BETA
A Strictly Two-Side Communication App
For people who love each other's ♥
Secrecy now becomes
Secretsea
This project is under development
more informations coming soon...
For project ideas, bug reports or just talking, contact me at:
georgegkas@gmail.com


This outlines how to propose a change to MicrobiomeR. For more detailed info about contributing to this, and other tidyverse packages, please see the development contributing guide. Please read through the MicrobiomeR documentation as well.
Small typos or grammatical errors in documentation may be edited directly using the GitHub web interface, so long as the changes are made in the source file. However, it is also preferred that you build the package if you know how. If you don’t know how, please notify the maintainers so that we can do it for you.
.R
file below R/
..Rd
file below man/
.pkgdown/
or docs/
unless they are configuration files.Before you make a substantial pull request, you should always file an issue and make sure someone from the team agrees that it’s a problem. If you’ve found a bug, create an associated issue and illustrate the bug with a minimal reprex.
README
should contain badges for any continuous integration services used by the package.NEWS.md
below the current development version header describing the changes made followed by your GitHub username, and links to relevant issue(s)/PR(s).Please make yourself familiar with the projects below before contributing any substantial code changes. We have made several contributions to these packages as well during the development of MicrobiomeR:
Please note that the MicrobiomeR project is released with a Contributor Code of Conduct. By contributing to this project you agree to abide by its terms.
for further details.


|
PicoTest
A minimalist unit testing framework for C programs
|
Assertion Definitions | |
| #define | PICOTEST_ASSERT(x, ...) |
| Hard assertion. More... | |
| #define | PICOTEST_VERIFY(x, ...) |
| Soft assertion. More... | |
| #define | PICOTEST_FAILURE(type, test, ...) |
| Generic failure. More... | |
| #define | PICOTEST_ABORT() |
| Abort a test case. More... | |
Assertion Hooks | |
PicoTest provides a way for client code to intercept assertions events. This can be used for e.g. logging purpose or reporting. | |
| typedef void() | PicoTestAssertBeforeProc(const char *type, const char *test) |
| Function signature of assert before hooks. More... | |
| typedef void() | PicoTestAssertAfterProc(const char *type, const char *test, int fail) |
| Function signature of assert after hooks. More... | |
| #define | PICOTEST_ASSERT_BEFORE_DEFAULT(type, test) |
| Default assert before hook. More... | |
| #define | PICOTEST_ASSERT_BEFORE |
| Define the assert before hook. More... | |
| #define | PICOTEST_ASSERT_AFTER_DEFAULT(type, test, fail) |
| Default assert after hook. More... | |
| #define | PICOTEST_ASSERT_AFTER |
| Define the assert after hook. More... | |
Assertions are the basic building blocks of test cases.
| #define PICOTEST_ASSERT | ( | x, | |
| ... | |||
| ) |
Hard assertion.
Logs an error if the given value is false, then stops the test with PICOTEST_ABORT().
PICOTEST_FAILURE_LOGGER() is called with the type argument set to "ASSERT"
.
| x | Value to test. Evaluated once, so it can be an expression with side effects. |
| msg | (optional) Message format string. |
| ... | (optional) Message string arguments. |
| #define PICOTEST_VERIFY | ( | x, | |
| ... | |||
| ) |
Soft assertion.
Logs an error if the given value is false, but let the test continue.
PICOTEST_FAILURE_LOGGER() is called with the type argument set to "VERIFY"
.
| x | Value to test. Evaluated once, so it can be an expression with side effects. |
| msg | (optional) Message format string. |
| ... | (optional) Message string arguments. |
| #define PICOTEST_FAILURE | ( | type, | |
| test, | |||
| ... | |||
| ) |
Generic failure.
PICOTEST_FAILURE_LOGGER() is called with the provided type, test and msg arguments.
This can be used to implement custom testing logic.
| type | Type of test that failed (e.g. "ASSERT"). |
| test | Failed test. |
| msg | (optional) Message format string. |
| ... | (optional) Message string arguments. |
| #define PICOTEST_ABORT | ( | ) |
| #define PICOTEST_ASSERT_BEFORE_DEFAULT | ( | type, | |
| test | |||
| ) |
| #define PICOTEST_ASSERT_BEFORE |
Define the assert before hook.
The default hook does nothing. Redefine this macro to use a custom hook, which must follow the PicoTestAssertBeforeProc signature.
| #define PICOTEST_ASSERT_AFTER_DEFAULT | ( | type, | |
| test, | |||
| fail | |||
| ) |
| #define PICOTEST_ASSERT_AFTER |
Define the assert after hook.
The default hook does nothing. Redefine this macro to use a custom hook, which must follow the PicoTestAssertAfterProc signature.
| typedef void() PicoTestAssertBeforeProc(const char *type, const char *test) |
Function signature of assert before hooks.
Called before running an assertion.
| type | Type of test (e.g. "ASSERT"). |
| test | Test. |
| typedef void() PicoTestAssertAfterProc(const char *type, const char *test, int fail) |
Function signature of assert after hooks.
Called after running an assertion.
| type | Type of test (e.g. "ASSERT"). |
| test | Test. |
| fail | Test result: zero for success, non-zero for failure. |


| Package | sandy.core.scenegraph.mode7 |
| Class | public class Mode7 |
| Inheritance | Mode7 Node |
| Implements | IDisplayable, Renderable |
| Property | Defined by | ||
|---|---|---|---|
| appearance : Appearance
Set that appearance to all the children of that node
| Node | ||
| boundingBox : BBox
The bounding box of this node
IMPORTANT: Do not modify it unless you perfectly know what you are doing
| Node | ||
| boundingSphere : BSphere
The bounding sphere of this node
IMPORTANT: Do not modify it unless you perfectly know what you are doing
| Node | ||
| broadcaster : BubbleEventBroadcaster
The broadcaster
The broadcaster is used to send events to listeners. | Node | ||
| changed : Boolean
This property set the cache status of the current node.
| Node | ||
| children : Array
The children of this node are stored inside this array.
| Node | ||
| container : Sprite [read-only]
Returns the container of that graphical element
| Mode7 | ||
| culled : CullingState
This property represent the culling state of the current node.
| Node | ||
| depth : Number | Mode7 | ||
| enableBackFaceCulling : Boolean
Change the backface culling state to all the shapes objects in the children list
| Node | ||
| enableClipping : Boolean
Apply clipping to all the children of that node
| Node | ||
| enableEvents : Boolean
Enable event handling to all the children objects that can broadcast bubbling events
| Node | ||
| enableInteractivity : Boolean
Change the interactivity of all the children
| Node | ||
| material : Material
[read-only]
| Mode7 | ||
| modelMatrix : Matrix4
Cached matrix corresponding to the transformation to the 0,0,0 frame system
| Node | ||
| name : String
Name of this node.
| Node | ||
| parent : Node
The parent node of this node.
| Node | ||
| precision : Number = 1 | Mode7 | ||
| repeatMap : Boolean | Mode7 | ||
| scene : Scene3D | Node | ||
| smooth : Boolean | Mode7 | ||
| useSingleContainer : Boolean
Make all the Shape3D and descendants children react to this value.
| Node | ||
| viewMatrix : Matrix4
Cached matrix corresponding to the transformation to the camera frame system
| Node | ||
| visible : Boolean | Node |
| Method | Defined by | ||
|---|---|---|---|
|
Mode7()
| Mode7 | ||
|
Adds a new child to this node.
| Node | ||
|
addEventListener(p_sEvt:String, p_oL:*):Boolean
Adds a listener for the specified event.
| Node | ||
|
clear():void
Clears the container information
| Mode7 | ||
|
| Mode7 | ||
|
destroy():void
Delete this node and all its child nodes.
| Node | ||
|
display(p_oContainer:Sprite = null):void
| Mode7 | ||
|
getChildByName(p_sName:String, p_bRecurs:Boolean = false):Node
Returns the child node with the specified name.
| Node | ||
|
getHorizon():Number
Returns the horizon value
| Mode7 | ||
|
hasParent():Boolean
Tests if this node has a parent.
| Node | ||
|
Tests if the node passed in the argument is parent of this node.
| Node | ||
|
perform(p_iOperation:INodeOperation):void
Performs an operation on this node and all of its children.
| Node | ||
|
remove():void
Removes this node from the node tree, saving its child nodes.
| Node | ||
|
removeChildByName(p_sName:String):Boolean
Removes the child node with the specified name.
| Node | ||
|
removeEventListener(p_sEvt:String, p_oL:*):void
Removes a listener for the specified event.
| Node | ||
|
| Mode7 | ||
|
setBitmap(bmp:BitmapData, scale:Number = 1, repeatMap:Boolean = true, smooth:Boolean = false):void
Set the bitmap to apply as floor.
| Mode7 | ||
|
setHorizon(traceHorizon:Boolean = true, colorHorizon:int = 0x000000, horizonWidth:Number = 1):void
Set the horizontal line display.
| Mode7 | ||
|
setNearFar(fromCamera:Boolean, near:Number = 1, far:Number = 1000):void
| Mode7 | ||
|
swapParent(p_oNewParent:Node):void
Moves this node to another parent node.
| Node | ||
|
toString():String
Returns a string representation of this object
| Node | ||
|
Updates this node.
| Node | ||
|
updateBoundingVolumes():void
Updates the bounding volumes of this object.
| Node |
| container | property |
container:Sprite
[read-only]Returns the container of that graphical element
Implementation public function get container():Sprite
| depth | property |
depth:Number
[read-write]Implementation
public function get depth():Number
public function set depth(value:Number):void
| material | property |
| precision | property |
public var precision:Number = 1
| repeatMap | property |
repeatMap:Boolean
[read-write]Implementation
public function get repeatMap():Boolean
public function set repeatMap(value:Boolean):void
| smooth | property |
smooth:Boolean
[read-write]Implementation
public function get smooth():Boolean
public function set smooth(value:Boolean):void
| Mode7 | () | constructor |
public function Mode7()
| clear | () | method |
public function clear():void
Clears the container information
| cull | () | method |
public override function cull(p_oFrustum:Frustum, p_oViewMatrix:Matrix4, p_bChanged:Boolean):void
Parameters
p_oFrustum:Frustum |
|
p_oViewMatrix:Matrix4 |
|
p_bChanged:Boolean |
| display | () | method |
public function display(p_oContainer:Sprite = null):void
Parameters
p_oContainer:Sprite (default = null )
|
| getHorizon | () | method |
public function getHorizon():Number
Returns the horizon value
ReturnsNumber |
| render | () | method |
| setBitmap | () | method |
public function setBitmap(bmp:BitmapData, scale:Number = 1, repeatMap:Boolean = true, smooth:Boolean = false):void
Set the bitmap to apply as floor.
Parametersbmp:BitmapData — The bitmapdata objet which contains floor texture information
|
|
scale:Number (default = 1 )
|
|
repeatMap:Boolean (default = true )
|
|
smooth:Boolean (default = false )
|
| setHorizon | () | method |
public function setHorizon(traceHorizon:Boolean = true, colorHorizon:int = 0x000000, horizonWidth:Number = 1):void
Set the horizontal line display. you can use this to debug and/or to calibrate your visual elements
ParameterstraceHorizon:Boolean (default = true )
|
|
colorHorizon:int (default = 0x000000 )
|
|
horizonWidth:Number (default = 1 )
|
| setNearFar | () | method |
public function setNearFar(fromCamera:Boolean, near:Number = 1, far:Number = 1000):void
Parameters
fromCamera:Boolean |
|
near:Number (default = 1 )
|
|
far:Number (default = 1000 )
|


Ride to School
问题描述 :
We may assume that all the students except “Charley” ride from Wanliu to Yanyuan at a fixed speed. Charley is a student with a different riding habit – he always tries to follow another rider to avoid riding alone. When Charley gets to the gate of Wanliu, he will look for someone who is setting off to Yanyuan. If he finds someone, he will follow that rider, or if not, he will wait for someone to follow. On the way from Wanliu to Yanyuan, at any time if a faster student surpassed Charley, he will leave the rider he is following and speed up to follow the faster one.
We assume the time that Charley gets to the gate of Wanliu is zero. Given the set off time and speed of the other students, your task is to give the time when Charley arrives at Yanyuan.
输入:
Vi [TAB] Ti
Vi is a positive integer <= 40, indicating the speed of the i-th rider (kph, kilometers per hour). Ti is the set off time of the i-th rider, which is an integer and counted in seconds. In any case it is assured that there always exists a nonnegative Ti.
输出:
样例输入:
4 20 0 25 -155 27 190 30 240 2 21 0 22 34 0
样例输出:
780 771
解题代码:
import java.util.Scanner; public class Main{ public static void main(String[] args) { Scanner s = new Scanner(System.in); while(true) { int n = s.nextInt(); if(n == 0) System.exit(-1); double min =<PHONE_NUMBER>; while(n > 0) { int v = s.nextInt(); int t = s.nextInt(); if(t < 0) { n--; continue; } double time = 4.5 / v * 3600 + t; if(time < min) min = time; n--; } System.out.println((int)Math.ceil(min)); } } }
Often We don’t set up on weblogs, but I would like to condition that this established up really forced me individually to do this! considerably outstanding publish
感觉这里的评分标准没啥作用阿，反而显得显得赘余，还不如直接去掉好了。
必须试过啊
int half(int *array,int len,int key)
{
int l=0,r=len;
while(l<r)
{
int m=(l+r)>>1;
if(key>array )l=m+1;
else if(key<array )r=m;
else return m;
}
return -1;
}
这种就能避免一些Bug
l,m,r
左边是l,m;右边就是m+1,r;
从数学角度确实是C(n,r)，能给个递推关系式吗，从分治的角度不好理解
第二个方法好！
很好的思路，可以借鉴
这道题目的核心一句话是：取还是不取。
如果当前取，则index+1作为参数。如果当前不取，则任用index作为参数。
辛苦了，顶
很棒的网站，加油！⛽
不错
很好的思路，可以借鉴
很棒的网站，加油！⛽
能不能说一下tmp数组和solve都是干嘛的？


REPLACE BEFORE COMMITTING
REPLACE BEFORE COMMITTING
Party
Name
[firstname lastname]
Address
[address]
City
[city]
Telephone
[telephone]
#Contacts#
Name
[name]
Birth Date
[birthdate yyyy-MM-dd]
Type
[type]
#Edit#
REPLACE BEFORE COMMITTING


Constructor
new LSPlayerState()
A class representing state that also emits
events as they occur on an LSPlayer instance
inside of an iframe.
Members
currentTime
The known current time played in a video.
duration
The known duration for a video.
fov
The known field of view.
friction
The known friction value for rotations.
height
The known heigit of the player.
interpolationFactor
The known interpolation factor for the player.
isAnimating
Predicate indicating if frame is animating.
isCrossOrigin
Predicate indicating if source is cross origin.
isEnded
Predicate indicating if the video has ended.
isFocused
Predicate indicating if player is focused.
isFullscreen
Predicate indicating if player is fullscreen.
isHMDAvailable
Predicate indicating if a VR HMD is available.
isHMDPositionSensorAvailable
Predicate indicating if a VR HMD position sensor is available.
isImage
Predicate indicating if player content is an image.
isKeydown
Predicate indicating if a key is down on player.
isMousedown
Predicate indicating if mouse is down.
isMuted
Predicate indicating if player is muted.
isPaused
Predicate indicating if video is paused.
isPlaying
Predicate indicating if video is playing.
isReady
Predicate indicating the player is ready.
isResizable
Predicate indicating if player is resizable.
isStopped
Predicate indicating if video was stopped.
isTouching
Predicate indicating if user is touching frame.
isVREnabled
Predicate indicating if VR is enabled.
isVRPossible
Predicate indicating if VR is possible.
lastRefresh
The known last refresh time stamp.
lastVolume
The known last volume value.
mouseFriction
The known mouse friction.
originalsize
The known original sizes.
percentloaded
The known percent loaded of a video or photo.
pointerX
The last known x coordinate for the mouse.
pointerY
The last known y coordinate for the mouse.
projection
The known projection type.
radius
The known radius of the sphere geometry.
scrollVelocity
The known scroll velocity for the player.
src
The known source of the video or photo.
width
The known width of the player.


The type pointer can be used to create a pointer to the data.
When you update one of your storage item both storage items will be notified.
Here a simple sample:


David Backes injury update: Boston Bruins forward returns to the ice three weeks after scary collision with Scott Sabourin
by Sammi SilberForward David Backes returned to the ice after missing three weeks with an upper-body injury, per The Boston Globe's Kevin Paul Dupont.
Backes didnot return to the game againstOttawa on Nov. 2following a scary collision with Scott Sabourin early in the first period.
Sabourin was bracing for a check with Backes, who was making a pace up ice. The twocollided in what appeared to be head-to-head or head-to-shoulder contact. While Sabourin went down, Backes stayed on his feet.
Warning: The video below contains graphic content.
After Sabourin, who appeared to be left unconscious,was stretchered off, an emotionalBackeswent straight to the bench and down the tunnel.It was unclear at the time whether or not the 35-year-old was hurt, but he did not return to game action and was declared out for the remainder of the contest in the second period.
MORE: Scott Sabourin moving extremities after collision vs. Bruins
Backes has had a history of concussions over the duration of his 14-year career.
In seven games this season, the 6-3, 215-pound forward has one assist and a plus/minus rating of minus-1, along with three takeaways.


Home
RSVP
Photos
Event
Registry
Ceremony and Reception
Time and Location
3:00 PM to 9:30 PM, September 17, 2017
Catalina View Gardens
6001 Palos Verdes Dr S, Rancho Palos Verde, CA 90275


Where authors write words onto pages and into imaginations, programmers bring code to life. Passionate about form and function, I enjoy the specturm of full stack development. For that reason, JavaScript is my language of choice.
Languages I enjoy writing in
Find me on LinkedIn.


My name is Francisco. For the last year and a half I have been practicing Ashtanga Yoga, a type of yoga popularized by the late Sri K. Pattabhi Jois or Guruji as he was affectionately known and who's see picture you see up top. The word "yoga" comes from the Sanskrit root yuj, which means "to join" or "to yoke". Ashtanga, as it is normally referred to strives to achieve this union with what it calls Tristana or the union of Vinyasa, Bandha and Drishti.
Vinyasa
The term vinyāsa refers to the alignment of movement and breath, a method which turns static asanas into a dynamic flow.The length of one inhale or one exhale dictates the length of time spent transitioning between asanas. Asanas are then held for 5 breath
Bandha
This is the muscle locking/contraction, which focuses energy in the body and is closely tied to the breath. It also allows energy to flow.
Drishti
Drishti (dṛṣṭi), or focused gaze, is a means for developing concentrated intention. The most common is Ūrdhva, or upward gazing, where the eyes are lifted, with the spine aligned from crown to tailbone. This technique is employed in a variety of asanas. There are, in total, nine drishtis that instruct the yoga student in directing his or her gaze. Each asana is associated with a particular drishti. They include:
- Aṅguṣṭha madhyai: to the thumb
- Bhrūmadhya: to the third eye, or between the eyebrows
- Nāsāgrai: at the tip of the nose (or a point six inches from the tip)
- Hastagrai: to the palm, usually the extended hand
- Pārśva: to the left/right side
- Ūrdhva: to the sky, or upwards
- Nābhicakra: to the navel
- Pādayoragrai: to the toes
Sequences & Series
Ashtanga Yoga is different from many yoga classes in the west in that the order of asanas is completely predefined.
A practice will comprise four main parts: an
- "opening sequence,"
- one of the six main "series",
- a back-bending sequence, and
- a set of inverted asanas, referred to as the "finishing sequence."
Practice always ends with savasana.
Daily Practice
Daily or regular practice is highly emphasized in Ashtanga Yoga. Students are encouraged to practice 6 days a week, preferably in the morning, and to take rest on Saturdays as well as the days of the full and new moon (commonly referred to as moon days by ashtanga practitioners). Women are also encouraged to take rest on the first one to three days of menstruation so as not to disturb their cycles.
Mantra
The Ashtanga practice is traditionally started with the following Sanskrit mantra:
vande gurūṇāṁ caraṇāravinde saṁdarśitasvātmasukhāvabodhe
niḥ śreyase jāṅ̇galikāyamāne saṁsāra hālāhala mohaśāntyai
ābāhu puruṣākāraṁ śaṅ̇khacakrāsi dhāriṇam
sahasra śirasaṁ śvetam praṇamāmi patañjalim
which is roughly translated into English as:
I bow to the lotus feet of the gurus,
The awakening happiness of one's own self revealed,
Beyond better, acting like the jungle physician,
Pacifying delusion, the poison of samsara.
Taking the form of a man to the shoulders,
Holding a conch, a discus, and a sword,
One thousand heads white,
To Patanjali, I salute.
and closes with the mangala mantra:
svasti prajābhyaḥ paripālayantāṁ nyāyena mārgeṇa mahīṁ mahīśāḥ
gobrāhmaṇebhyaḥ śubhamastu nityaṁ lokāḥ samastāḥ sukhino bhavantu
which is roughly translated into English as:
May prosperity be glorified,
may rulers (administrators) rule the world with law and justice,
may divinity and erudition be protected.
May all beings be happy and prosperous.


This section describes a method that will be especially useful for testing small changes in JSP files without having to go through a cumbersome reload process. If you make changes to a Java Server Page (JSP) packaged in an already-deployed application archive in Eclipse, the changes will result in a redeployment of the whole package.
Starting from v2.2, there is a new option No re-deployment when only JSP files are updated for server configuration in GEP. Thus, GEP will not redeploy the whole package when only .JSP
files are changed. This option will only be available when Geronimo server is stopped.
To enable the feature for GEP, follow these steps:
- Stop Geronimo server if it is running;
- On the Servers view, double click the server to be configured. And select No re-deployment when only JSP files are updated on the result panel; A message window will pop up with instructions.
- Edit
<GERONIMO_HOME>/var/catalina/conf/web.xml
file and set the development attribute for JSP pages to true
.
<servlet>
<servlet-name>jsp</servlet-name>
<servlet-class>org.apache.jasper.servlet.JspServlet</servlet-class>
<init-param>
<param-name>development</param-name>
<param-value>true</param-value>
</init-param>
...
</servlet>
- After all is done, restart the server in Eclipse.


Methods and apparatus for vertical or short takeoff and landing. In one embodiment, the apparatus comprises two or more counter driven rings with one or more airfoils attached. In one variant, there is an upper ring and a lower ring, each with multiple airfoils attached. In one variant, lift is generated largely via ambient air currents, allowing for long term on-station operation of the device.
This application claims priority to U.S. Provisional Patent Application Ser. No. 61/560,667 filed Nov. 16, 2011 of the same title, which is incorporated herein by reference in its entirety.
A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the Patent and Trademark Office patent files or records, but otherwise reserves all copyright rights whatsoever.
1. Field
The present disclosure relates generally to the fields of aviation and aerospace engineering. More particularly, in one exemplary aspect, the present disclosure is directed to methods and apparatus for vertical short takeoff and landing.
2. Description of Related Technology
A wide range of aviation related applications require flexibility in aircraft movement. Common requirements are vertical or short takeoff, hovering capabilities, and frequent changes in flight vector, etc. Additionally, unmanned aircraft are in high demand for defense or other applications (such as drug surveillance or interdiction) in which deploying personnel is either too dangerous or impractical given the task requirements.
It is impossible to design aircraft that meet the needs of every aviation application. Therefore, having a wide variety aircraft designs utilizing a wide variety of flight systems (e.g. propulsion, takeoff, landing etc) is necessary to match the requirements of a multitude of tasks. However, given monetary constraints, there is a practical limit to the number of aircraft that can be manufactured and dedicated to any specific purpose or group. Therefore, it is important that selected designs offer the broadest task flexibility possible, while not overlapping unduly with aircraft already in widespread use.
Existing solutions for vertical short takeoff and landing (VSTOL) generally either comprise: (i) those driven by a main rotor stabilized via a tail rotor (e.g., helicopter), (ii) more traditional airplane driven by engines or turbines the can be placed in multiple orientations (e.g., V-22 Osprey or Harrier jets), or (iii) small craft dependent on one or more turbines (Multipurpose Security and Surveillance Mission Platform or SoloTrek Exo-Skeletor Flying Vehicle). While the more traditional plane designs offer high-top speeds, and increase mission range/duration via gliding capabilities, these systems are limited in the speed at which they can accommodate a significant change in flight vector. Thus, these vehicles would be inappropriate for e.g., low-altitude applications in an urban environment. Conversely, helicopters and smaller turbine based craft lack the capability to remain aloft without expending significant power or fuel resources to keep their turbines running. Moreover, all of these vehicles have a preferred orientation such that if they become inverted, the craft will have to be righted before lift capability can be restored.
Unfortunately, modern applications often require both flight through confined areas and long on-station dwell or long-range deployment of the aircraft. Moreover, vehicles used in such applications may often experience violent disruptions or turbulence in their immediate airspace. Thus, losing lift capability as a result of environmental conditions or an unexpected inversion is a significant operational limitation.
Accordingly, improved solutions are required for VSTOL. Such improved solutions should ideally be flexible enough for urban or other confined area navigation, be able to generate lift in multiple orientations, and have suitable on-station dwell and range operational capacity.
The present disclosure satisfies the aforementioned needs by providing, inter alia, improved methods and apparatus for vertical short takeoff and landing.
In a first aspect of the disclosure, a vertical short takeoff and landing apparatus is disclosed. In one embodiment, the apparatus comprises multiple (e.g., two) contra-rotating rings with attached airfoils, a fuselage, a power source, and a self-contained motor and drive system. The contra-rotating rings with attached airfoils rotate about the center axis of the apparatus and generate lift.
In one variant, the capability of generating lift primarily from ambient air currents is introduced. This allows the vehicle to, inter alia, stay aloft with minimal or even no energy consumption.
In a second aspect of the disclosure, methods of operating the apparatus are disclosed.
In a third aspect of the disclosure, a lift generating mechanism is disclosed. In one embodiment, the mechanism comprises at least two contra-rotating rings having a plurality of airfoils disposed on each. In one variant, the airfoils may individually (or in unison) change pitch or attitude. In another variant, the airfoils may also extend radially from the rings so as to increase the effective diameter of the apparatus.
In a fourth aspect of the disclosure, an airfoil mechanism is disclosed. In one variant, the mechanism comprises a plurality of airfoils disposed on the aforementioned contra-rotating rings and each configured to articulate around a rotational axis, each of the axes being oriented radially with respect to the ring(s). In another variant, the airfoil mechanisms are each radially extendable, such that the effective airfoil surface area is increased.
In a fifth aspect of the disclosure, business methods relating to the apparatus are disclosed.
In a sixth aspect of the disclosure, an apparatus for the remote operation of the VSTOL apparatus is disclosed.
In a seventh aspect of the disclosure, a method for generating lift with the VSTOL apparatus is disclosed.
In an eighth aspect of the disclosure, methods of controlling the VSTOL apparatus are disclosed.
In a ninth aspect of the disclosure, a method of operating the VSTOL apparatus to utilize prevailing air currents to generate lift is disclosed.
In a tenth aspect, a low-observable VSTOL apparatus is disclosed.
In an eleventh aspect of the disclosure, a method of reducing the radar cross section (RCS) of the VSTOL aircraft during flight is disclosed.
In a twelfth aspect of the disclosure, an extensible airfoil apparatus is disclosed.
In a thirteenth aspect of the disclosure, a lift generation system is disclosed. In one embodiment the system comprises: (i) one or more pairs of rings, (ii) a plurality of airfoils disposed on the rings, and (iii) a drive apparatus configured to contra-rotate each of the pairs of rings. The lift generation system is configured to generate lift via airflow around the airfoils during contra rotation of the pairs of rings.
In a fourteenth aspect of the disclosure, a non-transitory computer readable medium configured to store at least one computer program thereon is disclosed. In one embodiment, the computer program comprises a plurality of instructions configured to, when executed: control various aspects of the operation of a VSTOL apparatus such as by use of airfoil attitude control. In one variant, the computer program takes in physical input signals such as from an altimeter, accelerometer(s), electronic or electromagnetic compass, etc., and controls the flight of the VSTOL apparatus.
In one variant, the various aspects include automated piloting of the VSTOL apparatus.
In another variant, the various aspects include assisting and translating remote piloting instructions received from a remote source.
In yet another variant, the various aspects include control of sensory equipment disposed on the VSTOL apparatus.
Other features and advantages of the present disclosure will immediately be recognized by persons of ordinary skill in the art with reference to the attached drawings and detailed description of exemplary embodiments as given below.
figref[FIG. 1] is a perspective view of the lift mechanisms of one exemplary embodiment of a vertical short takeoff and landing (VSTOL) apparatus in accordance with principles presented in the disclosure provided herein.
figref[FIG. 1] a is a perspective view of the lift mechanisms of a second exemplary embodiment of a VSTOL apparatus.
figref[FIG. 2] is a perspective view of the VSTOL apparatus of figref[FIG. 1] , with a disc-shaped fuselage installed.
figref[FIG. 2] a is a perspective view of the VSTOL apparatus of figref[FIG. 1] a, with a support frame for a fuselage attached.
figref[FIG. 3] is a perspective view of the exemplary VSTOL apparatus of figref[FIG. 2] , illustrating the articulation of the airfoils thereof.
figref[FIG. 3] a is a perspective view of the exemplary VSTOL apparatus of figref[FIG. 2] a, illustrating the articulation of the airfoils thereof.
figref[FIG. 3] b is a side view of a portion of the VSTOL apparatus of figref[FIG. 2] a, illustrating the operation of the airfoils as they rotate past a control point.
figref[FIG. 3] c is a perspective view of a portion of a rotating ring with extensible airfoil.
figref[FIG. 4] is a perspective view of one embodiment of the articulation apparatus for articulating the airfoils of the VSTOL apparatus of figref[FIG. 3] .
figref[FIG. 4] a is a detailed perspective view of one embodiment of the articulation apparatus for articulating the airfoils of the VSTOL apparatus of figref[FIG. 3] a.
figref[FIG. 5] is a perspective view of the articulation apparatus of figref[FIG. 4] in the fully lowered position.
figref[FIG. 5] a is a perspective view of the articulation apparatus of figref[FIG. 4] a in the fully lowered position.
figref[FIG. 6] is a perspective view of the articulation apparatus of figref[FIG. 4] in the fully raised position.
figref[FIG. 6] a is a perspective view of the articulation apparatus of figref[FIG. 4] a in the fully raised position.
figref[FIG. 7] is a perspective view of an alternative embodiment of a VSTOL apparatus.
figref[FIG. 8] is a perspective view of yet another alternative embodiment of a VSTOL apparatus in accordance with the principles of the present disclosure.
figref[FIG. 9] is a perspective view of still another alternative embodiment of a VSTOL apparatus in accordance with the principles of the present disclosure.
figref[FIG. 10] is a functional block diagram illustrating one embodiment of a control architecture for the VSTOL apparatus.
figref[FIG. 11] is a side elevation view of one exemplary embodiment of the VSTOL apparatus, showing coordination of the airfoils to generate high-pitch lift.
figref[FIG. 12] is a side elevation view of the exemplary embodiment of the VSTOL apparatus, showing coordination of the airfoils to generate negative lift.
figref[FIG. 13] is a top view of an alternative embodiment of the VSTOL apparatus, showing long, thin (diameter) airfoils.
figref[FIG. 14] is perspective view of one embodiment of the VSTOL apparatus, showing wireless power and two-way data communication via satellite.
figref[FIG. 15] is a perspective view of still another alternative embodiment of a VSTOL apparatus in accordance with the principles of the present disclosure.
figref[FIG. 15] a is top perspective view of the embodiment of the VSTOL apparatus shown in figref[FIG. 15] .
figref[FIG. 15] b is a bottom perspective view of the embodiment of the VSTOL apparatus shown in figref[FIG. 15] .
figref[FIG. 16] is a perspective view of yet another embodiment of the VSTOL apparatus.
figref[FIG. 16] a is another perspective view of the embodiment of the VSTOL apparatus shown in figref[FIG. 16] .
figref[FIG. 17] is a perspective view of one embodiment of the VSTOL apparatus showing the use of inline riders.
figref[FIG. 18] is a perspective view of the embodiment of the VSTOL apparatus shown in figref[FIG. 16] detailing the restoring forces generated by the shaped wheels and rings.
figref[FIG. 19] is a perspective view of another embodiment of the VSTOL apparatus in accordance with the principles of the present disclosure.
figref[FIG. 19] a is another perspective view of the embodiment of the VSTOL apparatus shown in figref[FIG. 19] detailing a means of reorienting the VSTOL apparatus.
Reference is now made to the drawings, wherein like numerals refer to like parts throughout.
Overview
In one aspect, the present disclosure provides methods and apparatus for vertical short takeoff and landing (VSTOL). In one embodiment, the apparatus uses contra-rotating rings (e.g., two) with a plurality of articulating airfoils attached at the circumference of each to generate lift. The apparatus can be driven by one or more electric motors supplied by photovoltaic (solar) cells, one or more battery cells, by a combustion engine (e.g., two-stroke, four stroke, or even turbojet), or alternatively via satellite downlink supplying an electromagnetic (e.g., microwave range) radiation beam which would each supply power to a drive arrangement that is completely contained within the apparatus.
In another aspect, the aircraft is configured to reduce its motor function and use prevailing wind currents to maintain altitude and position and/or generate lift.
Detailed Description of Exemplary Embodiments
Exemplary embodiments are now described in detail. While these embodiments are primarily discussed in the context of an unmanned military aircraft, it will be recognized by those of ordinary skill that the present disclosure is not so limited. In fact, the various aspects are useful for vertical short takeoff and landing from in a variety other contexts. For example, embodiments may be readily adapted for use as remote viewing and/or other sensory aids (e.g., audio, IR, ionizing, radiation, electromagnetic radiation such as wireless communications) for law enforcement, drug interdiction, or private investigators. Similarly, embodiments could be used for opportunistic video equipment deployment (sport events, disaster areas, or zones too dangerous for personnel such as over high radiation areas).
Furthermore, while the disclosure is discussed primarily in the context of generating lift in a gaseous fluid medium such as the earth's atmosphere, it will be recognized by those of ordinary skill that the architectures and principle disclosed herein could be readily adapted for use in other operating environments, such as liquids, with the discussion using gaseous mediums merely being exemplary.
It will also be recognized that while particular dimensions may be given for the apparatus or its components, the apparatus may advantageously be scaled to a variety of different sizes, depending on the intended application. For instance, the disclosure contemplates a small table-top or even hand-held variant which may be useful for e.g., low altitude surveillance or the like. Likewise, a large-scale variant is contemplated, which may carry a more extensive array of sensors and even weapons (such as e.g., Hellfire precision guided munitions or the like), have greater loiter and altitude capabilities, etc. This design scalability is one salient advantage of the apparatus.
Exemplary Apparatus and Operation—
Referring now to figref[FIG. 1] , an exemplary embodiment of a lift mechanism 100 for a VSTOL apparatus is shown and described in detail. The lift mechanism of figref[FIG. 1] includes two (2) counter driven rings disposed in parallel, including an upper 103 and a lower ring 104. Attached to the upper and lower ring are upper airfoils 101 and lower airfoils 102, respectively. Each of the airfoils generally has a curved shape such that it is capable of generating lift while being rotated through the surrounding air. Accordingly, as the upper and lower rings of the mechanism 100 spin, the airfoils create lift (or alternatively downdraft, or negative lift, depending on the orientation of the airfoils as discussed infra). Each of the airfoils includes a generally curved or rounded leading edge and a narrower trailing edge portion. In the embodiment illustrated, the upper airfoils curved leading edge is positioned such that the upper rotating ring will generate lift by rotating in a counter clockwise direction (when viewed from above). Conversely, the lower airfoils curved leading edge is positioned such that the lower rotating ring generates lift by rotating in the opposite direction (i.e. clockwise). While a specific configuration is shown, it is appreciated that the leading edges for the upper and lower airfoils could be reversed such that an opposite rotation (i.e. clockwise rotation for the upper airfoils and counter clockwise rotation for the lower airfoils) will generate lift for the VSTOL apparatus.
Referring now to figref[FIG. 1] a, a configuration with four airfoils per ring is shown 110. This configuration allows the lift system to be optimized with respect to the shape and scale of the apparatus, although other airfoil shapes and sizes, and/or number of airfoils may be employed depending on the desired characteristics).
As the upper and lower rings rotate in opposite directions and are essentially identical in construction (albeit in a reversed orientation), the combined motion of the rings generates no net torque on the apparatus when the upper and lower rings are rotated at the same speed. This is useful in that additional rotors, or rotors oriented in an orthogonal orientation (such as that seen in conventional helicopters) are not necessary in order to provide counter rotation. In addition, by varying the relative speeds of the counter rotating rings, a net torque can be generated, thereby allowing the VSTOL apparatus to rotate about a central (vertical) axis, again without necessitating an additional rotor.
In addition, the multiple rings allow for increased lift capability, because they allow for more points for lift generation. Furthermore, as will be appreciated later in the specification. The coordination of the upper and lower airfoil elements leads to a synergistic improvement of lift capacity. Considerations related to this coordination of upper and lower airfoils (including ring spacing, airfoil shape, rotational speed, etc.) can aid in effective airfoil/ring design that e.g., maximizes upward lift.
Referring now to figref[FIG. 2] , a perspective view of an exemplary embodiment of the VSTOL apparatus of figref[FIG. 1] is shown, with a disc-shaped fuselage 201 supported within the rings. This placement of the fuselage with respect to the rings is effective in that as previously discussed, no torque will be imparted on the fuselage, thereby keeping it substantially fixed in orientation during flight. Thus, the centro-symmetric design allows for a highly agile aircraft, because actions such as turning can be performed with effectively a zero radius and with only minimal power expenditure. For example, a brake (e.g., frictional mechanism) could be applied to the one or more of the rotating rings or a power ring. This would result in axial rotation and turn the aircraft. Furthermore, to tilt the aircraft, the airfoils can be articulated at control points to increase or decrease the amount of lift they generate. Thus, more or less lift is generated from one side of the aircraft, and the VSTOL apparatus would tilt. See discussion of figref[FIG. 3] b below.
Referring now to figref[FIG. 2] a, a perspective view of an exemplary embodiment of the VSTOL apparatus of figref[FIG. 1] a is shown. In this configuration, a frame for supporting a fuselage is shown 220. The upper and lower portions of the frame are each surrounded by a pair of rotating rings ( 223 and 224). Each pair of rings is rotated in tandem and, as discussed infra, are used to control the articulation of the airfoils in some embodiments.
Moreover, the placement of the fuselage in the embodiment of figref[FIG. 2] also reduces the strain experienced by the airfoils. Furthermore, the lack of a central hub or axle increases room for both sensors and cargo (e.g., munitions).
Another key advantage of this design is that it facilitates an aerodynamic fuselage. The disc shape allows for a large volume while still maintaining a relatively small cross-section with respect to the direction of transverse flight (e.g., laterally). This will lead to reduced power loss due to drag, and a reduced radar cross section (RCS) as discussed in greater detail subsequently herein.
It can also be appreciated that advantages from gear reduction (e.g., between the output shaft of the drive source, such as a motor or engine, and the drive applied to the rings) can easily be leveraged using the contra-rotating ring design described herein. In fact, the rings themselves can act as the main reduction gears given that the drive system of the VSTOL apparatus is located entirely within the circumference of the rings.
The fuselage comprises in one embodiment the power source (e.g., solar cell, battery, or engine, etc.) and motor(s) to drive the rotation of the rings, and to articulate the airfoils. In the illustrated embodiment, the fuselage is designed for unmanned operation, although it could conceivably house a cockpit for a passenger if the size of the aircraft was sufficient to lift such weights effectively. In either of these implementations, a host of weapon or surveillance systems may also be housed in the fuselage, again limited by an appropriate size and lift capacity. Weapons bays may also be internalized within the fuselage (e.g., akin to those on the F-22 Raptor) if desired, thereby reducing aerodynamic drag and RCS.
In one embodiment, the fuselage is made from a lightweight composite material (e.g., graphite-based or urethane-based using epoxies as bonding agents) for both strength and reduced weight, although other materials may be used.
The fuselage may also be adapted to house autonomous navigation equipment, such as a Global Positioning System (GPS) receiver, and computerized navigation system. This would be required to varying degrees depending on the level of autonomy desired. The fuselage may also house a computer configured to control and operate the VSTOL apparatus (i.e., altitude, attitude, pitch of the airfoils, etc.), whether with or without human or other external input. Such a system might use an external communication link such as a ground-based or satellite based wireless link. The fuselage may also house onboard instruments for navigation e.g. laser ranging systems, electro-optic or IR machine vision, altimeter, radar, gyroscopes, and/or optical gyroscopes, etc.
In other configurations, all or a subset of the airfoils may have their pitch adjusted with respect to the rings; e.g., they may rotate around their axis of attachment to the ring. Using control rings, the variable airfoil pitch can be adjusted allowing for lift control. Referring now to the perspective view in figref[FIG. 3] , the airfoils 301, 302 on the apparatus are shown having been articulated (rotated generally around their attachment axes—not shown, but described below). Specifically, the upper ring airfoils 301 have been rotated counter-clockwise (when viewed from their end), while the lower ring airfoils 302 have been rotated clockwise. These two rotations provide additional lift for each ring, respectively.
Similarly, figref[FIG. 3] a shows the directions of motion and articulation for the airfoils in the embodiment depicted in figref[FIG. 1] a.
It can be appreciated that in some versions, only the airfoils 301 on the upper ring (or conversely those 302 on the lower ring) could be articulated. While in other designs, the airfoils 301 and 302 on both the upper and lower rings can be articulated.
In one implementation of the VSTOL apparatus (shown in figref[FIG. 3] a and figref[FIG. 3] b), three control points are used on the control ring 303 (discussed in greater detail below). The control ring rotates with the power ring 304; however, it is independent of the power ring's horizontal constraint (i.e., requirement that the power ring maintain a substantially fixed horizontal position). When one of the aforementioned control points has been articulated (center arrow in figref[FIG. 3] b), just the control ring moves, changing the pitch of the airfoils (within that control point's affected area). The other two control points remain fixed (unless they too are actuated or controlled).
figref[FIG. 3] c illustrates another embodiment of the exemplary airfoil. In this embodiment, radially extensible airfoils 350 are used so as to permit the effective length of the airfoil to change. In one variant, the extensible portion 352 slides outward from within the non-extensible portion 354, thereby increasing the effective length (and hence lift provided by) each airfoil. Such extensibility may be desirable for e.g., changing altitude, operating at different altitudes (i.e., having different air densities), changing the efficiency of the apparatus, maneuvering, altering the radar cross-section (RCS) of the aircraft, etc. In one implementation, the extension is provided by a rod 356 mounted to the inner radius of the extensible portion 352 on one end, and to a retraction/extension mechanism on the other (e.g., a screw or worm drive gear, hydraulic actuator, electromagnetic solenoid, etc.). In another variant, one or more springs are used such that centrifugal force of the rotating rings (and airfoils) tends to pull the extensible portions 352 outward against spring force, such that greater extension (and lift (is achieved at greater ring rotational speeds. Various other schemes for controlling the position of the extensible portion 352 will be recognized by those of ordinary skill given the present disclosure.
Referring now to figref[FIG. 4] , a perspective view of an exemplary embodiment of an apparatus for articulating the airfoils 101, 102 is shown and described. In this embodiment, the pitch of the airfoils (i.e., angle with respect to the plane of ring rotation) is controlled via two rods. One rod 401 penetrates radially at the tail of the airfoil, and the other rod 402 penetrates at the front portion of the airfoil. One rod 401 is attached to a control element 403 (e.g., control ring) and is capable of moving up or down with respect to the main rotating ring (figref[FIG. 1] , 103 or 104) on which the airfoil is mounted. The second rod 402 is attached to a second element 404 (e.g., power ring) disposed interior of the control ring and which is stationary with respect to the ring on which the airfoil is mounted. A slot 408 allows the second rod 402 to move therein when the control element 403 is moved up or down. In this fashion, when the control element 403 is moved upward or downward relative to the second element 404, the angle of the airfoil decreases or increases, respectively. The tail of the airfoil 406 is shown in the neutral position in figref[FIG. 4] .
It will be recognized that the foregoing functionality may be realized alternatively by inverting the connections of the rods; i.e., the second rod 402 may be fixed to the first control element 403, and the first rod to the second element 404, such that the movement described above produces the inverted response (i.e., upward movement increases angle, etc.)
Likewise, the functions of the control elements can be changed. For instance, using the configuration shown in figref[FIG. 4] , instead of maintaining the inner (second) control element fixed and moving the outer (first) element, the outer element 403 can be fixed, and the inner (second) element 404 can be moved up and down.
Moreover, the foregoing functions could be served by the actual rings ( 103 or 104) as opposed to one or more of the control elements 403, 404. Alternatively, a pair a rings rotating in unison, but free to move with respect to one another in the direction orthogonal to the rotational plane, would be able to function as both of the platforms ( 403 and 404). More detailed descriptions of such embodiments will be provided later in the specification.
As shown in figref[FIG. 4] , several wheels 405 are also used to provide for low-friction rotation of the two rings position the first platform.
Referring now to figref[FIG. 4] a, details of an exemplary configuration of an articulation system for the airfoils is shown. This system uses the two control rod mechanism shown in figref[FIG. 4] . In the embodiment of figref[FIG. 4] a, the articulation system is driven by a stepper motor 409 which turns a screw thread 410. The screw thread controls the position of two wheels ( 411 and 412). These wheels then depress or raise the rings they are in contact with. This alters the relative position of the two rings, and articulates the airfoils.
It can be appreciated that alternatively, the screw thread can be used to drive mechanics inside the rotating rings. Thus, the airfoils can be positioned without changing the relative position of the rings. Furthermore, the screw thread and wheel combination can be used to position localized portions of the rotating rings. Thus, in some embodiments, the airfoils can be positioned independently of one another.
In other versions, the first control element moves along the arc of a circle or ellipse or other function to facilitate rotation of the airfoil. The airfoils may also be allowed to translate at least somewhat in the circumferential direction if desired. Such features allow for more fluid positioning.
Referring now to figref[FIG. 5] and figref[FIG. 5] a, the tail of the airfoil of figref[FIG. 4] is shown in its fully lowered position 501. In figref[FIG. 6] and figref[FIG. 6] a, the tail of the airfoil is shown in its fully raised position 601.
It can also be appreciated that the airfoils can comprise flaps, slats, or other extensible control surfaces that can be expanded or contracted to change the shape of the airfoils. The change is shape can be used to reduce or increase the lift achieved through the airfoils. Moreover, deicing can be achieved by altering the shape of the airfoils, potentially loosening built-up ice.
In yet another variant, the airfoils are substantially deformable in shape via internal mechanisms. Unlike the “flap” variant referenced above (which basically exaggerates the shape of the airfoil by extending the tail portion outward so that the leading edge to tail edge distance increases), the actual curvature of the airfoil can be altered mid-flight so that the Bernoulli effect (and/or other aerodynamic properties) are altered as desired. In one implementation, the outer surface of the airfoils comprises a substantially pliable polymer “skin” laid over a frame, the latter being mechanically deformable in shape by way of one or more articulated joints. Yet other approaches will be recognized by those of ordinary skill given the present disclosure.
Other potential implementations may utilize airfoil flaps that can be extended or retracted to change the shape of the airfoils. Through this airfoil extension and contraction, the aerodynamic cross-section of the apparatus can be altered to facilitate lift via e.g., ambient air currents.
As yet another option, the airfoils may be constructed so as to have a changing pitch/curvature as a function of radial position. For example, in one such variant, the pitch or curvature of the airfoil near the root about which it rotates may be one value, while the curvature changes as the distal (outward) end of the airfoil is approached; i.e., as if one grasped the end of the airfoil and twisted it so as to distort its shape. Such varying curvature may provide desired attributes in certain applications; e.g., greater lift as a function of rotational or angular velocity.
Referring now to figref[FIG. 7] , a top perspective view of the exemplary VSTOL apparatus is, including a support frame comprising three upper support beams 701 joined at the top of the apparatus by a substantially triangular platform 702. The three upper support beams are connected to a lower triangular support frame 703 via three multi-wheel mounts 704. These wheel mounts allow comprise upper wheels 705 and central 706 wheels and lower wheels 711 which run along sets of tracks 707 in the upper 708 and lower rings 709 for allowing the rotating rings to spin, while the frame supporting the fuselage stays stationary.
The exemplary support frame of figref[FIG. 7] is formed of a lightweight alloy such as a Titanium alloy, although other materials may be used, including polymers (e.g., plastics) or even composites such as carbon fiber composites of the type well known in the aircraft arts.
The configuration of figref[FIG. 7] offers increased structural integrity, while still meeting the stringent weight requirements of the VSTOL apparatus. Specifically, such frame-type construction offers high stability with the adding the cost or weight of full sheets of material. However, it should be noted that full sheets of material can offer advantages in other areas (e.g. armor, aerodynamic drag, optical or electromagnetic shielding, etc.). Hence, while the embodiment of figref[FIG. 7] is illustrated with only a lightweight support frame, it will also be recognized that either (i) the frame may be used with a covering or “skin”, (ii) the support frame may be minimized (such as by using very rigid materials, with only a central support “triangle” (not shown), with or without a skin, or (iii) the skin itself may be used to provide the necessary rigidity/support for the airframe. For example, the exemplary fuselage shape of figref[FIG. 2] herein may be formed via an outer skin with sufficient rigidity, such as via a strong, lightweight alloy or composite, thereby saving appreciable weight.
As previously noted, the upper and lower rings ( 708 and 709) used in this design operate as the platforms for articulating the airfoils ( 403 and 404). This configuration significantly simplifies the articulation process. In one variant, each “ring” comprises a pair of rings, which rotate in unison; i.e., one stationary main ring, and one control ring that moves perpendicular to the plane of rotation (i.e., up and down). The tail rod 401 of the airfoils is attached to the control ring, and the forward rod 402 of the airfoils is attached to the stationary ring. The airfoils then will rotate as the control ring moves up and down in the direction perpendicular to the direction of rotation.
It can be appreciated that more control rings could also be added to the apparatus. Thus, individual airfoils could be attached to individual control rings. This would allow for independent control of each airfoil. However, in many configurations it might be more advantageous to attach airfoils to rings in such a manner that the center of the ring and its preferred axis of rotation are aligned. This will eliminate unwanted torque generated from non-ideal rotation. Therefore, it may be advantageous to control at least a pair of airfoils with each control ring. Conversely, the torques generated from this non-ideal rotation could be compensated by the complementary contra-rotation of the opposing set of rings.
Other more reductive designs can also be used. In one such exemplary embodiment, a ring-shaped internal frame is used, such as that of figref[FIG. 8] . Referring now to figref[FIG. 8] , upper and lower exterior wheels 801 and 802 run along the top and bottom of the exterior upper 803 and lower 804 rings, respectively. The wheels are attached to the internal frame via wheel mounts 805. Interior upper 806 and lower 807 wheels run along the inside of the exterior rings just above and below the upper 808 and 809 lower interior rings. Similarly, the exterior and interior rings serve as the platforms 403 and 404 for airfoil articulation.
The ring shaped-frame used in the configuration of figref[FIG. 8] is an effective pairing with an aerodynamic fuselage. Moreover, this configuration does not define the bounds or contours of the fuselage. Thereby, such parameters can be instead defined by the particular needs of any given fuselage configuration (e.g. weapons/sensor storage, cockpit, drive systems, etc.).
Referring now to figref[FIG. 9] , in another configuration, the ring-shaped internal frame in the previous embodiment is made using an economical, lightweight wire-frame 901. It can be made from a wide selection of materials (plastics, metals, metal-alloys, crystalline materials, fiberglass, etc., or some combination thereof). The ring-shaped internal wireframe is reinforced with three upper wireframe beams 902 and three lower wireframe beams 903. Using such wireframes, the apparatus can more easily meet weight and structural integrity requirements. In addition, wireframe beams are more space efficient than more conventional beams (such as those of figref[FIG. 7] ). Wireframes can be adapted to house communications or surveillance equipment 904. Alternatively, the frame can be co-opted, and serve as a portion of e.g., an RF antenna for a communications system.
The dark coloration of the rings, airfoils, and frame in the embodiment of figref[FIG. 9] arises from the fact that they are made from (and/or coated in) a material that is impedance matched to the upper atmosphere to lower the radar signature (RCS) of the apparatus. A number of non-radar reflective or radar absorptive materials could suit this purpose (e.g. ferromagnetic materials or nanoparticle coatings). Furthermore, in some embodiments, the curved features of the VSTOL apparatus are flattened into polygonal approximations to reduce diffuse reflections off of the device. Thus, radiation is less likely to be reflected back in its direction of origin. Moreover, surfaces which would tend to reflect incident radar back to its source or other receiver can be angled or shaped so as to minimize such reflections. For instance, the flat or vertical outer surfaces of the rotating rings can be approximated by two oblique intersecting angled surfaces, as can the outward edge of each of the airfoils. In that radar is most likely to impinge in the craft from the side (or somewhat below and to the side when the aircraft is at altitude), these surfaces become most critical.
A wide variety of body styles and purposes would be immediately obvious to one of ordinary skill in the art given the contents of the present disclosure.
Referring now to figref[FIG. 10] , a second apparatus for the remote operation of the VSTOL apparatus is necessary is some implementations.
In the illustrated embodiment, the Control Equipment (CE) comprises a wireless transceiver 1004 connected to a user interface 1002, the latter receiving operator (or computer, as described in greater detail below) inputs for control of the device. The transceiver then relays commands from the interface to a transceiver 1006 located on the VSTOL apparatus, which is in communication with an on-board controller 1008. The wireless link may be direct (e.g., LOS or curved propagation via the earth's atmosphere), or alternatively indirect such as via one or more relay entities (e.g., land-based tower(s), not shown, or satellite 1010).
It is also envisaged that forward link and/or reverse link data could be transmitted via extant wireless infrastructure; e.g., via a cellular base station or femtocell (e.g., eNodeB), Wi-Fi hotspot, WiMAX transceiver, etc., such that the VSTOL apparatus could be operated remotely over an existing network such as the Internet.
For a human operated interface, one or more joysticks can be used to input commands. Joysticks would offer a degree of familiarity that might help operators of other aircraft acclimate to controlling the VSTOL apparatus. To that end, the interface can also be constructed to simulate a cockpit. In one variant, a user interface and control system similar to that used in the extant Predator and Global Hawk systems is used, so as to permit easy migration between operators/platforms, reduce inventory requirements, etc.
For other potential operators, an interface that comprises a control device made to simulate a videogame console controller (e.g. those used with Xbox 360, PlayStation 3, Nintendo Wii) might offer a similarly familiar experience.
Accordingly, offering an option among multiple interface designs allows for a selection of operators from a larger set of backgrounds, and thus a larger talent pool.
Another important element of the CE is a display. The display shows video or other sensor data from “environmental” sensors located on the VSTOL apparatus, which may include for example electro-optic imagers (e.g., CMOS or CCD), IR imagers such as FLIR, electromagnetic sensors, radiation sensors (e.g., ionizing radiation such as neutron, beta or gamma radiation), etc. Additionally, sensors relating to the control of VSTOL apparatus itself (e.g., pitch, yaw, roll, airfoil angle of attack, ring RPM, airspeed, altitude, etc.) may feed data back to the remote CE so as to provide the operator information necessary to pilot the craft. This allows the remote operator to both control the VSTOL aircraft and react to the environment surrounding it, even if the operator is not in direct visual contact with the VSTOL apparatus, which is typically the case.
It can be appreciated that such a display could use a “heads-up” format to facilitate the display of sensor data and video simultaneously.
In another configuration, the remote human operator could be replaced with a CE that further comprises a processing entity running a computer application configured to operate the VSTOL apparatus autonomously. Locating the processing system for VSTOL apparatus at a remote site has multiple advantages. First, the weight associated with the processing system would not encumber the VSTOL apparatus. Moreover, the processing system would not be exposed to the risk or harsh conditions that might be associated with the location of the VSTOL apparatus. Thus, the processing system and any data stored thereon would not be lost should the VSTOL apparatus be destroyed or become inoperable. Conversely, locating such processing systems remote to the apparatus introduces an inherent latency between the VSTOL apparatus and the processing system.
It will be appreciated from the foregoing that multiple control system architectures may be employed consistent with the disclosure, including (without limitation):
Yet other combinations or variations on the foregoing will be appreciated by those of ordinary skill given the present disclosure.
The VSTOL can also be operated completely autonomously. In an exemplary embodiment, an on-board processing entity (e.g., controller 1008 of figref[FIG. 10] ) runs a computer program configured to evaluate data supplied by on-board navigation equipment and sensors. The processing entity uses this data to guide the device along a preplanned flight path; e.g., using GPS or other fixes as “waypoints” for the flight path. In another variant, terrain contour data from e.g., a radio or laser altimeter is used and matched to a preloaded digital terrain map against which the craft registers to maintain its desired flight path.
It can be envisioned that the processing entity can make determinations to deviate from the planned flight path based on external events. For example, the apparatus can alter its path to continue to follow a tracked target or evade a countermeasure or missile. Alternatively, the apparatus can operate semi-autonomously with periodic command updates being sent from a remote CE or on-board computer.
Method of Operation—
In operation, the VSTOL apparatus generates lift by counter-rotating the rings and thereby allowing for continuous movement of the airfoils. Through inter alia the Bernoulli Principle, lift is generated.
In one embodiment, the curved shape of the airfoils provides the primary mechanism for lift generation. When the airfoils move through a gas, the gas flows at different speeds over the top and bottom of the airfoil. Specifically, the curvature is such that a gas moving over the top of the foil moves faster than that moving under the airfoil. The faster moving gas is at a lower pressure than the slower moving gas. This pressure imbalance leads to an upward force on the airfoil. Hence, lift is generated. It can also be appreciated that the leading and trailing edges of the airfoils in the illustrated embodiment may be shaped using a tear drop model to reduce eddy currents and turbulent flow as the airfoil moves through the gaseous medium.
However, to generate constant lift, the airfoil must move in the appropriate direction through the gaseous medium continuously. For situations in which hovering or vertical lift is desired, rotary motion can provide the continuous movement. However, to generate the torque needed to maintain the rotary motion, an equal and opposite torque must also be generated. As previously mentioned, conventional rotary wing aircraft use an orthogonally oriented rotor (e.g., tail rotor on a helicopter) to provide counter rotation force. However, in such aircraft the motion of the second rotor does not contribute to the generation of lift. Therefore, such a system would have reduced efficiency.
However, the VSTOL apparatus uses rings with attached airfoils that can be contra-rotated at the same speed such that no net torque is produced by the rings. Thus, both rotors contribute to lift generation and apparatus orientation stability. This increases the lift capability of the VSTOL apparatus and conversely its efficiency. Additionally, if different torques are applied to the rotors, the apparatus can be quickly and efficiently reoriented without a reduction in lift capacity. Notwithstanding, the VSTOL apparatus can be made to rotate around its central (vertical) axis by intentionally imparting the aforementioned torque; e.g., by rotating one ring faster than the other, adjusting the pitch of one ring's airfoils relative to the other, etc.
The apparatus can also be steered through the combined articulation of the upper and lower airfoils. Referring now to the side view shown in figref[FIG. 11] , the tail of the upper airfoil is place in the fully lowered position 1101, and the tail of the lower airfoil is in the fully raised position 1102. This configuration produces “high-pitch lift.” Conversely, as shown in the side view of figref[FIG. 12] , the tail of the upper air foil is in the raised position 1201 and the tail of the lower airfoil is in the fully lowered position 1202. This configuration produces “negative lift.”
The VSTOL apparatus can generate horizontal motion by tilting its orientation with respect to the horizon. Thus, a portion of the force that would generate lift if the device were not tilted with respect to the horizon now generates horizontal motion. This tilting can be achieved in various ways. The apparatus can vary its center of mass by shifting mechanical parts or the contents of the fuselage; e.g., a normally centered mass can be moved, such as via electric motor, to a position off-center such that the aircraft will tilt downward toward that direction. In cases where the aircraft is powered by fossil or other fuels, the distribution of the liquid fuel can be varied (e.g., pumped or allowed to migrate), such as through use of a network of smaller, segregated fuel cells, so as to alter the weight distribution of the aircraft as desired. The apparatus can also vary the lift generated by the airfoils at different positions. This can be achieved through the use of flaps or by altering the orientation, length, or even shape of the airfoils as previously described.
A key advantage of the VSTOL apparatus is that is can also be operated in such that it utilizes air currents to generate lift. This leads to improved performance in both the duration that the apparatus can be deployed and the range over which it can operate. The disc shape of the rings and fuselage aide in overall glide and lift. Therefore, this VSTOL apparatus design is particularly well suited for operation based solely on air currents.
Lift is also generated in certain conditions by impingement of moving air against the upward or downward tilted airfoil exposed surface. This feature is particularly useful when the apparatus is in “loiter” mode, wherein the rings (and airfoils) are minimally rotating or not rotating, and the VSTOL apparatus is in effect acting somewhat like a kite. In such loiter mode, the operator (or onboard/remote computer controller) acts to maintain the attitude of the aircraft at a prescribed angle of attack relative to the prevailing winds, so as to generate sufficient lift to maintain the craft's altitude.
For extremely long-term operation, the motors/drive system driving the rings (and in some cases even articulating the airfoils) are turned off, and the VSTOL apparatus fully depends on air currents for lift and balance. However, with little more energy usage the pitch, extension, and expansion of the airfoils (as well as the position of aforementioned “centered” mass) can be adjusted to control the lift and balance of the VSTOL apparatus. This increases the flexibility of this operational mode.
Finally, the motors driving the rings can be placed in a low power consumption mode to further assist the ambient air currents in the generation of lift. Running the rotors would still lead to significant fuel consumption. However, in an adjustable low power consumption mode, a wide range of air current speeds can be used to assist in the generation of lift. In this fashion, effective use of power and fuel economy can be achieved.
Hovering capabilities and low turning radii allow for operation of the VSTOL apparatus in a crowded airspace, or one with hostile countermeasures or munitions. For example, operation at low altitude in an urban environment will present numerous obstacles (buildings and power lines etc.). To avoid these obstacles, traditional fixed wing aircraft would have to travel too slowly to generate sufficient lift and still negotiate around these obstacles. Thus, the VSTOL apparatus is well suited for surveillance or tracking missions through such airspace. Similarly, when over hostile territory, the craft can readily “viff” (a maneuver utilized by e.g., Harrier VSTOL pilots to rapidly slow or accelerate sideways/upwards/downwards using vectored thrust nozzles) so as to avoid an incoming missile, projectiles, other aircraft, etc. This can be accomplished by, in one variant, rapidly shifting its center of mass to the desired side, or alternatively rapidly changing the pitch of the airfoils on one or both rings so as to rapidly change altitude.
Alternate Configurations
Referring now to figref[FIG. 13] , in another configuration, longer and narrower airfoils 1301 are used in place of the shorter airfoils shown previously. The airfoils of figref[FIG. 13] are more similar to the blades seen on helicopters or wind farm generating apparatus. As previously noted, the number and shape of the airfoils can be changed to suit the requirements of specific applications. For example, applications requiring longer deployments of the apparatus might use longer, thinner airfoils (such as those of figref[FIG. 13] ) and/or in greater numbers to increase the power efficiency of the apparatus. This is similar to airfoil designs on gliders, extreme endurance aircraft, and human-powered airplanes, which use longer, thinner wings than powered-flight aircraft.
It will further be appreciated that the illustrated airfoils (whether in this embodiment or others) may include an intrinsic pitch; e.g., as a function of radial position or length. For instance, akin to a propeller on a conventional propeller-driven aircraft, the airfoils may be somewhat “twisted” or progressively curved so as to achieve desirable aerodynamic properties such as lift, vortex suppression, greater efficiency, etc. This pitch is separate from that which is imparted by actual motion (rotation) of the airfoil about its point of attachment as previously described herein with respect to, inter alia, figref[FIG. 3] .
Referring now to figref[FIG. 14] , in some configurations, the VSTOL apparatus is powered via satellite downlink 1401. The satellite 1402 provides a directed electromagnetic energy (e.g., microwave) beam, which could comprise a laser, maser, x-ray laser, or any other directed radiation beam, to a parabolic dish 1403 (or other rectifying antenna) located on the VSTOL apparatus. In addition, a two-way communications uplink/downlink 1404 could be provided on the same or another band to facilitate data transfer from the VSTOL device to the same or different orbital vehicle. The VSTOL apparatus may also include indigenous or remote dish steering capability so as to maintain the dish 1403 locked onto the satellite beam.
It will also be appreciated that while a parabolic-type dish 1403 is illustrated in the embodiment of figref[FIG. 14] , appreciable amounts of electromagnetic energy may also be transferred to the craft via a distributed array, such as e.g., a phased array of the type well know in the art. In such an implementation, an array of antennas may be used to receive microwave band (or other) electromagnetic energy and convert the incident electricity to electrical power. Similar, high efficiency solar or photovoltaic cells may conceivably used, especially where the craft will be operating in very sunny climates (e.g., over deserts) and includes an energy storage means.
Referring now to figref[FIG. 15] , figref[FIG. 15] a, and figref[FIG. 15] b, another exemplary embodiment of the VSTOL apparatus is shown in a top, side, and bottom perspective views, respectively. In this embodiment, three drive motors 1501 run three accompanying main drive wheels 1502. These drive wheels provide the torque necessary to rotate the rings with the plurality of attached airfoils. The three drive wheels are assisted by flat drive wheels 1503, which are oriented perpendicular to the main drive wheels. The use of two sets of wheels increases the maximum torque that can be imparted to the rotating rings. In addition, the perpendicular orientation of the wheel sets helps to ensure the rings rotate about the optimal axis.
The Figures also shows one embodiment of the complete airfoil articulation assembly 1504. In this embodiment, a tripod support 1505 is attached to the fuselage support frame 202. The tripod support holds the drive motors 1501, a satellite dish 1403, and a battery pack 1506 that stores energy and powers the entire apparatus.
Referring now to figref[FIG. 16] , another exemplary embodiment of the VSTOL apparatus is shown. In this embodiment, the wheels 1602 and power rings 1604 include slanted planes 1606 to increase contact between the wheel and rings. The higher diameter outer portion of the wheel will undergo the same number of rotations 1608 as the lower diameter inner portion of the wheel as it travels along the power ring. The slanted wheel design allows for tailored contact levels with the power ring. For example, in some implementations a bull nose or curved cross-section wheel makes contact with the power ring at a single point. For some high-torque scenarios the bull nose wheel ‘spins out’ rather than imparting more torque on the power ring. Thus, using the slant and curvature between the wheels and the power rings as a free design parameter allows for the friction/drag levels in to be referenced to the torque requirements of the system, whether statically or dynamically. As to the latter, the present disclosure contemplates that for instance the shape or configuration of the cross-section of the wheel can be altered dynamically (e.g., via internal control mechanisms), such that greater or lesser contact area is achieved. In low-torque situations, lesser contact may be desirable so as to, inter alia, maximize efficiency/mitigate frictional losses.
In addition, shaping (e.g. slants, grooves, curves, etc.) of the wheels and power rings may be used to maintain alignment between them. Referring now to figref[FIG. 17] , a flat power ring exemplary embodiment 1700 is shown, the alignment of the system is maintained by inline riders 1702. Tension is applied to the ring by the inline riders to maintain the alignment of the ring. However, the inline riders may serve as a source of drag. Because the shaped wheels and rings contribute to maintaining the system alignment, the reliance on the inline riders may be reduced. In some shaped embodiments, the total drag in the system is lower than that of the flat wheel system because of the reduced drag contribution from the inline riders. The shaped wheel/power ring pairings may include slanted planes 1606 as shown in figref[FIGS. 16 and 16] a. Referring to the exemplary embodiment 1600 shown from a perspective view in figref[FIG. 18] , the restoring forces 1802 generated by the slanted wheels 1604 and rings 1604 keeps the power ring in alignment. However, the VSTOL system is no way limited to these slanted wheel/ring embodiments. One or more series of grooves generating a (quasi)-sinusoidal pattern may be used. Similarly, sawtooth or square groove patterns may be implemented. Further, rails may be used to provide both alignment stability and friction for the drive wheels. Small-scale maglev technology (e.g. rare-earth based) may also be used to maintain alignment on a rail or groove while providing virtually no drag component.
Referring now to figref[FIG. 19] , in a further exemplary embodiment 1900, brakes 1902 are added to the individual inline riders 1702. These brakes may be operated independently to generate increased drag at a specific location on the VSTOL apparatus. This causes the power ring rotation to slow in reference to the main fuselage. The overall effect is to turn the fuselage in the direction of rotation of the ring to which the brake was applied. For example, in a system with two counter rotating power rings both turning at 300 rpm, a brake is applied to the upper ring slowing it to 200 rpm. Via conservation of angular momentum, it is known that the fuselage will begin to rotate in the direction of the upper ring rotation. When the fuselage achieves the desired orientation, a brake may be applied to the lower ring slowing it to 200 rpm. This causes the fuselage to stop rotating. This process is shown in figref[FIG. 19] a. Similarly, this turning may be achieved through driving the rings in addition to braking. From a 300 rpm start, the VSTOL may speed the upper ring to 35 rpm (resulting in a turn in the direction opposite the rotation of the upper ring) and then drive the bottom ring to 350 rpm to stop. Combinations of driving and braking may also allow turning. For example, the VSTOL may brake (drive) one ring to initiate a turn of the fuselage and then drive (brake) the same ring to cease turning. In some cases, constant rebalancing (e.g. by computer or manually) of momentum among the counter propagating rings may be used to maintain orientation of the fuselage. This may be applied to counter constant small losses of momentum in the VSTOL apparatus due to friction/drag.
It will be recognized that while certain aspects of the disclosure are described in terms of a specific sequence of steps of a method, these descriptions are only illustrative of the broader methods described herein, and may be modified as required by the particular application. Certain steps may be rendered unnecessary or optional under certain circumstances. Additionally, certain steps or functionality may be added to the disclosed embodiments, or the order of performance of two or more steps permuted. All such variations are considered to be encompassed within the disclosure disclosed and claimed herein.
While the above detailed description has shown, described, and pointed out novel features as applied to various embodiments, it will be understood that various omissions, substitutions, and changes in the form and details of the device or process illustrated may be made by those skilled in the art. The foregoing description is of the best mode presently contemplated of carrying out the principles and architectures described herein. This description is in no way meant to be limiting, but rather should be taken as illustrative of the general principles of the disclosure. The scope of the invention should be determined with reference to the claims.


OpenSchemas map2model¶
This version of map2model is a simplified version of Python module derived from the Bioschemas Groups. It will help you to create an OpenSchema intended for submission to schemas.org, with a focus on tech / hpc specifications that might not fall cleanly under strictly biological sciences, but support open science.
map2model retrieves properties and schema.org (Marginality, Cardinality and Controlled Vocabularies) using mapping files (in a specifications folder, see an example here) then classifies properties into two groups:
- Extended properties: Properties that are part of the extended schema.org Type.
- New properties: Properties that are new to the schema.org vocabulary or are completely new to schema.org.
After classifying the properties, map2model generates Markdown file(s) that can be interpreted by openschemas.github.io
If you want to modify the Flow Chart open the xml file and name itmap2model_workflow.png
in the doc > img.
Contribute a Specification¶
Do you want to contribute a specification? Your workflow will look like this:
- Create your specification easily using Google Sheets
- Fork the template repository and download them to it. You can also see a live example, soec-container that also has content in Github Pages. When you connect your forked repository to CircleCI it will use the schema-builder to generate the files as artifacts or back to github pages. You can use the same
schema-builder
container to do this locally. - Issue a pull request to the specifications repository with your contribution! This means:
- forking the repository, cloning your fork
- adding your
MySpecification.html
file to the_specifications
folder - opening a pull request for review
We encourage this setup so that each of the specifications is maintained in a modular fashion. You can
maintain your specification (and issues / discussion around it) in its own Git repository,
to ensure modularity and version control of examples and associated documentation. We would be happy to
create for you an openschemas/spec-<NAME>
repository here if you want to join the Github organization
and get support from the maintainers within!
Usage¶
This usage details native usage of map2model, which isn’t reproducible and not the recommended approach! However if you are building software with it, you will need to know this. If not, we recommend first the template and the docker openschemas/schema-builder that packages map2model and is used by the template.
Requirements¶
These instructions are for local usage.
Before starting, please ensure you have the following installed:
Executing map2model¶
Clone the map2model repository: git clone https://github.com/OpenSchemas/map2model.git
git clone https://github.com/OpenSchemas/map2model.git
cd map2model
Install dependencies
python3 -m pip install -r requirements.txt
If you want to add a specification, add an entry to [spec2model/configuration.yml]. This file tells map2model which specifications exist. To create a new specification, the section that you need to add includes:
- name: NameOfMySpec
status: revision
spec_type: Profile
use_cases_url:
version: 0.2.0
parent_type: CreativeWork
For usage, ask the run.py script:
python3 run.py --help
usage: run.py [-h] [--config CONFIG] [--folder SPECS] [--output OUTFOLDER]
[--template TEMPLATE] [--repo REPO]
map2model
optional arguments:
-h, --help show this help message and exit
--config CONFIG configuration.yml file, defaults to configuration.yml
in folder
--folder SPECS folder with input specification subfolders
--output OUTFOLDER folder to write output specification subfolders
--template TEMPLATE template for openschemas.github.io. Should not need
change.
--repo REPO final repo intended for specifications.
usage: run.py [-h] [--config CONFIG] [--folder SPECS] [--output OUTFOLDER]
[--template TEMPLATE] [--repo REPO]
map2model
optional arguments:
-h, --help show this help message and exit
--config CONFIG configuration.yml file, defaults to configuration.yml
in folder
--folder SPECS folder with input specification subfolders
--output OUTFOLDER folder to write output specification subfolders
--template TEMPLATE template for openschemas.github.io. Should not need
change.
--repo REPO final repo intended for specifications.
See the schema-builder for good examples of these various arguments.
We provide a Google Drive sheets template that you can use to do this, and simply export each sheet as .tsv (tab separated values). This means that four files should go into your _NameOfMySpec
folder. While your specification is a draft, the name of the folder will start with an underscore (_NameOfMySpec
). When you are done, remove the underscore (NameOfMySpec
).
When you are finished with your spec, run the script to generate files in map2model > docs > spec_files. Check that your folder is present!
tree docs/spec_files
├── Container
│ ├── Container.html
│ ├── Container.yml
│ ├── examples
│ │ └── README.md
│ └── README.md
└── DataCatalog
├── DataCatalog.html
├── DataCatalog.yml
├── examples
│ └── README.md
└── README.md
If you are generating specifications for contribution, you will next want to open a pull request (PR) to update the specifications repository. Specifically, add the *.html files to the _specifications folder in this repository.


Welcome all to our newshop
Pizza is a type of food that was created in Italy. It is made by putting "toppings" (such as cheese, sausages, pepperoni, vegetables, tomatoes, spices and herbs and basil and fries) over a piece of bread covered with sauce. The sauce is most often tomato-based, but sometimes butter-based sauces are used.
Since its humble beginnings in Italy, pizza has gone through numerous transformations to become the dish that so many people know and love today
Wikky Pizza Point started in 2016 with a single room. It has grown to a world class and has employed a total number of 234 workers. It has served as sorce of employment to our brothers and sisters.
We are located in Nairobi City Center along Kimathi Street and we sell very affordable Pizza to our esteemed customers. We sell them ranging from large to small. Visit us to get the best of our services you would ever have
Our business is managed by able leadership of director,manager,station coordinator and supervisor
Ronoh K,Managing Director
Wycliffe R,Manager
Kipruto W,Station Co-ordinator
R K Wikky, Supervisor
To be the best online Pizza platform where you can make orders and get delivered with the shortest time possible
To provide quality Pizza to all our esteemed customers now and in future
We offer take in and take away services. We also place orders for our online buyers. For our online customers they should register with us and get accounts before they make orders.Click login on the navigation bar to be able to register yourself and make order of our best services we offer
Topings: @ Kshs:100
No Topings: Kshs: 0
Topings: @ Kshs:150
No Topings: Kshs: 0
Topings: @ Kshs:200
No Topings: Kshs: 0
We can be contaced through varous platforms. Feel free to reach out to us for directions. Our platforms include but not limited to the following


Beef Wellington
I followed Gordan Ramsey's holiday beef wellington recipe and wow it was to die for. 2lb beef tenderloin seared and then smothered in whole grain mustard then wrapped in duxelles and 24 month aged prosciutto di Parma. Finally wrapped with a pastry and baked until golden brown. Paired with red wine, mashed potatoes and asparagus (not shown).
The day started off with a wonderful trip to Pike's Place Market, and finished with a very stressful time cooking this amazing meal. Lessons learned, good ingredients are expensive, improv is necessary when you don't have paid kitchen staff to prep all the ingredients for you perfectly, and sometimes seasoning beyond the point of comfort produces some amazing results.
What am I doing with this blog? Check it out here. tl;dr I'm doing a challenge every month for a year to learn / do something different. Also If you see any typos or bad grammar feel free to edit this page by submitting a change request. Or email me at<EMAIL_ADDRESS>Until next time!
- JAS


DivB_metrics.Rd
Compute model-based diversification metrics (Jetz et al 2008 and Freckleton et al 2008), diversity metrics (Phylogenenic diversity and phylogenetic endemism), age of ancestor arrival in assemblages, and frequency of dispersal from one biogeographic area to another
DivB_metrics( W, tree, ancestral.area, biogeo, diversification = c("jetz", "freck"), PD = TRUE, PE = TRUE, age.arrival = TRUE, age.no.ancestor = NA, dispersal.from = TRUE, ED.type = "equal.splits" )
| W | community matrix (sites in the rows and species in the columns) |
|---|---|
| tree | phylogenetic tree |
| ancestral.area | biogeographic area for ancestral. Must be a single column data.frame in which rows are nodes in the tree. Each area must be a single letter that could be combined or not (eg. "A", "AB", "B" ). |
| biogeo | single column data frame with biogeographic area for each site. The areas must match with the same code provided in ancestral.area argument |
| diversification | A character indicating the Diversification index that will be computed. Defaut = c("jetz", "freck"). |
| PD | Logical. calculate phylogenetic diversity and its diversification based version (PDlocal). Defaut = TRUE. |
| PE | Logical. calculate phylogenetic endemism and its diversification based version (Db-PE). Defaut = TRUE. See details for more information |
| age.arrival | logical. Calculate mean age of arrival of species in a given site. Default = TRUE. |
| age.no.ancestor | How to deal with age arrival for species in which the late ancestor wasn't in the site's biogeographic area. Options: NA, numeric(), or 'half.edge'. Default = NA. See Details. (not implemented yet) |
| dispersal.from | logical. Calculate frequency of dispersal from each biogeographic area of ancestors for each site |


Nick Saban Reveals His Message To QB Mac Jones
by Tzvi MachlinWith Tua Tagovailoa out for the year with a hip injury, it now falls on backup QB Mac Jones to lead Alabama down the stretch and into bowl season. Head coach Nick Saban is very aware of the new, massive burden on the sophomore QB, and had a message for him.
Speaking to the media on Wednesday, Saban made it clear that Jones needs to take being a leader seriously. He said he called the 21-year-old “the lead dog” and says he has to demonstrate the qualities of a leader.
Via Bleacher Report:
“You’re not a sparring partner anymore. You’re the lead dog, so you’ve got to be in control of what you’re doing and have positive body language, not only in terms of what you do but in how you affect other people.”
Jones has been solid in his limited time on the field this year. To date he has completed 64 percent of his passes for 689 yards and five touchdowns in limited duty.
His only start of the season so far came against Arkansas, when Tagovailoa was injured. He went 18-of-22 for 235 yards and three touchdowns in an easy win over the Razorbacks.
Jones will likely have very little difficulty beating Western Carolina this week. But his biggest challenge will come next week against the Auburn Tigers.
He’ll need to take Saban’s words to heart, because even some of Alabama’s best quarterbacks have sometimes struggled in the Iron Bowl.


World Wide Web
The WorldWideWeb (W3) is a wide-area
hypermedia
information retrieval
initiative aiming to give universal
access to a large universe of documents.
Everything there is online about
W3 is linked directly or indirectly
to this document, including an
executive summary
of the project,
Mailing lists
,
Policy , November's
W3 news ,
Frequently Asked Questions .
-
- Pointers to the
world's online information,
subjects
,
W3 servers, etc.
-
- on the browser you are using
-
- A list of W3 project
components and their current state.
(e.g.
Line Mode ,X11
Viola ,
NeXTStep
,
Servers ,
Tools ,
Mail robot ,
Library )
-
- Details of protocols, formats,
program internals etc.
-
- Paper documentation
on W3 and references.
-
- A list of some people involved
in the project.
-
- A summary of the history
of the project.
-
- If you would like
to support the web...
-
- Getting the code by
anonymous FTP , etc.


"Emerging Internet of Things (IoT) represents a paradigm shift in our understanding of modern communication networks. IoT is expanding at an astronomical rate where personal data plays an integral role to its expansion."
Internet of Things is described as being “the concept of basically connecting any device with an on and off switch to the internet (and/or to each other)” (Morgan, 2014). This can encompass anything from complex, multi-million-dollar server systems running the Google mainframe to a humble app-controlled light switch or Arduino controlling your remote-control car. The number of internet-connected devices is growing everyday, with IoT becoming a major factor in modern society, enabling us to do things we never thought possible, like control everything in our home, from the lights to the coffee machine, from the other side of the world. This does come with downsides though, although efforts are being made to make our devices as secure as possible, security issues do arise, sometimes with catastrophic consequences.


${_('Click the button below to install the "%(appname)s" app into Splunk') % dict(appname=appname)}
% if (app_license_url != 'http://www.splunk.com/view/SP-CAAAAAH'):
${_('This app is provided by a third party and your rights to use the '
'app is in accordance with the license provided by that third-party licensor. '
'Splunk is not responsible for any third-party apps and does not provide any '
'warranty or support. If you have any questions, complaints or claims with '
'respect to this app, please contact the licensor directly, whose contact '
'information can be found on the download page.')}
% endif
${app_license}
${_('Splunk Websites Terms and Conditions of Use')}
${_('Please accept the terms and conditions.')}


{% extends "base.html" %} {% block title %}Home{% endblock %} {% block content %}
STEM is a growing server dedicated to discussion and education pertaining to subjects within the fields of science, technology, engineering, and mathematics. We aim to provide our members with an engaged, friendly community consisting of members with education levels from high school to graduate, and backgrounds from independent study to industry and research. We hope to see you soon!
Hacking-Coding is a server for discussions about ethical hacking, programming, and infosec in general. We have over 5,000 members. People of all skill levels are welcome to join.


Click the button below to generate a cat.
This project uses Cat API to generate random pictures of Cat. Detailed documentation is provided in the GitHub repo GitHub.


WISP
Legend
Cafe
Park
Hotel
Restaurant
Guest house
resort
pizza
museum
relic
antique
WISP
version: 0.0.8-beta
©Jimut Bahan Pal
Author<EMAIL_ADDRESS>Location: Sydney
Lat, Lon: -33.8548157,151.2164539
Radius: 4000
Date: 2019-04-25T22:44:57