An autonomous pool cleaner includes a main body, a filter that is removably coupled to the main body, and an edge engagement assembly. The main body includes a top, a bottom, and one or more peripheral walls that extend between the top and the bottom. The filter is accessible for removal or installation via a particular peripheral wall of the one or more peripheral walls. The edge engagement assembly is configured to extend beyond the particular peripheral wall of the main body and removably secure the autonomous pool cleaner to an edge of a swimming pool so that the filter is accessible and vertically removable when the autonomous pool cleaner is secured to the edge.

A method of controlling position of a marine vessel in a body of water includes determining, at a control module, a relative heading instruction describing a position of the marine vessel relative to a position of the sun. A target global position for the marine vessel is received, and a position of the sun relative to the target global position is determined based on a current date and a current time. A sun adjusted heading is calculated for the marine vessel based on the position of the sun and the relative heading instruction. A current heading of the marine vessel is determined, and propulsion devices on the marine vessel are controlled to position the marine vessel at the target global position and align the current heading of the marine vessel at the sun adjusted heading.

A system for maintaining a marine vessel in a body of water at a selected position and orientation includes a global positioning system that determines a global position and heading of the vessel and a proximity sensor that determines a relative position and bearing of the vessel with respect to an object near the vessel. A controller operable in a station keeping mode is in signal communication with the GPS and the proximity sensor. The controller chooses between using global position and heading data from the GPS and relative position and bearing data from the proximity sensor to determine if the vessel has moved from the selected position and orientation. The controller calculates thrust commands required to return the vessel to the selected position and orientation and outputs the thrust commands to a marine propulsion system, which uses the thrust commands to reposition the vessel.

A system for maintaining a marine vessel in a body of water at a selected position and orientation includes a global positioning system that determines a global position and heading of the vessel and a proximity sensor that determines a relative position and bearing of the vessel with respect to an object near the vessel. A controller operable in a station keeping mode is in signal communication with the GPS and the proximity sensor. The controller chooses between using global position and heading data from the GPS and relative position and bearing data from the proximity sensor to determine if the vessel has moved from the selected position and orientation. The controller calculates thrust commands required to return the vessel to the selected position and orientation and outputs the thrust commands to a marine propulsion system, which uses the thrust commands to reposition the vessel.

A foot pedal device for controlling an electric steer trolling motor and navigating a marine vessel. The foot pedal allows proportional control of the vessel such that the operator's foot movement on the foot pedal is proportional to an action by the trolling motor. The foot pedal includes a platform that pivots upon a base, an angular position monitor, and a controller; the controller is communicatively coupled to the angular position monitor and is configured to receive an angular measurement from the magnetic angle sensor and generate at least one control signal for a trolling motor of a marine vessel at least partially based on the angular measurement from the sensor.

A control system for navigating a marine vessel employs at least a first motor and a second motor. The control system is configured to communicate with the first and second motors. The control system is configured to receive a position measurement and an orientation measurement for the marine vessel. The control system is further configured to generate at least one control signal for the first motor based on the position measurement and at least one control signal for the second motor based on the orientation measurement.

A catamaran lifting apparatus is disclosed for lifting objects in a marine environment. The apparatus includes first and second vessels that are spaced apart during use. A first frame spans between the vessels. A second frame spans between the vessels. The frames are spaced apart and connected to the vessels in a configuration that spaces the vessels apart. The first frame connects to the first vessel with a universal joint and to the second vessel with a hinged connection. The second frame connects to the second vessel with a universal joint and to the first vessel with a hinged or pinned connection. Each of the frames provides a space under the frame and in between the barges that enables a package to be lifted and/or a marine vessel to be positioned in between the barges and under the frames. In this fashion, an object that has been salvaged from the seabed can be placed upon the marine vessel that is positioned in between the barges and under the frames.

A system for manoeuvring a boat with fenders is described. A plurality of water nozzles is provided on the boat. Further, a plurality of pumps is operated by an artificial intelligence module and/or control unit and powered by the power source 130 of the boat. The plurality of pumps is primed continuously to reduce response time to control the plurality of pumps and each of the plurality of pumps is connected to one water nozzle. A plurality of sensors is configured to monitor the state of motion of the boat. Further, an artificial intelligence module is in communication with the plurality of water nozzles, the plurality of pumps, and the plurality of sensors. The artificial intelligence module is configured to keep the boat in a stationary standstill or on a chosen course of motion.

A system for manoeuvring a boat with ropes is described. A plurality of water nozzles is provided on the boat. Further, a plurality of pumps is is operated by an artificial intelligence module and/or control unit and powered by the power source of the boat. The plurality of pumps is primed continuously to reduce response time to control the plurality of pumps and each of the plurality of pumps is connected to one water nozzle. A plurality of sensors is configured to monitor the state of motion of the boat. Further, an artificial intelligence module is in communication with the plurality of water nozzles, the plurality of pumps, and the plurality of sensors. The artificial intelligence module is configured to keep the boat in a stationary standstill or on a chosen course of motion.

A control system for controlling a vessel, a method for controlling dynamic positioning of the vessel or ship, and a computer program for carrying out the method are disclosed. The vessel includes an electrical power grid, at least one combustion engine driven power generator, and an energy storage medium. The power grid is arranged to provide power to an electric motor driving one or more thrusters or propellers of the vessel. The control system further includes a control unit arranged with computer programs and hardware configured to: calculate a Remaining Operation Window time for carrying out dynamic positioning powered by the energy storage medium, generate and display information including a time period for the Remaining Operation Window of dynamic positioning, and carry out an automatic control action in relation to at least one of a power generator or power consuming device connected to the power grid.