicles associated with the ground station apply a compensatory force to the oscillating ground station to reduce and/or substantially eliminate wave-induced oscillations. Submerged thrusters may also rotate the ground station to a preferred alignment direction with the waves. Additionally, control systems use environmental and/or positional sensor data to develop a predictive force profile that maps desired compensatory force magnitude versus time. The control systems use that predictive force profile to direct the thrusters to apply a varying compensatory force over time.

Abstract: The invention provides crystalline forms of 6-[(5S,9R)-9-(4-cyanophenyl)-3-(3,5-dichlorophenyl)-1-methyl-2,4-dioxo-1,3,7-triazaspiro[4.4]non-7-yl]nicotinic acid, its pharmaceutically acceptable salts, or solvates, thereof Further, a process is provided for preparing substituted spiro-hydantoin compounds of the formula I wherein Z is N or CR4b; K and L are independently O or S; Ar is an optionally substituted aryl or heteroaryl; A1, A2, G, and Q are linkers; and R2, R4a, R4c, and R16 are defined in the specification. The process includes the reaction of N-substituted glycine compound and methylene precursor compound with an alkene compound. The substituted spiro-hydantoin compounds of formulae I and II are useful in the treatment of immune and/or inflammatory diseases.

Abstract: A process is provided for preparing spiro-hydantoin compounds of the formula II wherein Z is N or CR4b; K and L are independently O or S; Ar is an optionally substituted aryl or heteroaryl; A2 is a linker, G? is a linker; Q is a linker; and R2, R4a, R4c, and Rh are defined in the specification. The process optionally includes the enantiomeric separation of intermediates to allow preparation of enantiomers of the spiro-hydantoin compounds of formula II. Substituted spiro-hydantoin compounds may be prepared from the spiro-hydantoin compounds of formula II. The spiro-hydantoin compound of formula II and the substituted spiro-hydantoin compounds are useful in the treatment of immune or inflammatory diseases. Also, provided are products made by the instant inventive process and crystalline forms (prepared by any process) of the substituted spiro-hydantoin compound, 5-[(5S, 9R)-9-(4-Cyanophenyl)-3-(3,5-dichlorophenyl)-1-methyl-2,4-dioxo-1,3,7-triazaspiro[4.