Abstract: A system for automatically modifying the lean of a catamaran during a turn includes a pair of fins, each substantially permanently affixed to the inside edge of the left and right hull, plus a pair of vertically displacing plates that extend, one at a time, from the left or right hull, into the body of water. Individually, the fins or plates modify the lean of a catamaran during a turn such that the tilt is neutral or inboard, versus outboard without either. The cumulative effect of using both is substantial and synergistic.

Abstract: A canopy structure includes arch members defining a barrel vault and horizontal members. Each of the upper horizontal members is affixed to the parallel arch members. The canopy structure further includes arched vertical supports. The upper horizontal supports are affixed to the arched vertical supports. The canopy structure further includes lower horizontal members. Each of the lower horizontal members is affixed to the parallel arch members. According to another aspect, a canopy structure includes a U-shaped dock surrounding a watercraft mooring area. The canopy structure includes inner dock arm edges located on opposite sides of the watercraft mooring area. The canopy structure further includes vertical supports affixed to at least two of the inner dock arm edges. The vertical supports support a canopy frame. The canopy frame defines a barrel vault.

Abstract: Disclosed is a fairlead intended to engage with an anchor chain, for a system for anchoring a floating installation to the ground. The fairlead includes two structures assembled by pivot connection of axis, one upstream, for rigidly connecting the fairlead to the floating installation, and the other downstream, including—a unit for blocking the translational movement of the anchor chain, and—a guide, for guiding a change in direction of the anchor chain. Furthermore, the downstream structure includes two lateral plates delimiting the passage of the chain, the upstream end of each of the plates including a U-shaped bearing receiving an additional arm of the upstream structure and engaging together via a journal, the guide extending between the internal branches of the two bearings.

Abstract: A rotatable chain stopper includes a base, an actuator operatively coupled to the base, and a pair of latches pivotably coupled to the base. The orientation of the base and position of the latches are responsive to extension of the actuator. The rotatable chain stopper may be used as a portion of chain jack assembly, such as on an offshore vessel. The rotatable chain stopper may used in a method of pulling-in, paying-out, and positioning of an anchor chain, such as for mooring an offshore vessel.

Abstract: This invention relates to an improved boat tower hinge which supports a boat tower for use in supporting tow lines used for towing skiers or the like. The hinge can support a boat tower in a raised position while allowing the tower to be swung to a lowered rest position. In the raised tower position the hinge wedges an elongated tongue with polymer sides into an elongated groove having polymer locking inserts to reduce the side-to-side motion of the tower.

Abstract: Disclosed is a marine vessel to transport natural gas hydrates (NGH), the marine vessel includes a hull formed from solid NGH and a skeletal structure to support the hull. Additionally disclosed is a container to transport NGH including a block of solid NGH and a skeletal structure to support the block. Further disclosed is a method of fabricating a marine vessel for transporting and storing natural gas hydrates (NGH), the method includes preparing a mold, placing a skin layer in the mold, assembling a skeletal structure in the mold, preparing a NGH slurry, and pouring into NGH slurry into the mold.

Abstract: A recreational floating bar apparatus capable of carrying beverages including liquor bottles and drinking vessels having a floatable base. A liquor bottle rack can extend upward from the floatable base, the liquor bottle rack having at least two compartments, each compartment sized to receive one of the liquor bottles. A plurality of drinking vessel retainers can be positioned on the floatable base about the liquor bottle rack. The plurality of drinking vessel retainers can include a first set of drinking vessel retainers having a first size, and a second set of drinking vessel retainers having a second size. The apparatus can be used to store relatively large amounts of beverages to help reduce the need for a user to exit the water to retrieve more beverages.

Abstract: A navigation assist system having a plurality of navigation assist apparatuses installed on small boats like motorboats each fitted with an outboard motor to be able to navigate in a predetermined water area, and a server placed on land to communicate with the navigation assist apparatuses. Each of the navigation assist apparatuses detects a trim-up position of the outboard motor, adds the position to a danger level data downloaded from the server unit, and alerts an operator concerned when the boat approaches a region whose danger level is great.

Abstract: A scuba cylinder lower side mounting system employs two mating parts to secure the lower portion of a scuba cylinder to a diver's torso, the first affixed to either side of any side-mount or back mount Buoyancy Control Device utilizing a web waistband. A web cylinder band or stainless steel hose-clamp secures the second part to any scuba cylinder. The two parts are engaged whether in or out of the water by inserting the second part into the first and pivoting the cylinder at the point of attachment. Existing arrangements to position the cylinder valve near the diver's armpit will keep the system locked in place. It may be disengaged before entering or engaged after exiting confined underwater spaces without reaching between the cylinder and diver's torso. The system keeps the cylinder close to and aligned with the diver's torso regardless of the cylinder's change in buoyancy or diver orientation.

Abstract: A subsea system for exploiting an oceanic current shear includes a first vehicle positionable in a first oceanic current and tethered to a second vehicle positionable in a second oceanic current. The first and second oceanic currents have a velocity differential. A drag or lift device integral or attached to the first vehicle exerts a force through the tether on the second vehicle and its associated drag or lift device, thus providing a net propulsive force. Hydrofoils or control devices attached to the vehicles provide hydrodynamic lift, drag, and/or depth control that allow the direction of the force to be controlled for propulsion in a desired direction. The relative currents and/or change in separation of the vehicles can be used for energy harvesting. Turbines and generators coupled to the vehicles harvest energy for long term subsea endurance. A sensor aperture comprises a plurality of sensors coupled to components of the subsea system.

Abstract: A method for performing operations using a water environment robotic system on a target section of pipeline located in an underwater environment is provided. The method includes the steps of deploying the underwater robotic vehicle into the water and visually inspecting the underwater environment to locate the pipeline and its plurality of weld joints. A cleaning operation is performed at one of the plurality of weld joints using the underwater robotic vehicle. The robotic vehicle can land on the sea floor and deploy a robotic arm to inspect the cleaned weld joint. The underwater can then swim to a next weld joint and land and perform cleaning and inspection operations, which can be repeated until all inspection sites are inspected.

Abstract: A watercraft includes a chassis, a drive, a hydrofoil and a drive transfer arm. The drive is operatively connected to a first end of the drive transfer arm. The hydrofoil is pivotably connected to a second end of the drive transfer arm. The watercraft is configured such that operation of the drive causes the hydrofoil to oscillate, to provide thrust. The hydrofoil is pivotably connected to the second end of the drive transfer arm with an adjustable connection mechanism. The adjustable connection mechanism is such that the distance between a leading edge of the hydrofoil and a rotational axis of a pivoting connection point to the drive transfer arm is adjustable.

Abstract: A trolling motor mount intended for a larger watercraft having a bow-mounted anchoring system, with the trolling motor mount having a horizontal mounting platform, a vertical extension member, and a shank, with the horizontal mounting platform being suitably configured to attach a standard trolling motor thereto, the shank being suitably configured to attach to the anchoring system of the watercraft in place of the anchor, and the vertical extension member being of sufficient length to allow the trolling motor to properly reach the water when the trolling motor mount is securely attached to the watercraft by the anchoring system.

Abstract: Embodiments of a boat heat exchanger system of the present invention employable to cool a user device via heat transfer generally include an inlet pipe, an outlet pipe, and an inline pump, wherein the inlet pipe is fluidly connectable to an external aqueous fluid source. In one embodiment, a closed-looped system utilizing a heat exchange component of a contained external aqueous fluid source is provided. In another aspect, embodiments of a boat heat exchanger system of the present invention contain a close-looped system and generally include an inlet pipe, an outlet pipe, an inline pump, and an externally disposed heat exchanger, wherein an aqueous fluid is recirculated through the heat exchanger system. Methods of cooling user devices on a boat using embodiments of a boat heat exchanger system are provided.

Abstract: A flexurally controlled system comprises an elongated structure, a tendon attached to the elongated structure, and an actuator operable to apply a tensile load to the tendon. The actuator is operable to apply the tensile load to the tendon when at least one of the first side of the elongated structure is under a first tensile stress or the second side of the elongated structure is under a first compressive stress. The actuator is also operable to apply no load to the tendon when the first side and the second side of the elongated structure are not under stress. The tendon is non-coaxial with a central axis of the elongated structure and is aligned with at least one region of the elongated structure.

Abstract: The present disclosure provides a tape comprising: a) a single layer comprising a crosslinked polymer, selected from the group consisting of crosslinked polyurethane, crosslinked polyurea, and crosslinked mixed polyurethane/polyurea polymer, and b) an adhesive layer. In another embodiment, the tape comprises at least one layer comprising a semi-interpenetrating polymer network of a crosslinked acrylate and an uncrosslinked polymer selected from the group consisting of polyurethane, polyurea, and mixed polyurethane/polyurea polymer.

Abstract: An unmanned aerial vehicle includes a body and a heat source disposed in the body. The heat source includes at least one of an electronic controller system and a motor. The unmanned aerial vehicle further includes a plurality of rotor blades. At least a portion of the body is constructed of crystalline carbon fibers.

Abstract: A slat cove filler is utilized to reduce airframe noise resulting from deployment of a leading edge slat of an aircraft wing. The slat cove filler is preferably made of a super elastic shape memory alloy, and the slat cove filler shifts between stowed and deployed shapes as the slat is deployed. The slat cove filler may be configured such that a separate powered actuator is not required to change the shape of the slat cove filler from its deployed shape to its stowed shape and vice-versa. The outer contour of the slat cove filler preferably follows a profile designed to maintain accelerating flow in the gap between the slat cove filler and wing leading edge to provide for noise reduction.

Abstract: An aircraft with a wing assembly includes a wing extending from the aircraft along a span wise centerline and having a first and second portions that define an interior space. A wing fold mechanism includes at least one linkage that connects the first portion to the second portion. An actuator is connected to the at least one linkage for moving the second portion relative to the first portion. The second portion is movable between a folded condition extending at an angle relative to the first portion and a deployed condition coextensive with and abutting the first portion to form a seam that completely encircles the span wise centerline so as to completely enclose the wing fold mechanism within the interior space.

Abstract: A high-lift system for an aircraft includes a high-lift flap which is arranged on the wing of the aircraft and is mounted on a carriage coupled to the wing, the carriage being displaceably mounted on a track by means of a high-lift bearing. The high-lift bearing includes a plain bearing.

Abstract: An airplane wing assembly includes a wing, a winglet and a connection element. The wing has a wing box. The wing box is located at a wing tip of the wing and the winglet is connected with the wing by the wing box. The connection element includes a butt joint rib, which is assembled with the wing box, and a center connection, which is assembled with the winglet. The butt joint rib has a first shearing pin hole and a second shearing pin hole, into which are press fitted a corresponding first and a second shearing pin respectively to form interference fit. The center connector has a first sleeve hole and a second sleeve hole.

Abstract: A composite metallic joint assembly may include a composite metal rod having a metal liner and a composite material disposed around the metal liner. A first portion of the composite metal rod may comprise the composite material and the metal liner and a second portion of the composite metal rod may comprise the metal liner exposed at a radially outer surface of the composite metal rod. The metal liner may have a first radial thickness at a first axial position corresponding to the first portion of the composite metal rod and a second radial thickness at a second axial position corresponding to the second portion of the composite metal rod. The second thickness may be greater than the first thickness.

Abstract: A clutch assembly for an aircraft drive wheel drive system to move an aircraft independently on the ground is provided. The clutch is mounted within an aircraft drive wheel to be operatively engaged and disengaged to selectively actuate a roller traction or other drive system to activate a non-engine drive means to drive the wheel and the aircraft. One embodiment of the clutch assembly includes a plurality of pivoted sprag elements selectively activatable to transmit torque between inner and outer clutch members and activate the drive wheel drive system. The clutch assembly may also include mating crown gear and straight gear elements integrated with the drive system to reduce stresses on the drive system as the drive means is actuated. Various arrangements of sprags and clutch assembly components may be provided to monitor and selectively control disengagement of the clutch assembly and communicate disengagement to selectively prevent drive system actuation.

Abstract: A monitoring system for a dual-stage, stroke activated, mixed fluid gas shock strut may comprise a controller, and a tangible, non-transitory memory configured to communicate with the controller. The tangible, non-transitory memory may have instructions stored thereon that, in response to execution by the controller, cause the controller to perform various operations. Said operations may include calculating, by the controller, a compression factor, determining, by the controller, a plurality of compression factors for known oil volumes based on at least one of the primary chamber temperature sensor reading and the shock strut stroke sensor reading, and calculating, by the controller, an oil volume in a primary chamber of the shock strut.

Abstract: The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

Abstract: An aerial vehicle includes at least one wing, a plurality of thrust producing elements on the at least one wing, a plurality of electric motors equal to the number of thrust producing elements for individually driving each of the thrust producing elements, at least one battery for providing power to the motors, and a flight control system to control the operation of the vehicle. The aerial vehicle may include a fuselage configuration to facilitate takeoffs and landings in horizontal, vertical and transient orientations, redundant control and thrust elements to improve reliability and means of controlling the orientation stability of the vehicle in low power and multiple loss of propulsion system situations. Method of flying an aerial vehicle includes the variation of the rotational speed of the thrust producing elements to achieve active vehicle control.

Abstract: An elastomeric bearing configured for use in a rotor blade assembly is provided including an inner race, and an outer race. An outer damper portion is arranged adjacent the outer race and an inner snubber portion is arranged adjacent the inner race. A rigid transition layer is disposed between the outer damper portion and the inner snubber portion. The rigid transition layer has a generally circular cross-section except at a segment which has been removed and which defines a generally planar surface at a chord of the segment. The generally planar surface is configured to contact a surface of an adjacent component.

Abstract: Loads from the propeller-gearbox-engine assembly are transferred to an airframe directly, without concentrated internal structure. In preferred embodiments this is accomplished using a lightweight, structurally efficient hub and gearbox that transfer their rotor loads directly to the nacelle OML (Out Mold Line) monocoque. By keeping the load path direct and at the largest diameter, the structure achieves higher stiffness and strength efficiency than conventional point loaded internal frames.

Abstract: A variable pitch propeller apparatus enables a propeller to have different pitch angles in one revolution about the drive shaft. The propellers are coupled to a race that is flexible and actuated into different offset distances by a race-deflector. A race-linkage may extend between the race and the propeller or drive shaft coupler to rotate the propeller to a pitch angle as determined by the offset distance to the race. A race-linkage may incorporate one or more wheels that engages with the race and rolls along the race and about the drive shaft. An aircraft utilizing one or more of the variable pitch propeller apparatus may be able to produce downward thrust for vertical take-off and landing and transition to forward flight. The pitch of the propellers may be changed from take-off to flight to provide the required propulsion for the aircraft.

Abstract: Various embodiments of the present disclosure provide a tail-sitter aircraft having a leg assembly convertible from landing gear into a rear fuselage and empennage (or a tail assembly) of the aircraft. Generally, the leg assembly includes multiple legs movable from a closed configuration in which the legs form the tail assembly of the tail-sitter aircraft to an open configuration in which the legs form the landing gear of the tail-sitter aircraft (and vice-versa).

Abstract: Method for aerial image capturing by means of an unmanned and controllable aircraft comprising a camera, more particularly a drone, during a flight maneuver of said aircraft, comprising continual determining of a camera position and alignment of an optical camera axis and acquiring of a series of aerial images. For each aerial image of said aerial image series, the capturing of the respective aerial image is triggered by flying through a respective image trigger region with said aircraft, wherein the location of said respective image trigger region is determined at least in each case by one trigger position assigned to said respective image trigger region and triggered subject to the alignment of the camera axis when flying through said respective image trigger region, with respect to fulfilling a defined, maximum angle deviation relative to a predetermined spatial alignment.

Abstract: Systems, apparatuses, and methods are provided herein for unmanned flight optimization. A system for unmanned flight comprises a set of motors configured to provide locomotion to an unmanned aerial vehicle, a set of wings coupled to a body of the unmanned aerial vehicle via an actuator and configured to move relative to the body of the unmanned aerial vehicle, a sensor system on the unmanned aerial vehicle, and a control circuit. The control circuit being configured to: retrieve a task profile for a task assigned to the unmanned aerial vehicle, cause the set of motors to lift the unmanned aerial vehicle, detect condition parameters based on the sensor system, determine a position for the set of wings based on the task profile and the condition parameters, and cause the actuator to move the set of wings to the wing position while the unmanned aerial vehicle is in flight.

Abstract: A pod assembly which includes a pod and an inertial measurement unit positioned within the pod. The pod assembly further includes deceleration hardware associated with the pod. A method for using a pod assembly, includes a step of securing the pod assembly, which includes a pod and an inertial measurement unit contained within the pod, to an aircraft and a step of operating the aircraft with the inertial measurement unit operating sensing movement and alignment of the pod and storing data corresponding to the sensed movement and alignment of the pod on a data collection assembly connected to the inertial measurement unit. The method further includes a step of releasing the pod assembly from the aircraft and a step of utilizing deceleration hardware associated with the pod to reduce rate of descent of the pod assembly released from the aircraft.

Abstract: A multi-tank system and aircraft for dispersing firefighting materials includes a fuselage, a pair of wings, a first storage tank, a second storage tank, a first opening, a second opening, a first closure, a second closure, and an actuator. The first opening is disposed forward of a center of gravity of the aircraft and the second opening is disposed rearward of the center of gravity of the aircraft to maintain stability of the aircraft. The first opening is coupled to the first storage tank and the second opening is coupled to the second storage tank; a fuselage keel beam is positioned around the perimeters of the first and second openings. The actuator is configured to open the first closure and the second closure, in order to disperse firefighting materials such as water, fire retardant, or a mixture thereof.

Abstract: An actual position of a load tethered with a tether to a vehicle is determined using a plurality of sensors disposed on the vehicle. A required tether tension and required tether angle of the tether is determined to move the load from the actual position to a commanded position. An actual tether tension and actual tether angle of the tether is determined using the plurality of sensors. A determination is made as to a thrust vector to be applied by the vehicle to change the actual tether tension and the actual tether angle of the tether to the required tether tension and the required tether angle. The thrust vector is applied with the vehicle to reposition the vehicle to achieve the required tether angle and to create the required tether tension of the tether to move the load to the commanded position.

Abstract: A retention system for use within a molecular sieve unit includes a perforated plate having a top face and bottom face. The perforated plate is configured to be positioned atop a packed sieve bed proximate an outlet end cap of the molecular sieve unit. A skirt is coupled to the bottom face of the perforated plate and a biasing member is configured to engage the outlet end cap and the top face of the perforated plate. The biasing member urges the perforated plate against the packed sieve bed. The biasing member may be one or more wave springs thereby reducing the risk of losing sufficient biasing force against the perforated plate. In the event that a sufficient biasing force is lost, the skirt may operate as a failsafe so as to minimize or prevent tilting of the perforated plate within the housing.

Abstract: A trolley for collecting waste includes a housing having a main waste chamber for receiving waste, and wheels attached to a bottom wall of the housing. The housing has at least one module seating, each configured to receive a waste module for collecting waste. Each module seating includes fasteners configured to releasably couple to a waste module. The waste module includes a module housing having at its top surface a top opening for inserting waste, and having a module waste chamber for receiving waste inserted through the top opening. The module housing includes second connection means at its outside surface, which are configured to releasably interact with first connection means of a trolley for collecting waste. Also disclosed herein is a system that includes the trolley and at least one waste module inserted into the at least one module seating.

Abstract: A galley assembly for a cabin of a vehicle includes a galley housing having a front side and a plurality of compartments capable for housing kitchen appliances, an air suction port, an air extraction manifold having a bypass element, and a mechanical control device. Each compartment has a ventilation port. The air suction port is pneumatically coupled with the air extraction manifold, which is coupled with the ventilation ports of the compartments. The bypass element is positioned on one of the plurality of walls facing away from the front side and it selectively provides a through-flow opening with an adjustable opening area to the surrounding of the galley assembly.

Abstract: An inertia reel interface for stowable seats is provided. The inertia reel interface may allow for simple access and replacement of inertia reels during maintenance. The inertia reel interface may comprise an inertia reel beam, a payout tube, and one or more inertia reels coupled to the inertia reel beam. The inertia reel beam may deploy a shoulder harness webbing over the payout tube. The payout tube may pivot to a first access position or a second access position to allow for maintenance of the inertia reel interface components.

Abstract: In an illustrative embodiment, a two-piece folding tray table includes a personal electronic device (PED) support member connected to a tray section such that, in a stowed position, the PED support member is substantially flush with the tray table. The PED support member may be deployable in both a folded tray table configuration and a side-by-side tray table configuration to support a personal electronic device at a substantially identical angle regardless of tray table use mode.

Abstract: A refrigeration system for providing cooled air to a plurality of galley compartments. The refrigeration system includes a plurality of galley compartments configured to receive therein at least one galley cart, a refrigeration unit configured to supply cooled air to the plurality of galley compartments, and an airflow supply and return system coupling the refrigeration unit to the plurality of compartments.

Abstract: An aircraft environmental control system (4) for controlling a temperature of a fluid, the control system (4) comprising: a temperature sensor (30) configured to measure a temperature of the fluid and to generate a first signal, the first signal being indicative of the measured temperature; a control signal generator (52) configured to, dependent upon the first signal, generate a control signal for controlling the temperature of the fluid; and one or more processors (64) configured to, responsive to determining that the measured temperature is less than or equal to a pre-determined threshold value (e.g. 0° C.), increase a gain of the control signal generator (52).

Abstract: An apparatus and method for deicing a surface upon which ice accumulates, on for example an aircraft wing. The apparatus and method for the deicing module include an actuating component, a casing, and a movable member. The movable member breaks ice that has accumulated on a surface of the wing.

Abstract: A preferred break point is provided in the airframe, where there is a ballistic parachute system which includes a rocket which sits in a rocket canister and a canopy which sits in a canopy canister. The airframe includes a composite material and covers the ballistic parachute system. The preferred break point is located in the airframe over the opening of the rocket canister. A preferred break path is provided in the airframe located at least partially over the opening of the rocket canister and at least partially over the opening of the canopy canister.

Abstract: The invention relates to a suspension pylon comprising: at least one arm (3) for suspending a propulsion unit (4) from the fuselage (2) of an airplane (1), an oil exchange circuit (70) configured to be connected, on the one hand, to an oil pump (5) in the fuselage (2) and on the other hand, to the propulsion unit (4) the arm (3) whereof provides for suspension, said circuit (70) comprising a feed line (72) and a return line (74), which both extend inside said arm (3), an intermediate shaft (6) which extends in said arm (3), said shaft being configured, on the one hand, to be driven by the propulsion unit (4) the arm (3) whereof provides for suspension and, on the other hand, to drive the oil pump (5) in the fuselage (2), wherein the arm (3) has a structure adapted for cooling the oil exchange circuit at the arm (3).

Abstract: An acoustic structure for an aircraft nacelle which comprises an acoustically resistive substructure, at least one layer of cells and a reflective layer. The acoustic structure comprises at least one single-piece substructure which divides up the layer of cells and which incorporates elongated elements of a de-icing system.

Abstract: The invention relates to a nacelle (1) for an aircraft turbojet, the nacelle comprising a frustoconical radially outer annular wall (13), a pylon (9) extending radially outwards from said annular wall, the pylon (9) being designed to fasten the nacelle (1) to a fixed portion of the airplane, said nacelle being characterized in that it is provided with at least one projecting zone (22) extending radially outwards from the frustoconical outer wall (13), said projecting zone (22) being situated in the vicinity of a downstream annular edge (14) of said outer wall (13) and in the vicinity of the pylon (9).

Abstract: A system for protecting the structural integrity of an engine strut may include a first monitor, a second monitor, and a controller communicatively coupled to the first monitor and the second monitor. The first monitor may be mounted proximate an engine strut coupling a turbine engine to an airframe of an aircraft. The second monitor may be mounted proximate the first monitor. The first monitor and the second monitor may each be configured to fail upon reaching a triggering temperature indicative of a burn-through in an engine case during operation of the turbine engine. The controller may be configured to automatically reduce an operating parameter of the turbine engine upon a failure of both the first monitor and the second monitor.

Abstract: An exhaust system for reducing infrared emissions of a rotary wing aircraft includes a manifold; an opening in the manifold, the opening configured to face upwards and away from the rotary wing aircraft; and a chimney including a wall positioned about the opening, the chimney configured to eject an emission of intermixed secondary air and engine exhaust upwards and away from the rotary wing aircraft.

Abstract: A propulsion system that includes a plurality of power units, a plurality of propulsors, where respective power units of the plurality of power units are controllably coupled to the plurality of propulsors, and a controller configured to receive a desired throttle value corresponding to a desired propulsive force, determine a number of power units of the plurality of power units to be coupled to the plurality of propulsors to achieve the desired propulsive force based on a respective power value associated with each respective power unit of the plurality of power units, and cause the number of power units of the plurality of power units to be coupled to the plurality of propulsors.