A barge for recovery of a rocket launch vehicle is proposed, which can recover a launch vehicle from the sea onto the land in safety during launch vehicle recovering work. The barge can recover the launch vehicle in safety by effectively preventing a slope of the structure which supports the launch vehicle.

The subject invention is a design of marine cargo vessel with added mechanical equipment specifically designed to minimize dangerous motions of the vessel induced by high waves while the vessel is being loaded or unloaded from fixed platforms (bottom supported or tension leg) at sea or on inland waters. The vessel uses three means of reduction of such induced motions, which have not before been combined for this purpose. These are a small water plane area multiple hull design, rapid ballasting while loading and unloading, and vertical thrusters.

The subject invention is a design of marine cargo vessel with added mechanical equipment specifically designed to minimize dangerous motions of the vessel induced by high waves while the vessel is being loaded or unloaded from fixed platforms (bottom supported or tension leg) at sea or on inland waters. The vessel uses three means of reduction of such induced motions, which have not before been combined for this purpose. These are a small water plane area multiple hull design, rapid ballasting while loading and unloading, and vertical thrusters.

The subject invention is a design of marine cargo vessel with added mechanical equipment specifically designed to minimize dangerous motions of the vessel induced by high waves while the vessel is being loaded or unloaded from fixed platforms (bottom supported or tension leg) at sea or on inland waters. The vessel uses three means of reduction of such induced motions, which have not before been combined for this purpose. These are a small water plane area multiple hull design, rapid ballasting while loading and unloading, and vertical thrusters.

The subject invention is a design of marine cargo vessel with added mechanical equipment specifically designed to minimize dangerous motions of the vessel induced by high waves while the vessel is being loaded or unloaded from fixed platforms (bottom supported or tension leg) at sea or on inland waters. The vessel uses three means of reduction of such induced motions, which have not before been combined for this purpose. These are a small water plane area multiple hull design, rapid ballasting while loading and unloading, and vertical thrusters.

A self-righting unmanned vehicle, comprising: a cavity 1, located at a first side of the hull of the unmanned vehicle; a sealed cavity 2, located at a second side of the hull of the unmanned vehicle and provided, in parallel to the cavity 1, in a head region of the hull; and a first propeller 3, provided in a tail intersection region of a normal waterline A with an inversion waterline B of the unmanned vehicle, and rotating in a reverse direction when the unmanned vehicle is in an overturned state. The self-righting unmanned vehicle improves the self-righting efficiency of the unmanned vehicle.

A self-righting unmanned vehicle, comprising: a cavity 1, located at a first side of the hull of the unmanned vehicle; a sealed cavity 2, located at a second side of the hull of the unmanned vehicle and provided, in parallel to the cavity 1, in a head region of the hull; and a first propeller 3, provided in a tail intersection region of a normal waterline A with an inversion waterline B of the unmanned vehicle, and rotating in a reverse direction when the unmanned vehicle is in an overturned state. The self-righting unmanned vehicle improves the self-righting efficiency of the unmanned vehicle.

A floating structure is described. The floating structure includes a floating platform disposed at a water surface, a mooring system and a damping system. The mooring system is configured for mooring one side of the floating platform to a sea floor, thereby to permit rotation of the floating structure and to provide a desired orientation down-wind with respect to an anchor point. The damping system is arranged at one side of the floating platform and is configured for absorbing wave energy and stresses imparted by the motion of waves in order to stabilize a horizontal position of the floating structure down-wind during a storm against the waves.

Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.

Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.