Abstract: An airplane rudder and brake pedal assembly includes a rudder arm assembly having one rudder arm with first upper and lower arm portions, and another rudder arm with second upper and lower arm portions. The rudder arm assembly is assembled to a beam at an intersection of the first upper and lower arm portions, and an intersection of the second upper and lower arm portions. The first and second rudder arms are configured to rotate about the beam at the intersection. The rotation of the first and second rudder arms is configured to adjust control surfaces that control a yaw axis of the airplane. A brake pedal is attached to the first and second lower arm portions. Rotation of the brake pedal brakes the airplane. A rotary sensor is assembled to the brake pedal and the lower arm portion, and configured to determine an extent of the brake pedal rotation.

Abstract: A trajectory planning method for determining a flight trajectory (FB) for an aerial vehicle (1) in a three-dimensional space from a starting point (VP1) to a finishing point (VP2), in which a) a first trajectory planning, confined to a first plane or area in the three-dimensional space, is carried out in order to obtain a first trajectory planning result with a first trajectory profile (BP1); b) a second trajectory planning, confined to a second plane or area (SE), different from the first plane or area in the three-dimensional space, is carried out in order to obtain a second trajectory planning result; and c) the first trajectory planning result and the second trajectory planning result are combined to form an overall trajectory planning result for the flight trajectory (FB).

Abstract: Disclosed is a force sensation generation device comprising a frame (10), suitable for attachment to a frame (2) of an aircraft. The device is configured to be joined to an aircraft control mechanism and to provide frictional resistance to the movement of the aircraft control mechanism. The device includes two frictional interfaces defined by two rotatable and two fixed surfaces. Application of sufficient force to the device will overcome the frictional forces at the frictional interfaces.

Abstract: Systems and methods for determining a throttle position of an aircraft are described herein. A first throttle position is obtained from a first sensor, a second throttle position is obtained from a second sensor, and a third throttle position is obtained from a third sensor. The first, second, and third sensors are separately coupled to a throttle of the aircraft for obtaining independent throttle position measurements therefrom. A difference between the first throttle position and the second throttle position is determined. A mismatch is detected when the difference between the first throttle position and the second throttle position exceeds a threshold. A valid one of the first throttle position and the second throttle position is selected based on the third throttle position, in response to detecting the mismatch. A signal indicative of the throttle position is outputted based on the valid one of the first throttle position and the second throttle position.

Abstract: An engine control system includes a first user control lever configured for rotational movement between a first control position and a second control position and a second user control lever configured for rotational movement between a third control position and a fourth control position. The first user control lever is configured for operational control of an engine in a first control mode and the second user control lever is configured for operational control of the engine in a second control mode, such as a backup mode. A mechanical link couples the first user control lever to the second user control lever with at least one angular offset. As a result of the angular offset, the second user control lever can be maintained in a safe operating position relative to the first user control lever position.

Abstract: Various mechanisms for adjusting pitches of propeller blades are described. For example, the pitch adjustment mechanism may include a propeller hub enclosing a geared mechanism that cooperates with a compound gearbox having first and second planetary stages to adjust pitches of propeller blades. Alternatively, the pitch adjustment mechanism may include a propeller hub enclosing a pitch adjustment assembly that utilizes tension cables and torsion springs, or rack-and-pinion structures, to adjust pitches of propeller blades. Using any of the various mechanisms, the pitches of propeller blades may be rotated at least 90 degrees, and up to and exceeding 360 degrees, in order to effect thrust reversals and/or adjust thrust profiles.

Abstract: A system for inhibiting no-back brake device creep includes a motor, a ballscrew assembly coupled to the motor, a no-back brake device coupled to the ballscrew assembly, and at least one damper coupled to the ballscrew assembly. The damper varies a damping characteristic based on an operational state of the motor.

Abstract: A thrust reverser assembly and a method of operating an aircraft during a taxi mode of operation are provided. The thrust reverser assembly includes one or more actuator assemblies configured to modulate a position of a moveable portion over a continuous range of travel between a fully stowed position and a fully deployed position, such that an air flow through said thrust reverser bleed passage is correspondingly varied. The thrust reverser assembly also includes a throttle device that includes a first, ground idle power level position and a second, forward thrust mode position. Movement into the second position may be actuated separately and differently from movement into the first position. An actuator intermediate lock may inhibit actuation of the intermediate forward thrust mode of operation until a plurality of preconditions is met.

Abstract: An avionics computing device of an aircraft including a rotor may include a non-transitory computer-readable medium and a processor communicatively coupled to the non-transitory computer-readable medium. Upon an occurrence of a condition indicative of a requirement to perform an autorotation maneuver, the processor may be configured to generate autorotation guidance commands based on a generated feasible three-dimensional autorotation trajectory. The generated feasible three-dimensional autorotation trajectory may be for the autorotation maneuver of an aircraft including a rotor. The generated autorotation guidance commands may be configured to guide a pilot of the aircraft to perform the autorotation maneuver of the aircraft along the generated feasible three-dimensional autorotation trajectory. The processor may further be configured to output data associated with the generated autorotation guidance commands to an input/output device for presentation to the pilot.

Abstract: Adjustable height control stick assembly for dual control of aircraft includes a single control stick for longitudinal and lateral orientation of the aircraft with the height adjustment allowing for correction of position prior to flight. The stick is connected to appropriate linkages to move the ailerons and elevator of an airplane or the rotor blades of a helicopter. When either the pilot or the copilot is flying the grip for the other is at a different height to that for normal operation. The invention replaces and makes adjustable the grip so that height of the grip of both pilot and copilot are the same as if they were flying and in control of the aircraft.

Abstract: A method of assisting in rotor speed control in a rotorcraft can include measuring a rotor speed with a sensor; detecting a droop in the rotor speed beyond a lower droop limit; and commanding a decrease in collective in response to the rotor speed drooping beyond the lower droop limit. A system of assisting in rotor speed control in a rotorcraft, the system can include: a computer having a control law, the control law operable to generate a decrease collective command to an actuator in response to a rotor speed decreasing below a lower droop limit; wherein the lower droop limit is below a normal lower rotor speed range.

Abstract: An aircraft with a control system having joint control for a throttle and a propeller of an aircraft may be modified to decouple the joint control of a throttle and a propeller. Control of the throttle and propeller may be independent of the other. Exemplary modification of a control system may use new structures, existing structures, repurpose existing structures, or use a combination thereof. Additionally or alternatively, modification of a control system may provide controls with tactile distinction to a user.

Abstract: According to one embodiment, a control assembly includes a post, a grip, and a shaft. The post has a top, a bottom, and a body joining the top to the bottom. The shaft has a first end coupled proximate to the body below the top and a second end opposite the first end coupled to the grip. The shaft positions at least part of the grip directly over the top of the post.

Abstract: According to one embodiment, a control assembly includes a first gimbal and a second gimbal. The first gimbal is rotatable about a first axis of rotation. The first gimbal comprises a first linkage attachment point offset from the first axis of rotation. The second gimbal is rotatably coupled to the first gimbal and rotatable relative to the first gimbal about a second axis of rotation. The second gimbal comprises a second linkage attachment point offset from the second axis of rotation and a control shaft attachment point.

Abstract: Disclosed is a vertical rudder control system for an aircraft. The system is comprised of a rudder trim compensation generator that is configured to generate a rudder trim compensation order to set the position of the rudder bar of the aircraft to a neutral position in which the rudder bar is controlled with nil (i.e., zero) pilot effort. The vertical rudder control system includes a flight control calculator for calculating rudder control orders to maintain the nil effort rudder bar position, with the calculation of the rudder control orders being based on a sum of the rudder bar position, determined by a detection unit, and the rudder trim compensation order. The rudder control orders are received by a rudder operating unit, which is used to deflect the vertical rudder by a deflection value based on the rudder control orders.

Abstract: A system and method for illuminating one or more sidestick controllers within a cockpit of an aircraft is described. In some embodiments, the system includes a sidestick controller having lighting components that display lighting behaviors representing the movement and/or control of an aircraft. In some embodiments, the system illuminates various different lighting components on a sidestick controller based on information received from aircraft control systems, cockpit lighting systems, and other systems associated with an aircraft.

Abstract: A control system, in particular an aircraft flight control system, having a linkage with a force-transmission link (3), the link having a body (5) having at least one end housing (8) slidably receiving a coupling rod (9) for coupling the link to an adjacent element of the linkage, the housing being closed by an elastically-deformable test member (10) through which the rod passes and that has an inner periphery fastened to the rod and an outer periphery fastened to a wall defining the end housing, and the end housing receiving at least one sensor (11) for sensing relative movement between the rod and the body.

Abstract: The present invention provides an alert interactive system designed to serve as an alertness tool to ensure that a person, such as an aircraft pilot, a car or truck driver, a soldier or sailor on watch, or a security professional, remains alert. The alert interactive system provides instructions and time for the person to enter a code, and provides an alert to that person and others when the code is not entered timely and correctly. The present invention indicates when the person is not alert, and may be taking a nap, may be fully asleep, or unconsciousness.

Abstract: A fault-tolerant actuating system with at least one flap, adjustable on a respective wing of an aircraft, and with a control and monitoring device, includes: drive devices that are functionally connected to the control and monitoring device, with one of these drive devices in each case being associated with a flap, where each flap in each case is associated with a drive device, in each case including: two drive motors, two brake mechanisms, where each drive motor is associated with a brake mechanism for stopping rotation of the output of the respective drive motor, a differential that couples the outputs of the aforesaid to the aforesaid in a summing manner, an output shaft for coupling the output of the differential to drive connections, and a differential lock that is functionally connected to the control and monitoring device, which differential lock is coupled to the control and monitoring device in this manner, where each of the brake mechanisms as well as the differential lock can be operated by way of

Abstract: A control system for an aircraft including a passive feedback arrangement, a stick and a positioning arrangement is provided that provides for user adjustability of the resistance applied to the stick, such as in a fly-by-wire system. The passive feedback arrangement is movable relative to a mechanical ground. The stick is moveable relative to the mechanical ground and the passive feedback arrangement. The passive feedback arrangement acts on the stick to resist movement of the stick relative to the passive feedback arrangement. This resistance provides passive feedback to the pilot for the fly-by-wire system. The positioning arrangement is coupled to the passive feedback arrangement for adjusting the position of the passive feedback arrangement relative to the mechanical ground in response to movement of the stick relative to the mechanical ground.

Abstract: An automatic trim system and method is disclosed for automatically trimming a flight control surface of an aircraft. A force sensor measures a force applied by a pilot to a flight control system actuator. The length of time that the force is applied by the pilot is then timed by a timer. A trim system to reduce the applied force is included on the flight control surfaces. A processor determines if trim is required if a predetermined amount of time is exceeded based on the force sensor measurement. The processor can set the trim system to the trim required therein. An airspeed sensor is used to verify that the aircraft has sufficient speed for flight. A force sensor can be utilized to measure the input force being applied by the pilot. If a pilot input force is applied to the controls and the aircraft is in a steady state, a timer can be activated.

Abstract: An aircraft control input apparatus is configured to accept and provide to the aircraft control inputs from a user regarding the magnitude and direction of the aircraft's thrust vector. The present invention enables a user to continually provide control inputs to an aircraft in which both the magnitude and the direction of thrust vary. A rotational throttle interface is configured to alter its orientation within the aircraft based on the directional component of the aircraft's thrust vector. The rotational throttle interface enables the user to provide continual control inputs to command both the directional component of the thrust as well as the magnitude component. Accordingly the user can provide inputs regarding direction and magnitude throughout the operating envelope of the aircraft's thrust vector while maintaining continuous physical contact with the throttle.

Abstract: A lift platform with a kinesthetic control system that is coupled to means for altering air flow through the first and second longitudinally-spaced ducts comprising the lift platform is provided. The control system includes a control handle bar with left and right hand grips, and first and second control roll bars located on either side of the lift platform's central cowling. Forward/rearward movement of the control handle bar from a neutral position generates nose-down/nose-up pitching moments, respectively; counterclockwise/clockwise movement of the control handle bar from the neutral position generates counterclockwise rotation/clockwise rotation of the lift platform about a lift platform vertical centerline; and left movement/right movement of the control roll bars generates left roll/right roll moments about the lift platform roll axis.

Abstract: A method is provided for dynamically consolidating items of an aeronautical procedure in order to present to the operator the best action to perform according to the context of all the systems, in order to reduce his cognitive workload faced with an action to be carried out. The method consists, for each item of a procedure, in determining the text of the requested action, in choosing the text of the corresponding response that the crew must perform according to the general state and the configuration of the aircraft, in incorporating in the corresponding item the texts of the requested action and of the corresponding response, in displaying this duly enriched item, in detecting whether the requested action has indeed been accomplished and in displaying the result of this detection.

Abstract: A regulator device used on helicopters carrying an external load suspended from the helicopter by a supporting cable aids in controlling the flight of the helicopter by measuring the oscillating the movement of the external load, converting the detected variables for the oscillating movement to a geodetic coordinate system, generating a closed loop control signals as a function of the variables, and applying the closed loop control signals to open loop control signals which control the flight of the helicopter.

Abstract: A longitudinal control law is designed to optimize the flying qualities when aircraft is set to approach configuration, i.e. when the flap lever is set to the landing position and landing gears are locked down. Under such circumstances, the effort of trimming the aircraft speed can be extremely reduced by the usage of a momentary on-off switch or other control in the sidestick, instead of or in addition to a conventional trim up-down switch, making easier the task of airspeed selection by the pilot. This control law provides excellent handling qualities during approach and landing, with the benefit of not needing or using radio altimeter information in safety-critical applications.

Abstract: A torque based power limit cueing system is provided and includes an engine computer to compile data relating to torque and additional information of each of one or more engines, an active stick by which tactile cueing are provided to a pilot and by which the pilot inputs control commands, a multi-function display (MFD) by which visible cues are provided to the pilot and a flight control computer (FCC) operably coupled to the engine computer, the active stick and the multi-function display, the FCC being configured to receive the data from the engine computer and to output tactile cue commands and visible commands in accordance with the torque and the additional information of each of the one or more engines to the active stick and the MFD, respectively.

Abstract: According to the invention, an alert may be generated when a sudden inversion of the rudder occurs. To this end, the pilot having beforehand moved a commanding system in such a manner that the movement of the commanding system overcomes the position of the commanding system corresponding to the maximum rotation breakpoint in one of the rotating directions of the rudder. The alert is launched if, during a first time interval having a predetermined duration, the pilot moves the commanding system in such a manner that the movement of the commanding system overcomes the position of the commanding system corresponding to the maximum rotation breakpoint in the other rotating direction of the rudder, thereby indicating a sudden rudder inversion and a potential unsafe condition to be corrected by the pilot.

Abstract: A device for piloting includes a piloting member connected to at least one member for driving the craft, an electromechanical support box including, for each pivot connection, at least one actuating motor of the piloting member constituted of an electromagnetic actuator including a movable armature integrally formed with the piloting member and equipped with at least one permanent magnet having a magnetic moment parallel to the axis of the pivot connection, and an electromagnetic circuit including a fixed armature, arranged to allow the movable armature to move in the air gap zone, the magnetic moment of the movable armature sweeping each radial surface portion, and at least one coil winding which is dependent in position on the fixed armature and is capable of generating electromagnetic torque on the movable armature.

Abstract: An aircraft control input apparatus is configured to accept and provide to the aircraft control inputs from a user regarding the magnitude and direction of the aircraft's thrust vector. The present invention enables a user to continually provide control inputs to an aircraft in which both the magnitude and the direction of thrust vary. A rotational throttle interface is configured to alter its orientation within the aircraft based on the directional component of the aircraft's thrust vector. The rotational throttle interface enables the user to provide continual control inputs to command both the directional component of the thrust as well as the magnitude component. Accordingly the user can provide inputs regarding direction and magnitude throughout the operating envelope of the aircraft's thrust vector while maintaining continuous physical contact with the throttle.

Abstract: A fly-by-wire control system for an aircraft including detection of pilot induced oscillations and a mobile control unit for such a system. According to the invention, provision is made for the pivotings of the mobile control unit to be damped by a controllable damper controlled by a detector that detects oscillations corresponding to pilot induced oscillations.

Abstract: A method, apparatus and software is disclosed for controlling the heading of an aircraft travelling on the ground in which veering is detected and compensatory steering commands generated so as to automatically maintain a reference heading.

Abstract: A method for performing missions with a refueling aircraft. A number of control stations are configured to selectively control a plurality of systems in the refueling aircraft to form a number of configured control stations. The plurality of systems includes a refueling system and a number of other systems. Each of the plurality of systems is capable of performing a different mission. A number of missions are performed during flight using the number of configured control stations.

Abstract: An aircraft control input apparatus is configured to accept and provide to the aircraft control inputs from a user regarding the magnitude and direction of the aircraft's thrust vector. The present invention enables a user to continually provide control inputs to an aircraft in which both the magnitude and the direction of thrust vary. A rotational throttle interface is configured to alter its orientation within the aircraft based on the directional component of the aircraft's thrust vector. The rotational throttle interface enables the user to provide continual control inputs to command both the directional component of the thrust as well as the magnitude component. Accordingly the user can provide inputs regarding direction and magnitude throughout the operating envelope of the aircraft's thrust vector while maintaining continuous physical contact with the throttle.

Abstract: An assisted control system for controlling the attitude of a rotorcraft comprises a flight control device; at least one control member configured to act on an aerodynamic element of the rotorcraft; a mechanical connection connecting the flight control device to the at least one control member, the mechanical connection including at least one connecting rod moveable in translation, a crank device pivotably disposed about a stationary support shaft passing through the crank device, and a motor including a drive rotor and a stator configured to facilitate a pivoting movement of the crank device about the stationary support; a motor control device configured to control a rotation of the drive rotor relative to the stator; and at least one sensor configured to measure information representative of an operation performed by the flight control device under pilot control and to deliver a signal to the motor control device.

Abstract: A method and device for detecting a risk of collision of an aircraft, having a profile unit having knowledge of the terrain profile, a determination unit for determining effective values of particular flight parameters, a checking unit for verifying whether a flight path determined by the effective values is compatible with the terrain profile, and a transmitting unit for emitting a warning signal in case of incompatibility. The checking unit includes at least one element for calculating a height variation due to an energy transfer and a total slope variation generated by a speed reduction, during an evasive action, an element deter mining an evasive course using the height variation, and an element verifying whether the evasive course determined is compatible with the terrain profile.

Abstract: A computer-implemented function monitors and displays exhaust gas temperatures (EGT) in a plurality of cylinders in an engine. The invention provides an easy way to read exhaust gas temperature on a specific cylinder, and to provide a means for leaning the engine while in a climb. Efficient leaning in a climb reduces fuel consumption and reduces the chance of harmful conditions that can lead to engine failure.

Abstract: An aircraft, the aircraft including a whole-aircraft ballistic parachute that is coupled to the aircraft. The aircraft determines if a pre-activation action needs to be performed before activation of the whole-aircraft ballistic parachute. The aircraft also receives a whole-aircraft ballistic parachute activation request. The aircraft then issues a command to perform the pre-activation action and then activates the deployment of the whole-aircraft ballistic parachute. The aircraft then issues a command to perform a post-activation action.

Abstract: Input/steering mechanisms and aircraft control systems are provided. In an embodiment, by way of example only, an input/steering mechanism is provided for use with an aircraft control system. The input/steering mechanism includes a yoke that includes a hub, an alphanumeric keyboard, and a first grip surface. The alphanumeric keyboard is disposed on a face of the hub and is adapted to receive a manual input from a user and to transmit an output signal to the aircraft control system in response to the manual input. The first grip surface is formed on an outer periphery of the hub and is contoured to correspond with one or more fingers of the user, the first grip surface is formed such that a thumb of the user is positioned to rest in proximity to at least a portion of the alphanumeric keyboard when the one or more fingers grip the first grip surface.

Abstract: A position sensing assembly includes a bearing element and a helically shaped rotational member used to drive a portion of a sensor assembly, such as a Digital Rotary Magnetic Encoder. Interaction between the bearing element and a helically shaped rotational member minimizes the presence of backlash in the position sensing assembly. Accordingly, as an actuator assembly drives both a control element, such as a flight control surface, and the position sensing assembly, the sensor assembly generates an output signal that accurately reflects the position of the control element.

Abstract: A pedal system particularly tailored to a Fly-By-Wire (FBW) flight control system includes a double gradient linkage assembly. The double gradient linkage assembly includes a damper system and a spring system that improves yaw axis (azimuth) control of the aircraft. Control is only required when a change in the yaw axis state is demanded. Since only minimal displacement inputs to such a FBW flight control system is required, the travel of the pedals are exceeding compact, such that pilot workload is significantly reduced through the reduction in the frequency and magnitude of aircraft control inputs.

Abstract: A pedal system particularly tailored to a Fly-By-Wire (FBW) flight control system includes a double gradient linkage assembly. The double gradient linkage assembly includes a damper system and a spring system that improves yaw axis (azimuth) control of the aircraft. Control is only required when a change in the yaw axis state is demanded. Since only minimal displacement inputs to such a FBW flight control system is required, the travel of the pedals are exceeding compact, such that pilot workload is significantly reduced through the reduction in the frequency and magnitude of aircraft control inputs.

Abstract: A method and system for optimizing rotor flapping utilizes the collective stick position and true airspeed to determine a commanded longitudinal stick position.

Abstract: A method is disclosed for steering a mobile platform, where the method may involve: providing a steering component graspable and rotatable by an operator of the mobile platform from a neutral position to first and second positions; coupling an input shaft to the steering component; coupling an input arm to the input shaft so that rotational movement of the input shaft causes rotational movement of the input arm, the input arm being in the neutral position when the steering component is in the neutral position; supporting an idler arm adjacent the input arm and such that portions of the idler arm and the input arm are in contact when the steering component is in the neutral position; and using a biasing system configured to act on the steering arm and the idler arm to maintain the steering component in the neutral position when no force is being applied by the operator to the steering component, to reduce a backlash generated by at least one of the input arm and the idler arm, but to enable clockwise and count

Abstract: A rudder pedal assembly exhibits sufficient ergonomic feel for a pilot, and is relatively small in overall size. The rudder pedal assembly includes a plurality of rails disposed non-parallel to each other within a common plane, and a rudder pedal. The rudder pedal is movably coupled to the plurality of rails and is configured to receive an input force in at least a first direction and a second direction. The rudder pedal is further configured, in response to the input force, to move along a path constrained by the plurality of rails in at least the first direction and the second direction, respectively, and within the common plane.

Abstract: A pedal system particularly tailored to a Fly-By-Wire (FBW) flight control system includes a double gradient linkage assembly. The double gradient linkage assembly includes a damper system and a spring system that improves yaw axis (azimuth) control of the aircraft. Control is only required when a change in the yaw axis state is demanded. Since only minimal displacement inputs to such a FBW flight control system is required, the travel of the pedals are exceeding compact, such that pilot workload is significantly reduced through the reduction in the frequency and magnitude of aircraft control inputs.

Abstract: A process wherein an aircraft starts from a cruising position by flying at a cruising speed to reach a position that intercepts the glide slope. The process can include the steps of decelerating from the begin descent speed and the begin descent altitude of the aircraft during a first descent phase with a first flight path angle until reaching a predetermined speed corresponding to an aircraft speed at which the aircraft flaps are extended for transitioning to a first intermediate position; following a second phase of descent at a considerably constant speed with a second flight path angle; and decelerating during a third phase of descent with a third flight path angle to reach the glide slope interception position. The aircraft slats and/or flaps adopt their first intermediate position considerably when transitioning from the second to the third phase of descent.

Abstract: A steering system for a mobile platform is provided that reduces and/or eliminates backlash in the steering system. The steering system includes an input mechanism for receiving an input from an operator of the mobile platform to move the input mechanism into a first position or a second position. The input mechanism further includes an input arm. An idler is rotatably coupled to the input, and the idler is configured to engage the input arm in the second position. A pair of biasing members is coupled to the idler and the input arm to bias the input mechanism to a “center” or “neutral” position. The biasing members are operable to resist the movement of the input mechanism into the first or second positions. A steering mechanism coupled to the input mechanism monitors the position of the input mechanism and generates electrical signals to drive a motor that steers a wheel in accordance with the direction of movement of the input mechanism.

Abstract: ABSTRACT The use of at least one attachment screw (12) that includes means (14, 15, 17a, 17b, 20) for detecting the secondary path loading of a flight-control actuator, or associated with a bush that includes such means, for the attachment of the top coupling of the secondary path of a flight-control actuator.

Abstract: Systems and methods for implementing control linkages that may be employed to produce synchronous motion in two adjacent controlled devices controlled by a common input. In one example implementation, a semi-rigid modified constant velocity (CV) joint control linkage may be provided that is laterally self-stabilizing. The modified constant velocity CV joint control linkage may include an input push rod assembly that is self-aligning, deflectable and of an adjustable length. The CV joint may be configured with a central cage that is allowed to skew to allow for alignment of the controlled devices.