Abstract: Implementations include herein are visual navigation strategies and systems for lumen center tracking comprising a high-level state machine for gross (i.e., left/right/center) region prediction and curvature estimation and multiple state-dependent controllers for center tracking, wall-avoidance and curve following. This structure allows a navigation system to navigate even under the presence of significant occlusion that occurs during turn navigation and to robustly recover from mistakes and disturbances that may occur while attempting to track the lumen center. This system comprises a high-level state machine for gross region prediction, a turn estimator for anticipating sharp turns, and several lower level controllers for heading adjustment.

Abstract: A self-propelled semi- or fully-autonomous robotic endoscope device is provided that include multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include two independently controlled motors configured to drive micro-pillared treads above and below the device, allowing for 2-degrees of freedom (DOF) skid-steering even in a collapsed lumen. The robotic device contains similar functionality of a traditional endoscope, such as a camera, adjustable LEDs, channels for insufflation and irrigation, and a tool port for common endoscopy instruments (e.g., forceps, snares, etc.).

Abstract: Systems, methods, and devices are provided that enable robust operations of a small unmanned aircraft system (sUAS) using a compound wing. The various embodiments may provide a sUAS with vertical takeoff and landing capability, long endurance, and the capability to operate in adverse environmental conditions. In the various embodiments a sUAS may include a fuselage and a compound wing comprising a fixed portion coupled to the fuselage, a wing lifting portion outboard of the fixed portion comprising a rigid cross member and a controllable articulating portion configured to rotate controllable through a range of motion from a horizontal position to a vertical position, and a freely rotating wing portion outboard of the wing lifting portion and configured to rotate freely based on wind forces incident on the freely rotating wing portion.

Abstract: Systems, methods, and devices are provided that enable robust operations of a small unmanned aircraft system (sUAS) using a compound wing. The various embodiments may provide a sUAS with vertical takeoff and landing capability, long endurance, and the capability to operate in adverse environmental conditions. In the various embodiments a sUAS may include a fuselage and a compound wing comprising a fixed portion coupled to the fuselage, a wing lifting portion outboard of the fixed portion comprising a rigid cross member and a controllable articulating portion configured to rotate controllable through a range of motion from a horizontal position to a vertical position, and a freely rotating wing portion outboard of the wing lifting portion and configured to rotate freely based on wind forces incident on the freely rotating wing portion.