A tow attachment for a watercraft is disclosed. The tow attachment is configured to attach a tow rope to the watercraft, and has a first part and a second part that is connected to the first part by a connecting portion. The first part is configured for rigid connection to the watercraft, and the second part is configured to attach to the tow rope. The second part disconnects from the first part about the connecting portion in response to the tow rope applying a load above a predetermined load to the second part. A tow pylon assembly having a tow pylon and the tow attachment connected to the tow pylon is also disclosed. A watercraft with the tow attachment and a watercraft with the tow pylon assembly are also disclosed.

A system is provided to compensate for heave of a vessel in which the compensation system has a first panel with a first magnetic field having magnetic flux disposed in a first direction and a second panel parallel to the first panel. The second panel has a second magnetic field having magnetic flux disposed in a second direction with the first magnetic field parallel to the second magnetic field. A conducting loop is located between the first panel and the second panel. The conducting loop is attachable to a cable connected to a load suspended in water. Compensating force generated by the first magnetic field and the second magnetic field transfers to the cable to compensate for heaving motion of the vessel and stabilize the cable-connected load in the water.

A system is provided to compensate for heave of a vessel in which the compensation system has a first panel with a first magnetic field having magnetic flux disposed in a first direction and a second panel parallel to the first panel. The second panel has a second magnetic field having magnetic flux disposed in a second direction with the first magnetic field parallel to the second magnetic field. A conducting loop is located between the first panel and the second panel. The conducting loop is attachable to a cable connected to a load suspended in water. Compensating force generated by the first magnetic field and the second magnetic field transfers to the cable to compensate for heaving motion of the vessel and stabilize the cable-connected load in the water.

A method for controlling a towing train including a ship and at least one tug acting on the ship, including the steps of: providing a data model, which includes fixed data of the ship and of the at least one tug as well as variable environmental data; determining the current course, the thrust vector, and the inertial force of the ship and specifying a desired travel direction of the ship with subsequent calculation of the correction force vector and correction torque required to achieve the desired travel direction; calculating the required positions, orientations, and drive settings of the at least one acting tug using an algorithm that accesses the data model and generating control commands for the at least one tug such that the sum of all the force vectors and torques of the at least one acting tug corresponds to the required correction force vector and correction torque; transmitting the generated control commands to at least one acting tug and monitoring the completion of the control commands; and conducting an evaluation of the produced correction force vector and correction torque after completion of the control commands and generating and storing correction values in the data model when deviations are detected between the produced correction force vector and the required correction force vector and/or between the produced correction torque and the required correction torque and then repeating certain steps.

A method for controlling a towing train including a ship and at least one tug acting on the ship, including the steps of: providing a data model, which includes fixed data of the ship and of the at least one tug as well as variable environmental data; determining the current course, the thrust vector, and the inertial force of the ship and specifying a desired travel direction of the ship with subsequent calculation of the correction force vector and correction torque required to achieve the desired travel direction; calculating the required positions, orientations, and drive settings of the at least one acting tug using an algorithm that accesses the data model and generating control commands for the at least one tug such that the sum of all the force vectors and torques of the at least one acting tug corresponds to the required correction force vector and correction torque; transmitting the generated control commands to at least one acting tug and monitoring the completion of the control commands; and conducting an evaluation of the produced correction force vector and correction torque after completion of the control commands and generating and storing correction values in the data model when deviations are detected between the produced correction force vector and the required correction force vector and/or between the produced correction torque and the required correction torque and then repeating certain steps.

A system for restriction of hawser movement in a tandem mooring and loading system is provided comprising a first floating structure being spread moored, a second floating structure, and a tandem mooring arrangement between the first and second floating structure. The tandem mooring arrangement comprises at least one hawser connected in a first end to a hawser connection arrangement on the first floating structure, and in a second end connected to a hawser connection point on the second floating structure and a loading arrangement, wherein the system further comprises a hawser guide arrangement.

Disclosed is a floating structure for an autonomous watercraft with a keel deployed and recovered on a vessel. The longitudinally elongate structure includes a floating port-side and starboard lateral edges and a submersible bottom submerged when the structure is in the water, the lateral edges and the bottom defining an interior space at least partly submerged when the floating structure is in the water, the lateral edges defining a prow at the front and, at the rear, an opening towards the rear of the floating structure, which opening is downwardly limited by the submersible bottom with at least one longitudinally elongate slot open towards the rear for the passage of the keel, and the floating structure is configured in order that at least the front portion of the autonomous watercraft including the keel can engage by floating inside the interior space, with the keel engaging in the slot.

Disclosed is a floating structure for an autonomous watercraft with a keel deployed and recovered on a vessel. The longitudinally elongate structure includes a floating port-side and starboard lateral edges and a submersible bottom submerged when the structure is in the water, the lateral edges and the bottom defining an interior space at least partly submerged when the floating structure is in the water, the lateral edges defining a prow at the front and, at the rear, an opening towards the rear of the floating structure, which opening is downwardly limited by the submersible bottom with at least one longitudinally elongate slot open towards the rear for the passage of the keel, and the floating structure is configured in order that at least the front portion of the autonomous watercraft including the keel can engage by floating inside the interior space, with the keel engaging in the slot.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust.