A grounding skeg for a landing craft configured for stem landing onto, and setting off from, a ground surface, the grounding skeg including: an elongate grounding body having a fore end and an aft end; and a removable pulling propeller functionally connected to the fore end of the body; wherein the pulling propeller is able to drive the landing craft ahead and astern; and the grounding body is locatable on the landing craft such that: the grounding body provides contact with the ground surface during stem landing of the landing craft; the fore end of the grounding body faces a bow end of the landing craft; and the aft end of the grounding body faces a stem end of the landing craft.

A grounding skeg for a landing craft configured for stem landing onto, and setting off from, a ground surface, the grounding skeg including: an elongate grounding body having a fore end and an aft end; and a removable pulling propeller functionally connected to the fore end of the body; wherein the pulling propeller is able to drive the landing craft ahead and astern; and the grounding body is locatable on the landing craft such that: the grounding body provides contact with the ground surface during stem landing of the landing craft; the fore end of the grounding body faces a bow end of the landing craft; and the aft end of the grounding body faces a stem end of the landing craft.

A watercraft includes a positioning system having a controller and at least two stationary mounted propulsion units that are stationary with respect to the watercraft for generating a forward and backward thrust with respect to the respective propulsion unit in a respectively fixed direction with respect to the watercraft. The controller is arranged for individually controlling the thrust generated by each of the two propulsion units for moving and steering the watercraft.

A watercraft includes a positioning system having a controller and at least two stationary mounted propulsion units that are stationary with respect to the watercraft for generating a forward and backward thrust with respect to the respective propulsion unit in a respectively fixed direction with respect to the watercraft. The controller is arranged for individually controlling the thrust generated by each of the two propulsion units for moving and steering the watercraft.

The present invention provides an apparatus, method and system for utilizing commercial cargo containers. The present invention utilizes containers made autonomous by coupling a container with a detachable propulsion system, having a motor and navigation and steering controls, permitting the rapid, controlled, efficient and safe delivery of cargo containers individually by water. Ballast units, deployment systems and control via remote units are also disclosed. The containers, utilizing their inherent buoyancy, can move autonomously according to a preplanned or remote controlled route to a specific location.

The present invention provides an apparatus, method and system for utilizing commercial cargo containers. The present invention utilizes containers made autonomous by coupling a container with a detachable propulsion system, having a motor and navigation and steering controls, permitting the rapid, controlled, efficient and safe delivery of cargo containers individually by water. Ballast units, deployment systems and control via remote units are also disclosed. The containers, utilizing their inherent buoyancy, can move autonomously according to a preplanned or remote controlled route to a specific location.

The present invention provides a hetero-stiffness robotic device with a central body portion having a head end and a tail end. A rigid rotatable head propeller extends from the head end while a flexible rotatable tail propeller extends from the tail end. A head motor positioned in the central body portion rotates the rigid rotatable head propeller and a tail motor positioned in the central body portion rotates the flexible rotatable tail propeller. A controller independently controls a rotational speed of the head motor and the tail motor. The head and tail propellers may have helical shapes. The hetero-stiffness propulsion gives the robotic device a high level of environmental adaptivity over a wide range of viscosities. The device demonstrates advantages in linearity, straightness, bi-directional locomotion ability, and efficiency, which provides a critical competence for moving in low Reynolds number environments.

The present invention provides a hetero-stiffness robotic device with a central body portion having a head end and a tail end. A rigid rotatable head propeller extends from the head end while a flexible rotatable tail propeller extends from the tail end. A head motor positioned in the central body portion rotates the rigid rotatable head propeller and a tail motor positioned in the central body portion rotates the flexible rotatable tail propeller. A controller independently controls a rotational speed of the head motor and the tail motor. The head and tail propellers may have helical shapes. The hetero-stiffness propulsion gives the robotic device a high level of environmental adaptivity over a wide range of viscosities. The device demonstrates advantages in linearity, straightness, bi-directional locomotion ability, and efficiency, which provides a critical competence for moving in low Reynolds number environments.

An imaging apparatus for imaging a rotating component is shown. The imaging apparatus has a proximal end configured to be attached to the rotating component, along with a distal end. The imaging apparatus has located within it a convex mirror at the distal end, which has a reflective surface which is directed toward the proximal end and having a field of view wider than the imaging apparatus. The imaging apparatus also has located within it a camera at the proximal end, the camera being directed towards to distal end and having a field of view which includes the mirror.

An imaging apparatus for imaging a rotating component is shown. The imaging apparatus has a proximal end configured to be attached to the rotating component, along with a distal end. The imaging apparatus has located within it a convex mirror at the distal end, which has a reflective surface which is directed toward the proximal end and having a field of view wider than the imaging apparatus. The imaging apparatus also has located within it a camera at the proximal end, the camera being directed towards to distal end and having a field of view which includes the mirror.