An anti-motion structure of a column floater, being an annular structure surrounding the outer periphery of the bottom of a buoy of the column floater, and an annular radial gap between the two is, or optionally is not, set up. The anti-motion structure is connected to a horizontal roof plate, a horizontal floor plate, an outer annular vertical plate, and an inner annular vertical plate to form an annular box body; and the box body is divided into a plurality of watertight compartments; the horizontal roof plate and/or the horizontal floor plate corresponding to each watertight compartment are provided with damping holes capable of being opened or closed.

Surge damping systems and processes for using same. In some embodiments, a system for mooring a vessel can include a mooring support structure that can include a base structure and a turntable disposed on the base structure. A vessel support structure can be disposed on the vessel. At least one extension arm can be suspended from the vessel support structure. A ballast tank can be connected to the extension arm. A uni-directional passive surge damping system can be disposed on the vessel and can include an elongated tension member connected to the ballast tank that can be configured to dampen a movement of the ballast tank by applying a tension thereto. A yoke can extend from and can be connected at a first end to the ballast tank and can include a yoke head disposed on a second end thereof that can be configured to connect to the turntable.

Surge damping systems and processes for using same. In some embodiments, a system for mooring a vessel can include a mooring support structure that can include a base structure and a turntable disposed on the base structure. A vessel support structure can be disposed on the vessel. At least one extension arm can be suspended from the vessel support structure. A ballast tank can be connected to the extension arm. A uni-directional passive surge damping system can be disposed on the vessel and can include an elongated tension member connected to the ballast tank that can be configured to dampen a movement of the ballast tank by applying a tension thereto. A yoke can extend from and can be connected at a first end to the ballast tank and can include a yoke head disposed on a second end thereof that can be configured to connect to the turntable.

Provided is an electric stabiliser for stabilising a floating structure that includes a track for guiding a mover as a moving stabiliser mass. A direct current (DC) linear motor includes a planar stator that extends along the track and the mover that is adapted to move forwards and backwards along the track as the stabiliser mass. The planar stator includes a polyphase stator winding with winding coils connected. The mover includes permanent motor magnets facing the polyphase stator winding that define mover poles of alternating polarity along the track direction. Two active magnetic bearings is positioned between the track and a main body of the mover for selectively levitating the mover. In use, the active magnetic bearings levitate the mover above the track and the DC linear motor is controlled to move the mover backwards and forwards along the track to dampen a rolling/pitching movement of the floating structure.

Provided is an electric stabiliser for stabilising a floating structure that includes a track for guiding a mover as a moving stabiliser mass. A direct current (DC) linear motor includes a planar stator that extends along the track and the mover that is adapted to move forwards and backwards along the track as the stabiliser mass. The planar stator includes a polyphase stator winding with winding coils connected. The mover includes permanent motor magnets facing the polyphase stator winding that define mover poles of alternating polarity along the track direction. Two active magnetic bearings is positioned between the track and a main body of the mover for selectively levitating the mover. In use, the active magnetic bearings levitate the mover above the track and the DC linear motor is controlled to move the mover backwards and forwards along the track to dampen a rolling/pitching movement of the floating structure.

Disclosed is a self-balancing control method for an unmanned underwater vehicle (UUV) that includes: fitting the UUV vehicle with at least one reversible propeller; converting the forces the unmanned underwater vehicle is subjected to into a resultant force in each of at least one degree of freedom (DOF) of motion based on a DOF of motion control model, where each of the DOF of motion corresponds to a measurable motion control parameter; designing a corresponding sub-PID controller according to each of the at least one DOF of motion; and calculating the thrust required by each of the at least one reversible propeller based on a thrust distribution matrix.

Disclosed is a self-balancing control method for an unmanned underwater vehicle (UUV) that includes: fitting the UUV vehicle with at least one reversible propeller; converting the forces the unmanned underwater vehicle is subjected to into a resultant force in each of at least one degree of freedom (DOF) of motion based on a DOF of motion control model, where each of the DOF of motion corresponds to a measurable motion control parameter; designing a corresponding sub-PID controller according to each of the at least one DOF of motion; and calculating the thrust required by each of the at least one reversible propeller based on a thrust distribution matrix.

A process is described for controlling the roll motion of a ship, with null or low ship speed, through at least one stabilizing fin. The process comprises the following steps: starting the movement of the stabilizing fin when the roll motion starts; impressing a motion law of the stabilizing fin depending on the roll rate; and ending the movement of the stabilizing fin when the roll motion ends.

A process is described for controlling the roll motion of a ship, with null or low ship speed, through at least one stabilizing fin. The process comprises the following steps: starting the movement of the stabilizing fin when the roll motion starts; impressing a motion law of the stabilizing fin depending on the roll rate; and ending the movement of the stabilizing fin when the roll motion ends.

The invention relates to a pile holding system to be mounted on a deck of a vessel, e.g. for installation of a pile adapted to support an offshore wind turbine, which pile holding system is configured to support the pile in an upright position at a pile installation location next to the vessel. The invention furthermore relates to a vessel provided with such a pile holder system, and to a method. The invention furthermore provide a pile holder.