Abstract: A combination rotor and wheel assembly for an unmanned vehicle with ground and aerial mobility has a rotor arm adapted to be attached at an inner end thereof to a vehicle body. A rotor is rotatably connected to an outer end of the rotor arm about a rotor axis, and a rotor drive mounted on the rotor arm rotates the rotor such that the rotor exerts an upward lift force on the rotor arm. An open spoked wheel is rotatably connected about the rotor axis independent of the rotor The diameter of the wheel is greater than that of the rotor, and a bottom edge of the wheel is below the rotor. A wheel drive rotates the wheel. Vehicles can have various numbers and orientations of the rotor and wheel assembly to provide aerial and ground mobility.

Abstract: A combination rotor and wheel assembly for an unmanned vehicle with ground and aerial mobility has a rotor arm adapted to be attached at an inner end thereof to a vehicle body. A rotor is rotatably connected to an outer end of the rotor arm about a rotor axis, and a rotor drive mounted on the rotor arm rotates the rotor such that the rotor exerts an upward lift force on the rotor arm. An open spoked wheel is rotatably connected about the rotor axis independent of the rotor The diameter of the wheel is greater than that of the rotor, and a bottom edge of the wheel is below the rotor. A wheel drive rotates the wheel. Vehicles can have various numbers and orientations of the rotor and wheel assembly to provide aerial and ground mobility.

Abstract: A rotary wing aircraft apparatus has arms extending from a body, and a rotor assembly attached to an end of each arm. Each rotor assembly has a rotor blade releasably attached by a lock mechanism. A clockwise rotor blade is releasably attached to a first rotor assembly by engagement in a clockwise lock mechanism, and a counterclockwise rotor blade is releasably attached to a second rotor assembly by engagement in a counterclockwise lock mechanism. The clockwise rotor blade is engageable only with the clockwise lock mechanism and the counterclockwise rotor blade is engageable only with the counterclockwise lock mechanism and cannot be engaged in the clockwise lock mechanism. A leg extends down from each rotor assembly to support the apparatus on the ground.

Abstract: A combination rotor and wheel assembly for an unmanned vehicle with ground and aerial mobility has a rotor arm adapted to be attached at an inner end thereof to a vehicle body. A rotor is rotatably connected to an outer end of the rotor arm about a rotor axis, and a rotor drive mounted on the rotor arm rotates the rotor such that the rotor exerts an upward lift force on the rotor arm. An open spoked wheel is rotatably connected about the rotor axis independent of the rotor The diameter of the wheel is greater than that of the rotor, and a bottom edge of the wheel is below the rotor. A wheel drive rotates the wheel. Vehicles can have various numbers and orientations of the rotor and wheel assembly to provide aerial and ground mobility.

Abstract: A rotary wing aircraft apparatus has arms extending from a body, and a rotor assembly attached to an end of each arm. Each rotor assembly has a rotor blade releasably attached by a lock mechanism. A clockwise rotor blade is releasably attached to a first rotor assembly by engagement in a clockwise lock mechanism, and a counterclockwise rotor blade is releasably attached to a second rotor assembly by engagement in a counterclockwise lock mechanism. The clockwise rotor blade is engageable only with the clockwise lock mechanism and the counterclockwise rotor blade is engageable only with the counterclockwise lock mechanism and cannot be engaged in the clockwise lock mechanism. A leg extends down from each rotor assembly to support the apparatus on the ground.

Abstract: A circular folding wheel has a center wheel section encompassing the center of a circle and adapted to be mounted to an axle at the center, with a side substantially corresponding to a chord of the circle. A wheel segment is pivotally attached to the center wheel section about a pivot axis extending along the side of the center wheel section. The wheel segment is movable from a rolling orientation, where the outer edge of the wheel segment is aligned with an outer edge of the center wheel section such that the folding wheel takes a rolling circular shape, to a folded orientation where the wheel segment extends laterally away from the pivot axis. Two, three, or more wheel segments can be pivotally attached to corresponding sides of the center wheel section.

Abstract: A circular folding wheel has a center wheel section encompassing the center of a circle and adapted to be mounted to an axle at the center, with a side substantially corresponding to a chord of the circle. A wheel segment is pivotally attached to the center wheel section about a pivot axis extending along the side of the center wheel section. The wheel segment is movable from a rolling orientation, where the outer edge of the wheel segment is aligned with an outer edge of the center wheel section such that the folding wheel takes a rolling circular shape, to a folded orientation where the wheel segment extends laterally away from the pivot axis. Two, three, or more wheel segments can be pivotally attached to corresponding sides of the center wheel section.

Abstract: A rotary wing aircraft apparatus includes a body and a rotor pair connected to the body by an arm. The rotor pair has an upper rotor driven by an upper motor and rotating about an upper rotor axis and a lower rotor driven by a lower motor and rotating about a lower rotor axis. The upper and lower rotor axes are tilted with respect to each other. Tilting the axes away from the arm increases the distance from the rotor blades to the arm, and decreases the risk of the blades of the rotor contacting the arm. In an aircraft with a plurality of arms extending from the body, and a rotor assembly connected to each arm, the arms can be pivoted from a flying position, where the arms extend laterally outward to a folded position where the arms are positioned substantially parallel and adjacent to each other.

Abstract: A rotary wing aircraft apparatus includes a body and a rotor pair connected to the body by an arm. The rotor pair has an upper rotor driven by an upper motor and rotating about an upper rotor axis and a lower rotor driven by a lower motor and rotating about a lower rotor axis. The upper and lower rotor axes are tilted with respect to each other. Tilting the axes away from the arm increases the distance from the rotor blades to the arm, and decreases the risk of the blades of the rotor contacting the arm. In an aircraft with a plurality of arms extending from the body, and a rotor assembly connected to each arm, the arms can be pivoted from a flying position, where the arms extend laterally outward to a folded position where the arms are positioned substantially parallel and adjacent to each other.

Abstract: A rotary wing aircraft apparatus includes a body and a rotor pair connected to the body by an arm. The rotor pair has an upper rotor driven by an upper motor and rotating about an upper rotor axis and a lower rotor driven by a lower motor and rotating about a lower rotor axis. The upper and lower rotor axes are tilted with respect to each other. Tilting the axes away from the arm increases the distance from the rotor blades to the arm, and decreases the risk of the blades of the rotor contacting the arm. In an aircraft with a plurality of arms extending from the body, and a rotor assembly connected to each arm, the arms can be pivoted from a flying position, where the arms extend laterally outward to a folded position where the arms are positioned substantially parallel and adjacent to each other.

Abstract: A rotary wing aircraft apparatus includes a body and a rotor pair connected to the body by an arm. The rotor pair has an upper rotor driven by an upper motor and rotating about an upper rotor axis and a lower rotor driven by a lower motor and rotating about a lower rotor axis. The upper and lower rotor axes are tilted with respect to each other. Tilting the axes away from the arm increases the distance from the rotor blades to the arm, and decreases the risk of the blades of the rotor contacting the arm. In an aircraft with a plurality of arms extending from the body, and a rotor assembly connected to each arm, the arms can be pivoted from a flying position, where the arms extend laterally outward to a folded position where the arms are positioned substantially parallel and adjacent to each other.

Abstract: A rotary wing aircraft is provided having at least three rotor pairs. Each rotor pair has an upper rotor and a lower rotor. During operation, the upper rotor and lower rotor rotate around a shared rotor axis with the upper rotor rotating in a first direction and the lower rotor rotating in an opposite direction By independently controlling the speed of rotation of each upper rotor and each lower rotor the aircraft can be made to ascend, descend, move forward, move backward, move side to side, yaw right and yaw left by only varying the relative speeds of rotations of the upper rotors and lower rotors.

Abstract: A control unit is assigned to each microprocessor of a multiprocessor (MP) system. Each control unit is in communication with its associated microprocessor and the system bus. Each control unit comprises a register set having bit registers and word registers. Messages can be sent to one or more of the microprocessors concurrently via a select function. Specifically, a data byte is bit sliced or bit masked so that the select register associated with one or more processors is activated. The bit registers which are activated, enable associated word registers for subsequent accesses. Consequently, one or more processors may be accessed concurrently. Moreover, bit pause registers are utilized so as to simultaneously pause one or more processors. Finally, bit identification registers may be read by any processor to determine the location of the processor.

Abstract: A redirector in either software or hardware can is used to distribute global interrupts among all processors of a multiprocessor (MP) system, which may have multiple architecturally-isolated buses. When redirecting interrupts using software, a default processor receives all interrupts and redirects them to destination processors. When redirecting interrupts using hardware, a discrete redirector in hardware forwards all interrupts to particular processors based on a routing, or look-up, table. Another implementation incorporates interrupt snooping with either software or hardware interrupt redirection where interrupt response is critical for I/O cards.

Abstract: A memory property tagging apparatus is interfaced with one or more caches which are associated with one or more microprocessors of a multiprocessor system having shared memory and a bus network. The apparatus masks off any snoop cycles on the bus network if data corresponding to an address is exclusive to its associated microprocessor(s). The apparatus can specify to its associated one or more caches whether data is cacheable or not. The apparatus can specify to its associated one or more caches whether data is to be treated as write-through or write-back. Finally, the apparatus can translate preselected memory addresses on the bus network into input/output (IO) addresses.