This disclosure provides improved nautical craft that can travel and navigate on their own. A hybrid vessel is described that converts wave motion to locomotive thrust by mechanical means, and also converts wave motion to electrical power for storage in a battery. The electrical power can then be tapped to provide locomotive power during periods where wave motion is inadequate and during deployment. The electrical power can also be tapped to even out the undulating thrust that is created when locomotion of the vessel is powered by wave motion alone.

A ship having improved power efficiency is provided. The ship comprises: a power grid; a power cost generator which determines the cost of power; a generator which is connected to the power grid and analyzes the cost of power so as to autonomously determine whether to produce power; an energy storage device which is connected to the power grid and analyzes the cost of power so as to autonomously determine whether to store power; and a load which is connected to the power grid and analyzes the cost of power so as to autonomously determine whether to use power.

A ship having improved power efficiency is provided. The ship comprises: a power grid; a power cost generator which determines the cost of power; a generator which is connected to the power grid and analyzes the cost of power so as to autonomously determine whether to produce power; an energy storage device which is connected to the power grid and analyzes the cost of power so as to autonomously determine whether to store power; and a load which is connected to the power grid and analyzes the cost of power so as to autonomously determine whether to use power.

A method for maintaining a marine vessel at a global position and/or heading includes receiving measurements related to vessel attitude and estimating water roughness conditions based on the measurements. A difference between the vessel's actual global position and the target global position and/or a difference between the vessel's actual heading and the target heading are determined. The method includes calculating a desired linear velocity based on the position difference and/or a desired rotational velocity based on the heading difference. The vessel's actual linear velocity and/or actual rotational velocity are filtered based on the roughness conditions. The method includes determining a difference between the desired linear velocity and the filtered actual linear velocity and/or a difference between the desired rotational velocity and the filtered actual rotational velocity. The method also includes calculating vessel movements that will minimize the linear velocity difference and/or rotational velocity difference and carrying out the calculated movements.

A method for maintaining a marine vessel at a global position and/or heading includes receiving measurements related to vessel attitude and estimating water roughness conditions based on the measurements. A difference between the vessel's actual global position and the target global position and/or a difference between the vessel's actual heading and the target heading are determined. The method includes calculating a desired linear velocity based on the position difference and/or a desired rotational velocity based on the heading difference. The vessel's actual linear velocity and/or actual rotational velocity are filtered based on the roughness conditions. The method includes determining a difference between the desired linear velocity and the filtered actual linear velocity and/or a difference between the desired rotational velocity and the filtered actual rotational velocity. The method also includes calculating vessel movements that will minimize the linear velocity difference and/or rotational velocity difference and carrying out the calculated movements.

A system for flushing a cooling water pathway of a marine propulsion device with water supplied from a water source includes a water control device and a controller. The water control device is connected to the water source and the cooling water pathway of the marine propulsion device. The controller controls and causes the water control device to supply the water from the water source to the cooling water pathway so as to perform the flushing. The controller obtains propulsion device data including at least one of a pressure of the water, a flow rate of the water and a concentration of salt contained in the water in the cooling water pathway. The controller determines whether or not to stop a supply of the water by the water control device based on the propulsion device data.

A system for flushing a cooling water pathway of a marine propulsion device with water supplied from a water source includes a water control device and a controller. The water control device is connected to the water source and the cooling water pathway of the marine propulsion device. The controller controls and causes the water control device to supply the water from the water source to the cooling water pathway so as to perform the flushing. The controller obtains propulsion device data including at least one of a pressure of the water, a flow rate of the water and a concentration of salt contained in the water in the cooling water pathway. The controller determines whether or not to stop a supply of the water by the water control device based on the propulsion device data.

A method of operating a marine vessel hybrid propulsion system having a propulsion shaft and a propeller, an internal combustion piston engine in force transmission connection with the propulsion shaft, and an electric motor-generator in force transmission connection with the propulsion shaft and/or with the piston engine. The internal combustion piston engine can be started by applying electric power from an on-board power source to the electric motor-generator and rotating the internal combustion piston engine by the electric motor-generator and rotational speed of the internal combustion piston engine is accelerated to a predetermined limit rotational speed without attempting to start the internal combustion piston engine, and only after the rotational speed of the internal combustion piston engine reaches the predetermined limit rotational speed, the internal combustion piston engine is started.

A vessel hull stabilization system includes a housing having a rotatable shaft mounted thereto, the shaft configured to connect to a fin such that the fin is located on an outside of the vessel hull and the housing is located on an inside of the vessel hull. A drive system is mounted to the housing and includes a motor and a drive element. The motor is connected to a central shaft of the drive element and an outer element of the drive element is connected to the fin shaft. The drive element includes a plurality of teeth positioned between the outer element and the central shaft such that when the motor rotates the central shaft, the plurality of teeth oscillate in a direction perpendicular to an axis of the central shaft to interact with and rotate the outer element. A controller receives sensor readings to determine control signals to send to the motor(s) to impart rotation of the fin.

A vessel hull stabilization system includes a housing having a rotatable shaft mounted thereto, the shaft configured to connect to a fin such that the fin is located on an outside of the vessel hull and the housing is located on an inside of the vessel hull. A drive system is mounted to the housing and includes a motor and a drive element. The motor is connected to a central shaft of the drive element and an outer element of the drive element is connected to the fin shaft. The drive element includes a plurality of teeth positioned between the outer element and the central shaft such that when the motor rotates the central shaft, the plurality of teeth oscillate in a direction perpendicular to an axis of the central shaft to interact with and rotate the outer element. A controller receives sensor readings to determine control signals to send to the motor(s) to impart rotation of the fin.