Performed a preliminary analysis of the required yaw authority in hover to maintain control in a 17 knot crosswind. Developed a bidirectional thruster to provide yaw control in hover. Built a subscale version of the yaw thruster for testing on the hover subscale demonstrator. Designed and built many of the structural, mechanical, and electronic parts on the hover subscale demonstrator. Participated in the flight testing of the hover subscale demonstrator.