A method of controlling a vessel having a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the method including estimating, by a control system, an operational condition associated with the vessel; and commanding, by the control system and based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode. A control system and a vessel are also provided.

Remote-control units used for docking a marine vessel include both a radio transceiver for communicating with a helm receiver to which control signals for the various vessel systems can be sent, and a WiFi transceiver that can be used to remotely access and adjust the operational profiles stored in the remote control unit. Each of the profiles causes the remote control unit to control one or more vessel systems by ramping up their output over an initial time duration to a maximum profile setting which is a proportion of the maximum output capability of the vessel system.

A computer-implemented method for generating control parameters for auto-docking of a marine vessel, and to a control unit for executing the method, to a marine vessel including the control unit, and to a corresponding computer program product.

A computer-implemented method for determining a feasible trajectory for a marine vessel traveling on water, including: determining initial state variables for the marine vessel at the initial position including present position of the marine vessel and a present heading direction of the marine vessel in relation to the surrounding environment; acquiring position data indicating positions of obstacles near the marine vessel; acquiring environmental data including at least one of present wind conditions, wave characteristics, and local sea current speed and direction; estimating environmental disturbance parameters and respective uncertainties from the environmental data; predicting subsequent state variables for the marine vessel and respective uncertainties at future time steps for a prediction horizon based on a maneuver model of a marine vessel describing a motion of a marine vessel, the initial state variables, the position data, and the environmental disturbance parameters and respective uncertainties; generating feasible trajectory data including a trajectory uncertainty for the marine vessel.

A system, adapted to determine that automatic docking of a boat is completed. The system including a control unit including a processor configured to switch a control mode of the control unit to an automatic docking mode; output a control signal for controlling an automatic steering of the boat when the control mode is switched to the automatic docking mode; obtain a vibration that is exerted on the boat, wherein, when the control unit is in the automatic docking mode, the control unit is configured to end the automatic docking mode when the control unit detects the vibration.

An automatic berthing system and method for a vessel are provided. The automatic berthing system comprises a controller, controlling the vessel; an input part, receiving an input to perform the automatic berthing mode; at least one peripheral sensor, detecting position information and speed information of another vessel other than the vessel to determine whether a wake caused by the another vessel has influence on the vessel. The controller performs an automatic berthing control when the input to perform the automatic berthing mode is received until the vessel reaches a berthing position, and the controller stops the automatic berthing control when the another vessel is located within a predetermined distance from the vessel based on the position information.

A computer system includes processing circuitry configured to: obtain data indicative of a target total lift force to be generated by a front hydrofoil arrangement of a marine vessel and by a rear hydrofoil arrangement of the marine vessel, wherein the target total lift force is associated with a constant heave of the vessel; determine a lift force discrepancy between a current lift force of the vessel and the target total lift force, based on a state of the rear hydrofoil arrangement; and adjust an angle of attack of the front hydrofoil arrangement to compensate for the lift force discrepancy.

An omnidirectional surface vehicle (OSV) for use in a water-borne environment is described. The OSV can comprise a platform of interconnected buoyant compartments having incorporated position thrusters to navigate the OSV. The thrusters are connected to a series of ducts and ports to enable navigation of the OSV by fluid intake/ejection. An onboard camera system can be configured to capture imagery of a subsurface structure such as a net in an aquaculture facility. AI and ML technologies can be applied to enable detection of a potential anomaly/hole in the net structure. Location of the anomaly can be determined based on any of a current position/location of the OSV, a current field of view of the camera, a position/focal length of a lens in the camera, etc. Control/operation of the OSV can be performed autonomously by an onboard computer/controller. The OSV can be further configured to communicate with a remote device.

A watercraft maneuvering system includes watercraft maneuvering stations to steer and adjust a propulsive force of a watercraft and including a main station including a steering wheel to steer the watercraft and an acceleration lever to adjust the propulsive force, and a substation spaced apart from the main station and including a joystick to both steer the watercraft and adjust the propulsive force. By operating a joystick button provided in the substation, an operative station may be switched from the main station to the substation. At the same time, a control mode may be switched to a joystick mode.

There is disclosed an exchangeable marine energy storage system including a mobile battery configured to be used as a power source of the operating ship after replaced with a mounted battery mounted on an operating ship; a mobile charging ship configured to move in a state of loading the mobile battery; and a charging station configured to float on the sea together with the mobile charging ship and charge the mobile battery loaded on the mobile charging ship by using generated electricity.