Disclosed are a dynamic route planning method and device for unmanned ship used for feeding. The method includes: acquiring positioning information of a first set of vertices in a water body region, a feeding distance of a feeding device and positioning information of an unmanned ship; establishing a regional model according to the positioning information of the first set of vertices, and obtaining a route planning point according to the regional model and the feeding distance of the feeding device; obtaining a route target point according to the positioning information of the first set of vertices and the route planning point; dividing the route target point into an unreached target point or a reached target point according to the positioning information of the unmanned ship and the route target point; and obtaining a cruise route according to the positioning information of the unmanned ship and the unreached target point.

Disclosed are a dynamic route planning method and device for unmanned ship used for feeding. The method includes: acquiring positioning information of a first set of vertices in a water body region, a feeding distance of a feeding device and positioning information of an unmanned ship; establishing a regional model according to the positioning information of the first set of vertices, and obtaining a route planning point according to the regional model and the feeding distance of the feeding device; obtaining a route target point according to the positioning information of the first set of vertices and the route planning point; dividing the route target point into an unreached target point or a reached target point according to the positioning information of the unmanned ship and the route target point; and obtaining a cruise route according to the positioning information of the unmanned ship and the unreached target point.

A mooring apparatus (10) for automatic mooring and parking a 10-70 feet long watercraft that is built from two dock-finger units (20) fixed to the dock (2). The dock-finger units (20) are equipped with flexible tentacle elements (80) for positioning the watercraft (4) by keeping continuous contact with the hull (6). and they are also equipped with automatic-operated locking mechanisms (40) for catching and locking the watercraft (4), The mooring apparatus (10) has a control panel (90) with a built-in programmable processor (98) and a communication unit (98) that can be accessed from anywhere by communication means, and connected to the harbour IT system.

A mooring apparatus (10) for automatic mooring and parking a 10-70 feet long watercraft that is built from two dock-finger units (20) fixed to the dock (2). The dock-finger units (20) are equipped with flexible tentacle elements (80) for positioning the watercraft (4) by keeping continuous contact with the hull (6). and they are also equipped with automatic-operated locking mechanisms (40) for catching and locking the watercraft (4), The mooring apparatus (10) has a control panel (90) with a built-in programmable processor (98) and a communication unit (98) that can be accessed from anywhere by communication means, and connected to the harbour IT system.

A kit is for towing through water by a swimmer to transport items, which comprises: an inflatable flotation device and a dry bag (32). The flotation device comprises, when inflated, a lead portion (10a), two spaced side portions (10b, 10c) each extending rearwardly from the lead portion, and attachment means. The dry bag (32), which may be separate to the flotation device, has an openable, water-tight closure. The side portions, when the device is inflated, and the dry bag are respectively shaped to cooperate so that the side portions provide support for the dry bag. The flotation device including the attachment means is arranged to attach the dry bag to the flotation device such that the closure (34) is located above a lead portion of the flotation device. The kit is attachable to a tow leash (32) such that a swimmer can tow the flotation device with the dry bag attached in water and such that the lead portion leads through the water.

A kit is for towing through water by a swimmer to transport items, which comprises: an inflatable flotation device and a dry bag (32). The flotation device comprises, when inflated, a lead portion (10a), two spaced side portions (10b, 10c) each extending rearwardly from the lead portion, and attachment means. The dry bag (32), which may be separate to the flotation device, has an openable, water-tight closure. The side portions, when the device is inflated, and the dry bag are respectively shaped to cooperate so that the side portions provide support for the dry bag. The flotation device including the attachment means is arranged to attach the dry bag to the flotation device such that the closure (34) is located above a lead portion of the flotation device. The kit is attachable to a tow leash (32) such that a swimmer can tow the flotation device with the dry bag attached in water and such that the lead portion leads through the water.

An aquaculture system includes a pen configured to be disposed in a body of water and configured to at least temporarily store aquatic animals during development. A control system is configured to receive electric power from a power source and is configured to provide electric power to a pumping mechanism coupled to the pen such that the pumping mechanism provides a flow of water through the pen. A set of buoyancy tanks are coupled to the pen. A portion of the control system is in fluid communication with the set of buoyancy tanks and is configured to adjust a volume of fluid in at least one buoyancy tank to move the pen from a first position in which the pen is partially submerged in the body of water to a second position in which the pen is fully submerged in the body of water.

An aquaculture system includes a pen configured to be disposed in a body of water and configured to at least temporarily store aquatic animals during development. A control system is configured to receive electric power from a power source and is configured to provide electric power to a pumping mechanism coupled to the pen such that the pumping mechanism provides a flow of water through the pen. A set of buoyancy tanks are coupled to the pen. A portion of the control system is in fluid communication with the set of buoyancy tanks and is configured to adjust a volume of fluid in at least one buoyancy tank to move the pen from a first position in which the pen is partially submerged in the body of water to a second position in which the pen is fully submerged in the body of water.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust. The system can be operated in reverse, to generate electric power when the system is in a flowing stream of thrust fluid.

A jack-up platform is described having a horizontal working deck that may be jacked up out of the water by moving its legs to a position wherein they take support on an underwater bottom. The jack-up platform further includes a higher level deck and a lower level deck that define a receiving space for a barge, optionally suitable for carrying parts for construction of a wind turbine, and further a deballasting system configured to bring the floating hull between a receiving position at which the hull is ballasted to a receiving draft in which the lower level deck is submerged underwater and the barge may be received in the receiving space through an opening in the hull, and an operational smaller draft where substantially no water can flow on either of the lower and higher level decks. The receiving space has a centralizing system configured to substantially centralize the received floating barge in the receiving space. A method for facilitating the offshore installation of a wind turbine using the jack-up platform is also described.