Techniques are disclosed for systems and methods to provide remote sensing imagery for mobile structures. A remote sensing imagery system includes a radar assembly mounted to a mobile structure and a coupled logic device. The radar assembly includes an orientation and position sensor (OPS) coupled to or within the radar assembly and configured to provide orientation and position data associated with the radar assembly. The logic device is configured to receive radar returns corresponding to a detected target from the radar assembly and orientation and/or position data corresponding to the radar returns from the OPS, determine a target radial speed corresponding to the detected target, and then generate remote sensor image data based on the remote sensor returns and the target radial speed. Subsequent user input and/or the sensor data may be used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

A pool cleaner is provided. The pool cleaner includes a housing and an imaging device mounted to the housing. The imaging device is configured to acquire at least one image of an aquatic environment. The pool cleaner also includes a controller in communication with the imaging device. The controller identifies candidate debris from the at least one image, determines an optimal cleaning pathway, and navigates the pool cleaner to the candidate debris along the optimal cleaning pathway. The pool cleaner further includes a scrub brush disposed on the housing and configured to move the candidate debris, and a removable filter canister configured to collect the candidate debris.

A dynamic active control system configured for counteracting dynamic motions of a marine vessel. The system may include at least one sensor, a plurality of water engagement devices, and a software module.

A dynamic active control system configured for total pitch and roll control based on desired marine vessel pitch and roll angles. The system may include at least one sensor, a plurality of water engagement devices, at least one engine and a software module. At least one of water engagement device delta symmetrical deployment and engine trim adjustment facilitate pitch control and water engagement delta positions facilitate roll control.

A dynamic active control system configured for counteracting dynamic motions of a marine vessel and yaw torque generated by a gyroscopic stabilizer by a change of the heading of the marine vessel. The system may include at least one sensor, a plurality of water engagement devices, a steering actuator, the gyroscopic stabilizer and a software module. Water engagement device delta positions in counteracting dynamic motions of the marine vessel may, potentially in combination with the gyroscopic stabilizer, introduce a change of the heading of the marine vessel that may be counteracted by a change in the steering angle.

The present disclosure provides a method for a swimming pool robot to clean along a wall edge, including when a task of cleaning along the wall edge is performed, determining a distance between the swimming pool robot and a swimming pool wall; determining whether the distance between the swimming pool robot and the swimming pool wall matches a target distance when moving along the wall edge, and when the distance does not match the target distance, controlling the swimming pool robot to turn a preset angle towards the swimming pool wall, and driving the swimming pool robot to move forward; determining whether the guide device touches the swimming pool wall, and when the guide device touches the swimming pool wall, driving the swimming pool robot to move forward, until the distance between the swimming pool robot and the swimming pool wall matches the target distance.

A method to control a marine vessel comprising two or more drive units. The method involves registering an operating command indicating a requested sideways or bow bollard push function; detecting a current vessel position; registering the current vessel position as a desired vessel position; executing the requested bollard push function; and monitoring the current vessel position in order to detect a deviation relative to the desired vessel position. If it is detected that a deviation between the desired vessel position has exceeded a predetermined value, then the requested bollard push function is deactivated. The disclosure further relates to a control unit arranged to control a marine vessel and a marine vessel comprising such a control unit.

In a boat including a hull, when the hull is moved laterally based on an output from the outboard motor, the hull rolls, which may cause discomfort to a user or passengers. To compensate for this, a lateral movement control method for the boat including the hull and the outboard motor includes generating a propulsion force to laterally move the hull with the output of the outboard motor, and executing a roll reduction process to reduce a roll angle of the hull at a time of laterally moving the hull.

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 maintaining a marine vessel at a target position in a body of water, the method being carried out by a processing system and including: estimating at least one roughness condition of the body of water based on measurements related to an attitude of the marine vessel; calculating a desired linear velocity based on a difference between an actual position of the marine vessel and the target position; filtering an actual linear velocity of the marine vessel based on the roughness conditions; and operating a propulsion system of the marine vessel to move the marine vessel to minimize a difference between the desired linear velocity and the filtered actual linear velocity. A method for maintaining a marine vessel at a target heading in a body of water is also disclosed.