To improve prediction accuracy in model predictive control.

The ship control device includes processing circuitry. The processing circuitry estimates an initial search value of a throttle opening by an estimation method based on uncertainty with a distance between a position of the ship and a target position of dynamic positioning, and a true wind velocity as preconditions. The processing circuitry searches an action for moving the ship to the target position by a model predictive control in a search range having the initial search value as an origin, and determines a command throttle opening based on the search result.

A distributed ledger system includes marine blockchain servers, a method performed by apparatuses, and communication channels between a vessel, its engine, and stakeholders. The system includes an Engine Permission Switch (EPS), a time and location service, electronic fuel (Sec) authorized by the owner, a distributed blockchain contract (Marine Blockchain) connecting a vessel, an engine, coupled to a communication channel, The engine is on only when the EPS provides electronic fuel (Sec). The Marine Blockchain has the entire history of on/off states of the engine. The Marine Blockchain encodes self-executing operating Rules. A Sec counter is decremented by time and by nautical location displacement. Unless replenished by the Marine Blockchain, achieving thresholds cause warnings, requests, and ultimately engine stop. Other warnings, requests, and engine control operations result upon the condition of divergence of vessel location from engine location, direction of travel from plan, time enroute to a destination.

Methods, systems, and computer-readable media that implement autonomous seagoing power replenishment watercraft. An example system includes a plurality of marine vessels; a plurality of watercraft, each watercraft of the plurality of watercraft including a rechargeable electrical power supply and being configured to operate in: a first mode in which the watercraft awaits an assignment to provide electrical energy to a marine vessel of the plurality of marine vessels; a second mode in which the watercraft performs operations including keeping station with an assigned marine vessel and providing electrical energy to the assigned marine vessel from the power supply; and a third mode in which the watercraft recharges the power supply from a charging station. The system includes a controller configured to perform operations comprising: transmitting, to a first watercraft, an instruction indicating an assignment of the first watercraft to provide electrical energy to a first marine vessel.

Methods, systems, and computer-readable media that implement autonomous seagoing power replenishment watercraft. An example system includes a plurality of marine vessels; a plurality of watercraft, each watercraft of the plurality of watercraft including a rechargeable electrical power supply and being configured to operate in: a first mode in which the watercraft awaits an assignment to provide electrical energy to a marine vessel of the plurality of marine vessels; a second mode in which the watercraft performs operations including keeping station with an assigned marine vessel and providing electrical energy to the assigned marine vessel from the power supply; and a third mode in which the watercraft recharges the power supply from a charging station. The system includes a controller configured to perform operations comprising: transmitting, to a first watercraft, an instruction indicating an assignment of the first watercraft to provide electrical energy to a first marine vessel.

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.

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.

A propulsion system for a seagoing vessel includes a rotatable frame and either (a) at least two masts coupled to the frame and each having a sail and a boom, or (b) at least two blades coupled to the frame. The rotatable frame and either the rotatable boom or at least two blades may be locked in position in a locked mode and unlocked and freely rotatable in an unlocked mode. A control system that is in communication in communication with a frame lock and either a boom lock or a blade lock and may be configured to determine when the vertical axis wind turbine should be in either the locked mode or the unlocked mode based on the direction of the wind and a direction that the seagoing vessel is traveling.

A propulsion system for a seagoing vessel includes a rotatable frame and either (a) at least two masts coupled to the frame and each having a sail and a boom, or (b) at least two blades coupled to the frame. The rotatable frame and either the rotatable boom or at least two blades may be locked in position in a locked mode and unlocked and freely rotatable in an unlocked mode. A control system that is in communication in communication with a frame lock and either a boom lock or a blade lock and may be configured to determine when the vertical axis wind turbine should be in either the locked mode or the unlocked mode based on the direction of the wind and a direction that the seagoing vessel is traveling.

Techniques are disclosed for systems and methods to provide graphical user interfaces for assisted and/or autonomous navigation for mobile structures. A navigation assist system includes a user interface with a display for a mobile structure and a logic device configured to render a docking user interface on the display. The logic device determines a direction and magnitude of a navigational bias associated with navigation of the mobile structure and determines a spatially biased safety perimeter and hazard monitoring area within a monitoring perimeter of a perimeter ranging system mounted to the mobile structure, based on the direction and magnitude of the navigational bias. The docking user interface includes a maneuvering guide with a virtual bumper perimeter intrusion indicator configured to indicate a relative position and/or proximity of a navigation hazard within the spatially biased hazard monitoring area.

Techniques are disclosed for systems and methods to provide graphical user interfaces for assisted and/or autonomous navigation for mobile structures. A navigation assist system includes a user interface with a display for a mobile structure and a logic device configured to render a docking user interface on the display. The logic device determines a direction and magnitude of a navigational bias associated with navigation of the mobile structure and determines a spatially biased safety perimeter and hazard monitoring area within a monitoring perimeter of a perimeter ranging system mounted to the mobile structure, based on the direction and magnitude of the navigational bias. The docking user interface includes a maneuvering guide with a virtual bumper perimeter intrusion indicator configured to indicate a relative position and/or proximity of a navigation hazard within the spatially biased hazard monitoring area.