Abstract: A multirotor aerial vehicle (MAV) is disclosed. The MAV includes a housing, a plurality of rotatable arms, wherein each of the plurality of rotatable arms has a proximal end coupled to the housing and a distal end configured to rotate about a vertical axis passing through the proximal end of the corresponding arm, a plurality of thrust-generating rotors, each coupled to a corresponding one of the plurality of rotatable arms at the corresponding distal end, a flight controller configured to selectively control each of the plurality of thrust-generating rotors, and a flight trim controller configured to control rotation of the plurality of rotatable arms in order to adjust the geometric center of the rotors of the MAV from a first center of gravity (CoG) associated with the MAV in an unloaded state to a second CoG associated with the MAV in a loaded state.

Abstract: A vibration control system for an unmanned aerial vehicle (UAV) is disclosed. The system includes a base platform fixedly coupled to a UAV structure, a working platform coupled to the base platform by two or more cables at two or more connection points on the working platform, and two or more actuators positioned either on the base platform or the working platform, each actuator configured to receive a signal to adjust tension in a corresponding cable, wherein by adjusting tension in the two or more cables, natural frequency of the working platform can be adjusted in response to frequency of vibration experienced by the working platform in order to maintain a frequency ratio (FR) of the vibration frequency to the natural frequency at or above a predetermined value.

Abstract: A multirotor aerial vehicle (MAV) is disclosed. The MAV includes a housing, a plurality of rotatable arms, wherein each of the plurality of rotatable arms has a proximal end coupled to the housing and a distal end configured to rotate about a vertical axis passing through the proximal end of the corresponding arm, a plurality of thrust-generating rotors, each coupled to a corresponding one of the plurality of rotatable arms at the corresponding distal end, a flight controller configured to selectively control each of the plurality of thrust-generating rotors, and a flight trim controller configured to control rotation of the plurality of rotatable arms in order to adjust the geometric center of the rotors of the MAV from a first center of gravity (CoG) associated with the MAV in an unloaded state to a second CoG associated with the MAV in a loaded state.

Abstract: A vibration control system for an unmanned aerial vehicle (UAV) is disclosed. The system includes a base platform fixedly coupled to a UAV structure, a working platform coupled to the base platform by two or more cables at two or more connection points on the working platform, and two or more actuators positioned either on the base platform or the working platform, each actuator configured to receive a signal to adjust tension in a corresponding cable, wherein by adjusting tension in the two or more cables, natural frequency of the working platform can be adjusted in response to frequency of vibration experienced by the working platform in order to maintain a frequency ratio (FR) of the vibration frequency to the natural frequency at or above a predetermined value.

Abstract: A body weight support (BWS) system is disclosed. The BWS system includes a harness coupled to a plurality of cables, wherein the harness is worn by a subject, an actuator for each of the plurality of cables, each actuator configured to place a tension on a corresponding cable in response to an electrical signal, at least one force sensor configured to provide an electrical signal corresponding to forces applied to the harness, at least one motion sensor configured to provide an electrical signal corresponding to changes in acceleration of the subject, and a controller configured to control the plurality of actuators.

Abstract: A method and device for accurately positioning patients for imaging and radiotherapy is disclosed. The device includes a support platform (such as a bed, a table, a couch, a chair, etc.) connected to a fixed base by at least two and preferably four offset supporting arms. The support arms are journaled into the support platform at passive-rotatable pivot joints and are journaled into the base at active-rotatable pivot points. The base contains actuators (manual or powered by motors, pneumatics or hydraulics) for articulating the support arms. The relative lengths of the support arms may be varied to create a pre-defined trajectory of the support platform, between a starting spatial position and orientation to an ending spatial position and orientation, and through a continuous range there between. This makes it possible to position a patient within a range from a low, standing up position to a high, forwarding, prone or supine position, or vice versa.

Abstract: A method and device for accurately positioning patients for imaging and radiotherapy is disclosed. The device includes a support platform (such as a bed, a table, a couch, a chair, etc.) connected to a fixed base by at least two and preferably four offset supporting arms. The support arms are journaled into the support platform at passive-rotatable pivot joints and are journaled into the base at active-rotatable pivot points. The base contains actuators (manual or powered by motors, pneumatics or hydraulics) for articulating the support arms. The relative lengths of the support arms may be varied to create a pre-defined trajectory of the support platform, between a starting spatial position and orientation to an ending spatial position and orientation, and through a continuous range there between. This makes it possible to position a patient within a range from a low, standing up position to a high, forwarding, prone or supine position, or vice versa.

Abstract: A method and device for accurately easily and accurately positioning patients with breast cancer in the prone position for imaging and radiotherapy is disclosed. The device is a couch or support structure with a double-layer structure that allows relative planar motion between the two layers. To easily slide the top layer, an array of ball transfer units is embedded on the upper side of the bottom layer while the under side of the top layer has a corresponding array of bearing plates to prevent the ball transfer units from grinding into the top layer. A locking mechanism is specially designed to interlock the two layers safely when a knob handle is tightened. A frame of bars is attached to the bottom layer to constrain translation of the top layer. Each layer has two openings for the through insertion of breasts. When a patient lies in the prone position, the breast to be treated is pendent through the couch, and the untreated breast may be blocked from radiation exposure by a removable opening cover.

Abstract: A method and device for accurately easily and accurately positioning patients with breast cancer in the prone position for imaging and radiotherapy is disclosed. The device is a couch or support structure with a double-layer structure that allows relative planar motion between the two layers. To easily slide the top layer, an array of ball transfer units is embedded on the upper side of the bottom layer while the under side of the top layer has a corresponding array of bearing plates to prevent the ball transfer units from grinding into the top layer. A locking mechanism is specially designed to interlock the two layers safely when a knob handle is tightened. A frame of bars is attached to the bottom layer to constrain translation of the top layer. Each layer has two openings for the through insertion of breasts. When a patient lies in the prone position, the breast to be treated is pendent through the couch, and the untreated breast may be blocked from radiation exposure by a removable opening cover.