A control device mounted on a ship includes a control unit. The control unit is configured to set a first water area in which automatic pilot for berthing the ship at a berthing location for the ship is able to start when the berthing location is selected. The control unit is configured to display the berthing location and the first water area on a display screen provided in the ship together with map information.

A system, adapted for a boat to accumulate and utilize information of a port, the system including a control unit having a processor configured to function as a determining part that determines an open berth of the port; and a display part that displays the open berth determined by the determining part on a display. The control unit determines the open berth based on a first data and a second data, the first data includes information of the port obtained at a first timing by a sensor disposed on the boat, the second data includes information of the port obtained at a second timing, wherein the first timing is different from the second timing, and the first timing is a present time.

An environment recognition system, comprising: an environment recognition device that is configured to transmit electromagnetic wave in a predetermined direction to generate a detection signal corresponding to objects existing in an environment; and a main controller 21 that generates a recognition signal corresponding to the detection signal, wherein the main controller is provided with a variable noise cutting circuit for the detection signal, and configured to change a property of the noise cutting circuit according to a distance to each object to be detected.

A method of motion planning for a marine vessel, the method being performed by a processing device on the marine vessel. The method includes obtaining a planned future route for the marine vessel and calculating vessel position, heading and speed along the planned route, including minimizing the cost function: Cost Function=w1Discomfort+w2Time+w3Energy, where Discomfort=1/Comfort, Time is the time it will take the marine vessel to complete the planned route, Energy is the amount of energy, e.g. fuel, the marine vessel will consume to complete the planned route, and w1, w2 and w3 are preset weights. The Comfort is calculated as a function of acceleration and jerk in the surge and sway directions of the marine vessel along the planned route and is above a preset minimum.

An AUV includes: a position detector that detects its position relative to an underwater structure; a propulsor; and control circuitry configured to control the propulsor and grasp a position of the AUV; an underwater potential sensor that three-dimensionally measures a potential gradient in water; and a metal potential sensor that inspects an electric field producing body that is a part of the underwater structure or a sacrificial anode. The control circuitry specifies a position of the body by mapping an underwater electric field from the potential gradient measured by the sensor in accordance with movement of the AUV. The control circuitry controls the propulsor such that the AUV moves to and stops at an inspection position that is a position at which the metal potential sensor is opposed to the body. In this state, the control circuitry makes the metal potential sensor inspect the body.

A device for relaying an engine control message includes at least one memory and at least one processor, wherein the processor determines whether a navigation mode of a ship is a manual navigation mode or an autonomous navigation mode based on a signal received from an autonomous navigation processing device, outputs a first message to an internal communication network in response to the navigation mode of the ship being the manual navigation mode, generates a second message by converting the first message stored in the at least one memory, and then outputs the second message to the internal communication network in response to the navigation mode of the ship being the autonomous navigation mode.

A method for a collision avoidance system of a host marine vessel, and to updating vessel classifications and navigational statuses of marine vessels.

The present invention provides a cable planning method based a fast marching method applied with simulated annealing (FMM/SA) algorithm. In the FMM/SA algorithm-based cable planning method, the FMM used to obtain the optimal submarine cable path with the lowest life-cycle cost, and the SA algorithm is used to continuously adjust the weight of each design consideration with the aim to achieve an optimal cable path that is as close as possible to a real-life cable path which has a history of cost-effectiveness and resilience. The set of weights contributed to the optimal cable path is then used as an optimal set of weights of design considerations for cable path planning. The FMM/SA algorithm-based cable planning method can provide a computationally effective approach which has lower computation costs and better performance in generating cable paths with optimal life-cycle cost and reliability.

A polarization-based underwater navigation and global positioning system is disclosed that includes dual polarization cameras comprising a small angle view imaging lens configured to detect full Stokes parameters simultaneously and a computer system programmed with a model for a skylight polarization mapping with a scattering model of light inside turbid water.

An environment recognition system for watercraft emits a laser beam and receives the laser beam reflected by an object, sets a first distance from the environment recognition system according to a distance from the environment recognition system to a target spot, sets a threshold value regarding intensity of the received laser beam, sets the threshold value higher for the object within the first distance than the object beyond the first distance, eliminates a signal indicating the intensity of the received laser beam lower than the threshold value and identifies a position of the watercraft on a map, and decreases the first distance as the distance from the environment recognition system to the target spot decreases.