An unmanned surface vehicle for underwater investigation that is free from negative effect of a thruster is provided. A position control system for an unmanned surface vehicle includes: at least one mooring device fixed on the ground; a wire fed and wound from the mooring device; an unmanned surface vehicle connected at the tip end of the wire; and at least one rudder equipped on the unmanned surface vehicle, wherein the mooring device includes a mooring device control device for controlling the feeding and winding of the wire, and a rudder control device for drive-controlling the rudder, the mooring device control device and the rudder control device control the position of the unmanned surface vehicle to reach the target.

A multi-anchor depth control system for a boat or other watercraft having a line for securing anchors to the boat, at least two anchors attached at or near opposing ends of the line, a depth finder, and a controller configured to automatically adjust the amount of line released from the boat to maintain the anchors on the floor of the body of water in which the boat is floating, based upon information obtained from the depth finder.

A coupling device for recovering an unmanned ship includes: a coupling unit, which is lifted and lowered by being connected to a crane provided in a mother ship; an accommodation unit provided in the unmanned ship, and having a vertically communicating coupling hole; a guide unit performing guiding such that the coupling unit is coupled to the accommodation unit, and including a towing line formed to be long, and a winch connected to the other side of the towing line so as to selectively wind or unwind the towing line; and a control unit including a sensing part for sensing the tension applied to the towing line by the driving of the winch, and a control part for lowering the coupling unit connected to the crane, if the intensity of the tension sensed by the sensing part is a preset value or higher.

An unmanned vessel having a coupling apparatus includes: a heaving line launcher, which is provided on one side of the bow of the unmanned vessel; a coupling apparatus, which is provided at the center of gravity of the unmanned vessel and is coupled to a coupling member of a crane provided on a mother vessel; a first winch, which is provided on at least one side of either the bow or stern of the unmanned vessel, a first tow line being wounded around the same; and a second winch around which a second tow line, which passes one side of the coupling apparatus, is wound.

An unmanned vessel having a coupling apparatus includes: a heaving line launcher, which is provided on one side of the bow of the unmanned vessel; a coupling apparatus, which is provided at the center of gravity of the unmanned vessel and is coupled to a coupling member of a crane provided on a mother vessel; a first winch, which is provided on at least one side of either the bow or stern of the unmanned vessel, a first tow line being wounded around the same; and a second winch around which a second tow line, which passes one side of the coupling apparatus, is wound.

An unmanned seismic vessel system can include a hull system configured to provide buoyancy and a storage apparatus configured for storing one or more seismic nodes, each seismic node having at least one seismic sensor configured to acquire seismic data. A deployment system can be configured for deploying the seismic nodes from the storage apparatus to the water column, where the seismic data are responsive to a seismic wavefield, with a controller configured to operate the deployment system so that the seismic nodes are automatically deployed in a seismic array.

An unmanned seismic vessel system can include a hull system configured to provide buoyancy and a storage apparatus configured for storing one or more seismic nodes, each seismic node having at least one seismic sensor configured to acquire seismic data. A deployment system can be configured for deploying the seismic nodes from the storage apparatus to the water column, where the seismic data are responsive to a seismic wavefield, with a controller configured to operate the deployment system so that the seismic nodes are automatically deployed in a seismic array.

A gypsy is disclosed, adapted for mounting in a windlass for hauling and/or veering anchor rode. A chain-engagement region (12) of the gypsy comprises chain link pockets (18) sized and spaced around the chain-engagement region to engage with chain of the anchor rode. A line-engagement region (24) is provided, with an array of rope grip features (26) spaced around the line-engagement region. The chain-engagement region of the gypsy is formed from a polymeric material and the line-engagement region is formed from a metal material.

A gypsy is disclosed, adapted for mounting in a windlass for hauling and/or veering anchor rode. A chain-engagement region (12) of the gypsy comprises chain link pockets (18) sized and spaced around the chain-engagement region to engage with chain of the anchor rode. A line-engagement region (24) is provided, with an array of rope grip features (26) spaced around the line-engagement region. The chain-engagement region of the gypsy is formed from a polymeric material and the line-engagement region is formed from a metal material.

A hull that is part of a system for producing energy through the action of waves. The hull's shape, dimension and orientation make the system less costly and increase the energy provided by the system.