Abstract: The present disclosure relates, in some embodiments, to ceiling fans. More specifically, the present disclosure relates to ceiling fans that may comprise a body comprising a top cover, a bottom cover, and an internal cavity therebetween. Curvilinear segments of the top cover may contour against curvilinear segments of the bottom cover. Fan blades may be secured between the top cover and the bottom cover, and may extend through a lateral recess of the body. The top cover and the bottom cover may form a body comprising a substantially discoidal or substantially oblate spheroid geometry.

Abstract: One embodiment of the present disclosure is a unique airborne electrical power and thermal management system. Another embodiment is a unique aircraft. Other embodiments include apparatuses, systems, devices, hardware, methods, and combinations for aircraft and electrical power and thermal management systems. Further embodiments, forms, features, aspects, benefits, and advantages of the present application will become apparent from the description and figures provided herewith.

Abstract: Lift offset management and control systems are provided for a rotorcraft including main rotor and auxiliary propulsor assemblies, the main rotor assembly including first and second rotors disposed to oppositely rotate relative to an airframe about a same rotational axis, and sensors disposed to generate hub moment, tip clearance and lift offset data of the main rotor assembly.

Abstract: A tail rotor device, which can be attached to a tail boom of a rotary wing aircraft, in particular of a helicopter, encompassing a sheathing, which forms an air flow channel with a channel depth running in the direction of a channel axis perpendicular to the vertical axis and longitudinal axis and an inner channel diameter, so that a tail rotor with rotor blades can be rotatably mounted in the air flow channel, wherein the sheathing is designed in such a way that its channel depth in a negative longitudinal direction tapers toward the back, wherein the objective is to improve the forward flight characteristics during operation and reduce the power consumption of the main rotor. This is achieved by virtue of the selected variable channel depth is always less than one fourth of the inner channel diameter, and the ratio between the variable channel depth of the sheathing in the direction of the longitudinal axis and the inner channel diameter of the sheathing lies between 20.5% and 14%.

Abstract: The present invention provides an apparatus and related methods for stabilizing a payload device such an imaging device. The methods and apparatus provide fast response time for posture adjustment of the payload device while reducing the energy used.

Abstract: The rotorcraft may include an airframe, at least one engine connected to the airframe, and a rotor connected to the airframe. The rotor may include a hub, a rotor blade, and a feathering spindle connected to the hub. The rotor blade may have a root and a tip and form a conduit extending in the radial direction from the root to the tip. The root may comprise a wall forming a hollow circular cylinder. The hollow circular cylinder may form a portion of the conduit. A plurality of bolts may be distributed circumferential within the wall of the root. The plurality of bolts may extend in the radial direction from the wall of the root to secure the rotor blade to the feathering spindle.

Abstract: An unmanned aerial vehicle/unmanned aircraft system including an airframe; a plurality of rotor assemblies respectively extending from a plurality of arms connected to said airframe, said rotor assemblies each having a rotor thereon with at least one rotor blade; a landing gear extending from said airframe; and a flight controller disposed on said airframe; wherein said flight controller receives instructions for unmanned aerial vehicle/unmanned aircraft system control.

Abstract: The invention provides a camera for photogrammetry, which comprises a shaft 11 tiltably supported in any direction via a gimbal 14, a GPS device having a GPS antenna 12 installed on an upper end of said shaft, and a photographic device main unit 13 installed on a lower end of said shaft, wherein optical axis of said photographic device main unit is designed so as to direct in vertical and downward direction, said photographic device main unit has an image pickup unit 24 installed in a known relation with said GPS antenna and a control device for controlling image pickup of said image pickup unit, and said control device 19 controls said image pickup unit so that still image is acquired by the image pickup unit, and an image pickup position at the time of image pickup is obtained by said GPS device.

Abstract: A rotary wing aircraft comprising a fuselage, a cabin volume enclosed by the fuselage, a main rotor arranged above the fuselage, a tail rotor mounted on a tail, the tail being attached to a rear part of the fuselage supporting the tail at its rear end, whereas the tail includes two beam boom elements, one element extending at the port side and the other element extending at the starboard side of the rotary wing aircraft, the front root end of each element being hinged to the corresponding lateral side of the fuselage, and both elements being canted with respect to the longitudinal axis of the rotary wing aircraft so as to be interconnected to each other at the rear portion of the tail.

Abstract: An aerial vehicle may be equipped with propellers having reconfigurable geometries. Such propellers may have blade tips or other features that may be adjusted or reconfigured while the aerial vehicle is operating, on any basis. Propellers having reconfigurable blade tips joined to blade roots may cause the blade tips to be aligned with the blade roots, or substantially perpendicular to the blade roots, e.g., in order to counter adverse effects of tip vortices, or at any intervening angle. The propellers may be reconfigured at predetermined times during operation of an aerial vehicle, or upon sensing one or more operational characteristics or environmental conditions, as may be desired or required.

Abstract: A multi-rotor UAV having a pull pin mechanism that engages and disengages the rotor arms from a deployed, in-flight position to a storage or transport configuration, thus making the UAV more portable and capable of carrying larger payloads with the flexibility of folding into a smaller configuration or profile for transport, such as in a backpack. The device includes a rotor arm utilization of a pull pin mechanism to lock and unlock the position of the arms, and a proprietary frame.

Abstract: This disclosure describes an unmanned aerial vehicle (“UAV”) configured to autonomously deliver items of inventory to various destinations. The UAV may receive inventory information and a destination location and autonomously retrieve the inventory from a location within a materials handling facility, compute a route from the materials handling facility to a destination and travel to the destination to deliver the inventory.

Abstract: The present description relates to a remote connection system suitable for being incorporated in an aircraft (1A, 1B, 1C) comprising at least one engine propeller (50A, 50B, 50C) having a plurality of blades (52A, 52B, 52C) suitable for rotating relative to a stationary module (10A, 10B, 10C) of the aircraft about an engine axis (X). The remote connection system comprises: a light emitter device configured, when the remote connection system is incorporated in the aircraft (1A, 1B, 1C), to emit a light beam that emerges to the outside of the propeller (50A, 50B, 50C), from at least one emission surface (54A, 54B, 54C) of said propeller (50A, 50B, 50C).

Abstract: The present invention provides systems, methods, and devices related to target tracking by UAVs. The UAV may be configured to receive target information from a control terminal related to a target to be tracked by an imaging device coupled to the UAV. The target information may be used by the UAV to automatically track the target so as to maintain predetermined position and/or size of the target within one or more images captured by the imaging device. The control terminal may be configured to display images from the imaging device as well as allowing user input related to the target information.

Abstract: Embodiments are directed to a method comprising: providing, by a coil embedded in a structure of a rotor hub composed of a paramagnetic material, power to at least one sensor, and receiving, by the coil, data from the at least one sensor. Embodiments are directed to a system comprising: a coil embedded in a structure of a rotor hub composed of a paramagnetic material, and a plurality of sensors communicatively coupled to the coil and configured to receive power from the coil.

Abstract: A computer implemented method performed by a composite electrical load monitoring system includes determining, at a first time instant during a duration, a first margin between a first reading of a first electrical parameter and a first electrical parameter limit for a first power source, and determining, at the first time instant during the duration, a second margin between a second reading of a second electrical parameter and a second electrical parameter limit for a second power source. The method further includes determining, after the first time instant, that the first margin is less than the second margin in response to determining the first margin and the second margin, and displaying, in a display device and within the duration, an identifier for the first power source in response to determining that the first margin is less than the second margin.

Abstract: The present invention provides an amphibious flying car, comprising: a casing, a chassis, a ship bottom body, a vehicle wheel, a drive system and an operating system; an upper airfoil and a rotor wing which are arranged on the top of the casing, are fixed on a bearing carrier located at the orthocenter of the fuselage; a strake wing is provided at the position where the casing, the chassis and the ship bottom body are combined; the horizontal wing comprises a stabilizing plane and an elevator, which are respectively located at the front end and the rear end of the fuselage; the vertical twin fins are arranged at both sides of the rear end of the fuselage, and its root segments are fixedly connected to the strake wing.

Abstract: A clamp has a base and a first selectively compliant component carried by the base, the first selectively compliant component being selectively operable between a substantially compliant state and a substantially rigid state.

Abstract: In some examples, an unmanned aerial vehicle is provided. The unmanned aerial vehicle may include a propulsion device, a sensor device, and a management system. In some examples, the management system may be configured to receive human gestures via the sensor device and, in response, instruct the propulsion device to affect an adjustment to the behavior of the unmanned aerial vehicle. Human gestures may include visible gestures, audible gestures, and other gestures capable of recognition by the unmanned vehicle.

Abstract: A method for controlling rotor blades of a co-axial rotor assembly of an aircraft including a first rotor co-axial with a second rotor includes identifying a first zone of rotor rotation angles of the co-axial rotor assembly. The first zone defines a range of rotor rotation angles corresponding to an up-flow of air to the coaxial rotor assembly, and the remainder of the rotor rotation angles other than the first zone of rotation angles is defined as a second zone. The method includes receiving a yaw command to adjust a yaw moment of the aircraft and applying a different rotor blade angle change to rotor blades in the first zone than a rotor blade angle change applied to rotor blades in the second zone to adjust the yaw moment of the aircraft according to the yaw command.

Abstract: The vehicle mounting structure comprises an electronic device, a first bracket, a drive train and a first vibration isolating bush. The electronic device is fixed on the drive train via the first bracket, and the electronic device and the drive train define a gap therebetween. The first vibration isolating bush is provided between the first bracket and the electronic device.

Abstract: A rotor blade (1) with an exterior shell (20) extending in a span and chord wise direction and at least one control flap (4) extending in essentially span wise direction to said exterior shell (20). Load transmission means inside said blade chamber (7) comprise piling type housings (13) respectively with one actuator (8, 9), one flap drive (10, 11) and a longitudinal girder (15). Said at least one piling type housing (13) comprises at least one upper strap (14) and at least one lower strap (14) oriented essentially in said chord direction in between said longitudinal girder (15) on the one side and the support for said at least one actuator (8, 9) on the other side, each of said upper and lower straps (14) being symmetric aligned in chord direction relative to at least two pivot bearings (35, 36). Said upper and lower straps (14) are stiff in chord direction and flexible in span wise direction.

Abstract: Provided is a position estimation apparatus including: a position estimation unit configured to estimate a position of a moving object driven on an arbitrary lane according to an image frame captured by a stereo camera provided in the moving object; a posture information acquisition unit configured to obtain first posture information of the moving object from the estimated position and second posture information of the moving object at a point of time of the stereo camera capturing the image frame; a position correction unit configured to calculate: a probability distribution for a current position of the moving object by using the first posture information and the second posture information, and configured to correct a first probability of the probability distribution for the current position as a corrected position of the moving object; and a composite probability distribution based on a probability of a lane section of the arbitrary lane from a lane probability distribution chart and the corrected position

Abstract: A method of enabling an autopilot (9) to cause a rotorcraft (1) to follow a path. At least one guide mode (G) relative to at least one progression axis (P, R, V, Y) of the rotorcraft (1) is selected by the rotorcraft pilot. Said selection causes the selected guide mode (G) to be inhibited (19) and causes a path setpoint (C) to be acquired (20) from the pilot of the rotorcraft (1) operating a manual control member (4) for controlling the progression of the rotorcraft (1). The path setpoints (C) relating to other guide modes (G) of the rotorcraft (1) that continue to be engaged are conserved in their initial states and the autopilot (9) adapts the commands relating to the progression axes (P, R, V, Y) relating to these other guide modes (G).

Abstract: One example of a torque transfer system for a rotorcraft includes a first rotational joint connected to a rotorcraft rotary shaft. The first rotational joint receives a portion of a torque generated by rotation of the rotorcraft rotary shaft and transfers the portion of the torque to a rotorcraft rotating component. The torque transfer system also includes a second rotational joint of a different type connected to the rotorcraft rotary shaft. The second rotational joint receives a remainder of the torque generated by the rotation of the rotorcraft rotary shaft and transfers the remainder of the torque to the rotorcraft rotating component.

Abstract: A frequency adapter for a rotorcraft rotor is provided. The frequency adapter has at least first and second cylinders having respective elongate first and second side walls, respectively. The second cylinder is surrounded at least in part by the first cylinder. Resilient return rings are in contact with the first and second side walls. The return rings comprise resilient first and second extreme layers each in contact with the first and second side walls. The adapter is provided with a fluid arranged in a single chamber between the first and second extreme layers.

Abstract: A VTOL aircraft is an aerial vehicle that is utilized to reach and rescue people who are trapped in difficult-to-reach locations such as high-rise structures. The VTOL aircraft features an airframe as well as a left bidirectional thrust mechanism, and a right bidirectional thrust mechanism for providing vertical and horizontal thrust to the airframe. A plurality of engines provides torque and rotational energy that is transferred to the left bidirectional thrust mechanism and the right bidirectional thrust mechanism during operation of the VTOL aircraft. The VTOL aircraft features a housing cage on the airframe for protecting passengers, first responders, and emergency personnel onboard the aircraft. A pilot may utilize a control system located within the VTOL aircraft cockpit in order to manage the various functions of the aircraft. The VTOL aircraft features a protective enclosure for protecting the pilot from falling debris and other hazards.

Abstract: An aircraft includes two rotors for rotation about a non-rotating rotor mast. The rotors are driven by permanent and/or electromagnets positioned on each of the rotors. A rotor mast joint connecting the rotor mast to a fuselage or wing of the aircraft permits the rotor mast to tilt relative to the fuselage or wing in at least one plane.

Abstract: Generating elevation data for maps is disclosed, including: selecting a barometric data candidate user activity from a plurality of user activities that matches an edge; normalizing a recorded elevation corresponding to each of at least a subset of a plurality of data points associated with the selected barometric data candidate user activity based at least in part on obtained elevation data associated with the edge; storing the normalized recorded elevation corresponding to each of the at least subset of the plurality of data points associated with the barometric data candidate user activity as a set of elevation data associated with the edge in a user preference map; and using the set of elevation data associated with the edge in the user preference map to determine a suggested route based at least in part on a user input route preference associated with a desired route elevation.

Abstract: In accordance with one embodiment of the present disclosure, a trunnion includes a first portion and a second portion. The first portion is capable of coupling directly to a drive tube of an aircraft, wherein the drive tube is capable of rotating around a first axis. The second portion is capable of coupling to a swash plate of the aircraft, wherein the swash plate is capable of causing the pitch of at least one of a plurality of aircraft blades to change.

Abstract: A load attachment system for a helicopter including a load attachment coupling mounted to a helicopter, the load attachment coupling having a load point associated therewith forward of the standard hook attachment and below the center of gravity of the helicopter.

Abstract: A drip pan apparatus for a helicopter includes a frame and a drip pan. The frame is secured to a skirt on the airframe of the helicopter. The apparatus includes a drip pan for cooperation with a frame to cover an access opening to a transmission. The drip pan includes a substantially planar member of a fiber-reinforced composite and has a seal surface that is configured to cooperate with a seal surface of the frame. A seal member may be disposed between the substantially planar member and the frame to form a fluid-tight seal. The fiber-reinforced composite may be a carbon fiber-reinforced composite. A method of making the drip pan apparatus includes placing a plurality of sheets of an uncured fiber-reinforced composite material on one another to form an uncured stack. The uncured stack is then cured. A frame and a drip pan may be cut from the cured stack.

Abstract: An unmanned aerial vehicle helicopter including a dismountable tail section including a torque compensating rotor. Power transmission from the motor to the torque compensating rotor is accomplished by pulley-and-belt drive arrangements.

Abstract: A rotor system is disclosed for a reactive drive rotary wing aircraft. Apparatus and methods are disclosed for maintaining the rigidity of the rotor and eliminating play between flight controls and the rotor by mounting swashplate actuators to a flange rigidly secured to the mast. Methods are disclosed for modulating the temperature of oil pumped over one or more of the mast bearing, swashplate bearing, and spindle bearing. The temperature of air passively or actively drawn through rotor may also be modulated to maintain bearing temperature within a predetermined range. Structures for reducing pressure losses and drag on components due to air flow through the rotor are also disclosed. A rotor facilitating thermal management by oil and air flow is also disclosed. Surfaces interfacing between the swashplate and the mast and between control rods and the swashplate or pitch horn may bear a solid lubricant layer.

Abstract: A method of controlling a group (2) of engines developing a necessary power (Wnec) for driving a rotor (3), said group (2) of engines having at least one electrical member (4), electrical energy storage means (5), and a first number n of engines (6) that is greater than or equal to two. A processor unit (10) executes instructions for evaluating a main condition as to whether the group of engines can develop the necessary power while resting one engine, and if so for resting one engine and accelerating a second number engines not at rest, and for causing the electrical member to operate in motor mode, if necessary, the electrical member operating temporarily in electricity generator mode when the storage means are discharged.

Abstract: A fuselage structure for a rotorcraft (1), the structure comprising load-bearing members including middle frames (9a, 9b) carrying a top floor (12a) and a middle floor (12b). The middle floor (12b) internally partitions the fuselage into two compartments (6, 7), including a cabin-forming top compartment (6) and a bottom compartment (7) having an open bottom (23) leading to the outside via the bottom face of the fuselage. The middle floor (12b) provides a loading plane in the top compartment (6) having a false-floor (27) made up of interchangeable slabs (28) fitted out in a variety of ways. The middle floor (12b) also forms an anchor member from which equipment (16, 17) for suspending can be suspended, which equipment is accessible from outside the fuselage through said open bottom (23).

Abstract: A rotorcraft (1) having a feed unit for feeding fuel to a power plant (13) of the rotorcraft (1). A middle floor (12b) is securely engaged with at least two frames (9a, 9b) of the fuselage, and being load-bearing relative to general forces supported by the fuselage. A bottom compartment (7) of the rotorcraft (1) does not have the load-bearing covering (8) of the fuselage, the bottom face of the fuselage being open to the outside providing the bottom compartment (7) with a bottom (17) open to the outside of the rotorcraft. The bottom face of the middle floor (12b) forms an anchor member for suspending at least one fuel tank (25, 26) that is accessible from outside the fuselage via said open bottom (17).

Abstract: An apparatus is described comprising: at least one processor; and memory storing instructions that, when executed by the at least one processor, cause the apparatus to: regulate an operation of a motor based at least in part on a control imposed on an output torque of the motor and a rate of change of a speed of the motor.

Abstract: A method and apparatus for enabling high speed flight in a rotorcraft are disclosed. The method may include executing a flight with a rotorcraft. The flight may include a first portion and second portion ordered sequentially. During the first portion, the rotorcraft may be flown with the rotor exclusively in autorotation. Once sufficient airspeed is obtained, the flight may transition to the second portion. Wherein, substantially all of the weight of the rotorcraft may be supported by one or more fixed wing surfaces of the rotorcraft. Thus, during the second portion, the rotor may be completely unloaded. To keep the rotor stable by turning, the rotor may be powered during the second portion by an engine of the rotorcraft by way of a prerotation system.

Abstract: A rotor system of a reactive drive rotary wing maintains rigidity and stiffness and resists slack and backlash by mounting swashplate actuators to a flange rigidly secured to the mast, and may be monolithic therewith. A mast tilt actuator and a mast pivot may secure to the mast flange, with vibration suppressors. A shroud may provide a sealed fluid path for airflow therethrough encircling portions of the rotor hub and restricting airflow between the rotor hub and shroud. A rotor cavity, in fluid communication with blade ducts (hollow portions of the blade spars), and either or both contoured to reduce pressure losses, may assist in temperature control, and may feed into tip jets on the blades.

Abstract: A rotorcraft may include an airframe and a rotor connected to the airframe. The rotor may include a plurality of blades defining ducts along the length thereof and vents in fluid communication with the ducts. Flow from through the vents may be controlled by valves with piezoelectric actuators. The valves may be adjusted to achieve a lift profile suited for an operational mode such as vertical, autorotative, or unloaded flight. The lift profile may vary along the length of the blade and may vary cyclically with rotation of the blade. The lift profile may be chosen to approximate a figure of merit for the rotor suitable for a given operational mode.

Abstract: Embodiments of the present invention include an aircraft capable of sustained out-of-ground-effect hover flight and sustained supersonic flight. At least some embodiments includes two wings powered by an engine to counterrotate while hovering, and to not rotate and sweep while flying at transonic and supersonic speeds. Other embodiments include two rotating wings that generate a force per unit area of under 100 lb/ft2 within the rotating wing disk during hover. Still other embodiment include a vehicle with rotating wings that can increase pitch to accelerate the aircraft, align the chord line of the wings with the airstream, and sweep the wings. Still further embodiments include a power plant that powers unducted rotating wings during hover and disengages from the wings to propel the aircraft at supersonic speeds.

Abstract: The rotors of a helicopter are directly connected with electric high-torque motors, and are powered by the latter. Energy generation and rotor drive are separate from each other. The high-torque motor of the main rotor is pivoted to the cabin canopy, so that it can be tilted together with the main rotor.

Abstract: A gearbox assembly includes a gearbox housing and a gear located in the housing and rotatable about a central axis. One or more gear shields are fixed in the housing and at least partially surround the gear. The one or more gear shields define a cavity between the gear and the one or more gear shields. The one or more gear shields are configured such that a pumping action is created by the gear rotation to direct gearbox lubricant out of the cavity. A method of scavenging lubricant from a gearbox includes pumping a flow of lubricant circumferentially around a cavity defined between a gear and a gear shield at least partially surrounding the gear via rotation of the gear about a central axis. The flow of lubricant is urged from the cavity into a lubricant outlet. The lubricant is urged through a lubricant channel in an axial direction.

Abstract: A vibration control actuator includes a housing having a length between ends and a rotatable shaft located in the housing and extending along a housing length and which rotates about a shaft axis substantially parallel to the length. An inertia wheel assembly is operably connected to the rotatable shaft and configured to rotate therewith about the shaft axis. The inertia wheel assembly is in frictional contact with an inner wall of the housing and translatable to travel within the housing between the ends along at least a portion of the shaft axis.

Abstract: A method and apparatus for reducing roll of rotorcraft landing in autorotation may include executing a flight with a rotorcraft. The flight may include first, second, and third portions ordered sequentially. During the first portion, the rotorcraft may be flown with the rotor exclusively in autorotation. During the second portion, the rotorcraft may be flown with the rotor powered at least partially by an engine of the rotorcraft, which may increase the rotational speed of the rotor. During the third portion, the rotorcraft may be flown with the rotor exclusively in autorotation. The flight and the third portion may terminate simultaneously with a touch down of the rotorcraft. Kinetic energy stored in the rotor during the second portion, during the third portion, bring the ground speed of the rotorcraft to substantially zero before touching down.

Abstract: A method and apparatus for optimized crossing of natural frequencies of a rotorcraft rotor are disclosed. The method may include flying a rotorcraft comprising an airframe, a rotor, a mast extending to connect the rotor to the airframe, a tilt mechanism, and a computer system. The computer system may identify during the flying, an impending crossing of a natural frequency of the rotor. In preparation for the crossing, the computer system may issue at least one command to the tilt mechanism. In response to the command, the tilt mechanism may reorient the mast with respect to the airframe. That reorientation quickly results in a change to the rotational speed of the rotor, moving it quickly across the natural frequency. The reorientation may also prevent the rotor from experiencing any significantly deleterious flapping loads during the crossing of the natural frequency.

Abstract: A method and apparatus for reducing flapping loads imposed on a rotor are disclosed. The method may include flying a rotorcraft comprising an airframe, a rotor, a mast extending to connect the rotor to the airframe, a tilt mechanism, at least one sensor, and a computer system. The computer system may obtain in real time, from the at least one sensor, data characterizing at least one flapping load experienced by the rotor during the flying. Using the data, the computer system may issue at least one command to the tilt mechanism. In response to the command, the tilt mechanism may reorient the mast with respect to the airframe. This reorienting may lower the flapping load experienced by the rotor.

Abstract: A rotor system is disclosed for a reactive drive rotary wing aircraft. Apparatus and methods are disclosed for maintaining the rigidity of the rotor and eliminating play between flight controls and the rotor by mounting swashplate actuators to a flange rigidly secured to the mast. Methods are disclosed for modulating the temperature of oil pumped over one or more of the mast bearing, swashplate bearing, and spindle bearing. The temperature of air passively or actively drawn through rotor may also be modulated to maintain bearing temperature within a predetermined range. Structures for reducing pressure losses and drag on components due to air flow through the rotor are also disclosed. A rotor facilitating thermal management by oil and air flow is also disclosed. Surfaces interfacing between the swashplate and the mast and between control rods and the swashplate or pitch horn may bear a solid lubricant layer.

Abstract: A helicopter includes a rotor with short blades and tip thrusters. The blades extend from an annular fuel tank that rotates with the blades. Centrifugal force propels fuel from the interior compartment of the annular tank, through conduits extending through the blades from root to tip, to the tip thrusters. Valves (e.g., solenoid valves and/or a flyweight governor) regulate fuel flow to achieve and maintain a determined steady rotational speed. A fuselage covered by a canopy is mounted atop a bearing on the annular fuel tank. The pitch of each blade may be adjusted collectively and cyclically using a swash ring and hydraulic linear actuators.