Many different types of systems are utilized and tasks are performed in a marine environment. The present invention provides various configurations of castable devices that can be operated and/or controlled for such systems or tasks. One or more castable devices can be integrated with a transducer assembly, such as a phased array, that emits sonar beams and receives sonar returns from the underwater environment. Processing circuitry may receive the sonar returns, process the sonar returns, generate an image, and transmit the image to a display.

Described are navigational systems for vehicles including modular, field-swappable and field-configurable components and a plurality of operational modes.

Disclosed is a dynamic collision avoidance method for an unmanned surface vessel based on route replanning. The method comprises the following steps: acquiring navigation information and pose information of a neighboring ship of an unmanned vessel itself via a vessel-borne sensor; constructing a collision cone between the unmanned vessel and the neighboring ship; introducing a degree of uncertainty with respect to observing movement information of the neighboring ship and applying a layer of soft constraint to the collision cone; applying a speed and a heading limit range of the unmanned vessel; acquiring an ultimate candidate speed set; introducing a cost function to select an optimum collision avoidance speed; and performing an internal recycle of navigation simulation with the optimum collision avoidance speed to obtain a route replanning point for dynamic collision avoidance of the unmanned vessel. According to the present invention, a dynamic collision avoidance strategy of the unmanned surface vessel is output in form of route replanning to meet constraints of international regulations for preventing collisions at sea, and it is well adapted to manipulate and control the unmanned vessel itself, so that a dynamic collision avoidance requirement of the unmanned vessel is met.

An unmanned production platform comprises apparatus for producing and processing hydrocarbons from a subsea reservoir. A storage vessel is provided in combination with and proximate to the platform, typically just outside the safety zone. The storage vessel provides storage for hydrocarbons produced at the platform and further provides a utility for use at the platform, such as chemical storage, liquid desiccant regeneration and/or seawater treatment. Typically, the unmanned production platform comprises no utilities and all utilities require for production are provided by the storage vessel.

Disclosed is an unmanned robot for water quality management. An unmanned robot for water quality management according to the present disclosure includes a traveling unit provided with a pair of caterpillar treads mounted on both side surfaces of a body and including floating bodies having their own buoyancy, a drive motor that drives the traveling unit, a water quality measurement sensor that measures water quality of a water surface on which the unmanned robot for water quality management is operated, and a processor that controls the traveling unit so that the unmanned robot travels on the water surface to collect water quality data measured by the water quality measurement sensor.

A marine emergency rescue transfer system includes a water navigation robot. An attracting device configured to attach and fix with an accident ship is installed on one side of the water navigation robot. An automatic lifting device is installed on the water navigation robot. A fixing sealing device is installed on the automatic lifting device. The automatic lifting device is installed on the automatic lifting device. The fixing sealing device includes a box body and a vacuum pump. The box body defines a cavity. The vacuum pump is configured to pump air or water in the cavity, so the box body is fixed on the accident ship through atmospheric pressure or water pressure. The rescue devices are placed in the fixing sealing device. The remote control grippers are installed on the automatic lifting device. The remote control grippers are configured to grip the rescue devices for transfer operation.

An apparatus for collecting floating marine debris comprises a frame, a debris collection container in communication with a rear opening of the frame, a pair of helicoidal screws mounted to the frame in a symmetrical V-arrangement that tapers inwardly from a front opening of the frame to the rear opening, and at least one prime mover rotationally coupled to the pair of helicoidal screws. The prime mover is operable to rotate the helicoidal screws in opposite directions at the same angular velocity in water to move the apparatus forward through the water, such that floating marine debris enters the apparatus through the front opening, passes through the rear opening and is collected in the debris collection container.

Many different types of systems are utilized and tasks are performed in a marine environment. The present invention provides various configurations of castable devices that can be operated and/or controlled for such systems or tasks. One or more castable devices can be integrated with a transducer assembly, such as a phased array, that emits sonar beams and receives sonar returns from the underwater environment. Processing circuitry may receive the sonar returns, process the sonar returns, generate an image, and transmit the image to a display.

Disclosed is an algal bloom measuring system includes a body that floats on a water surface in a divided area, an algal bloom sensor unit disposed in the body and that generates an electric current through algae distributed in water, a controller that detects the electric current generated by the algal bloom sensor unit and determine whether algae are present, and a communication unit that transmits alga determination information of the controller to an outside.

The present invention discloses a collaborative design method using an event-triggered scheme (ETS) and a Takagi-Sugeno (T-S) fuzzy H.sub.∞ controller in a network environment. For the problem about the unmanned surface vehicle control based on a switching T-S fuzzy system under an aperiodic DoS attack, the present invention provides an H∞ controller design method based on the event-triggered scheme. The characteristics of the unmanned surface vehicle system under the DoS attack are analyzed, and external disturbance in the navigation process is added into an unmanned surface vehicle motion model to establish an unmanned surface vehicle switching system model. The stability of the system is analyzed by piecew se Lyapunov functionals, such that controller gain and event-triggered scheme weight matrix parameters are obtained, thus ensuring that a networked unmanned surface vehicle navigation system has the ability to resist the DoS attack and the external disturbance.