A marine vessel having a propeller that provides propulsive force to the marine vessel, and a course control system. The course control system includes a course changing mechanism that changes a course of the marine vessel, and a controller configured or programmed to detect a sudden movement of the marine vessel originating from broaching caused by a following wave of the marine vessel, and upon detecting the sudden movement of the marine vessel originating from the broaching, control a rotation rate of the propeller and/or cause the course changing mechanism to change the course of the marine vessel.

A float (1) suitable for use as a buoy or as a component for a wave-powered vehicle. The float (1) includes an upper member (12) whose height can be changed and/or which remained substantially vertical even when the float is in wave-bearing water. A low drag cable (2) suitable for use as a tether in a wave-powered vehicle has a streamlined cross-section and includes a tensile member (21) near the front of the cross-section, at least one non-load-bearing member (22) behind the tensile member, and a polymeric jacket (23). Wave-powered vehicles having a float (1), a submerged swimmer (3) and a tether (2) connecting the float and the swimmer, include a means for determining whether the tether is twisted; or a means (91) for untwisting the tether; or a pressure-sensitive connection (71, 72, 73) which can disconnect the tether when the vehicle is dragged downwards by entanglement with a whale; or a 2-axis universal joint securing the tether to the float or to the swimmer; or elastic elements which absorb snap loads created by the tether; or two or more of these.

A float (1) suitable for use as a buoy or as a component for a wave-powered vehicle. The float (1) includes an upper member (12) whose height can be changed and/or which remained substantially vertical even when the float is in wave-bearing water. A low drag cable (2) suitable for use as a tether in a wave-powered vehicle has a streamlined cross-section and includes a tensile member (21) near the front of the cross-section, at least one non-load-bearing member (22) behind the tensile member, and a polymeric jacket (23). Wave-powered vehicles having a float (1), a submerged swimmer (3) and a tether (2) connecting the float and the swimmer, include a means for determining whether the tether is twisted; or a means (91) for untwisting the tether; or a pressure-sensitive connection (71, 72, 73) which can disconnect the tether when the vehicle is dragged downwards by entanglement with a whale; or a 2-axis universal joint securing the tether to the float or to the swimmer; or elastic elements which absorb snap loads created by the tether; or two or more of these.

The present invention is directed broadly to an underwater appendage assembly (10) of a marine vessel (12). The underwater appendage assembly (10) is in the form of a rudder assembly fitted to a bow section (14) of the vessel (12). The rudder assembly comprises an appendage in the form of a rudder foil (18) connected to a flapper member (20). The flapper member (20) is arranged whereby movement and more particularly pitching, of the vessel (12) induces deflection of the flapper member (20) relative to the rudder foil (18). This deflection in the flapper member (20) provides an oscillating movement of the flapper member (20) in a flapping action which is substantially synchronised with movement of the vessel (12) upward and downward. The flapping action of the flapper member (20) is effective in promoting forward propulsion of the vessel (12).

The present invention is directed broadly to an underwater appendage assembly (10) of a marine vessel (12). The underwater appendage assembly (10) is in the form of a rudder assembly fitted to a bow section (14) of the vessel (12). The rudder assembly comprises an appendage in the form of a rudder foil (18) connected to a flapper member (20). The flapper member (20) is arranged whereby movement and more particularly pitching, of the vessel (12) induces deflection of the flapper member (20) relative to the rudder foil (18). This deflection in the flapper member (20) provides an oscillating movement of the flapper member (20) in a flapping action which is substantially synchronised with movement of the vessel (12) upward and downward. The flapping action of the flapper member (20) is effective in promoting forward propulsion of the vessel (12).

An adaptable modular power system (AMPS) is hierarchical in a number of ways. AMPS modules connect to a backplane, and one or multiple AMPS backplanes can form an AMPS domain. At the same time, the vehicle electronics is modular, with various payload boxes needing to communicate with each other. A common power and signaling cable is provided to interconnect payload boxes. A dedicated connector system is also provided so that AMPS modules may communicate, control, receive data, and supply and receive power.

An adaptable modular power system (AMPS) is hierarchical in a number of ways. AMPS modules connect to a backplane, and one or multiple AMPS backplanes can form an AMPS domain. At the same time, the vehicle electronics is modular, with various payload boxes needing to communicate with each other. A common power and signaling cable is provided to interconnect payload boxes. A dedicated connector system is also provided so that AMPS modules may communicate, control, receive data, and supply and receive power.

A device for linear propulsion (1) comprises a support structure (2) for carrying a payload, and one or more wave propulsion modules (3). The or each wave propulsion module (3) comprises a first individually-pivoted substantially planar blade (4) and a second individually-pivoted substantially planar blade (5). The first individually-pivoted substantially planar blade (4) is capable of producing a reactive force by self-attenuating by spring or dynamics of buoyancy means in response to an incoming fluid flow in the horizontal plane (6). The second individually-pivoted substantially planar blade (5) is capable of producing a reactive force by self-attenuating by spring or dynamics of buoyancy means in response to an incoming fluid flow in the vertical plane (7).

A device for linear propulsion (1) comprises a support structure (2) for carrying a payload, and one or more wave propulsion modules (3). The or each wave propulsion module (3) comprises a first individually-pivoted substantially planar blade (4) and a second individually-pivoted substantially planar blade (5). The first individually-pivoted substantially planar blade (4) is capable of producing a reactive force by self-attenuating by spring or dynamics of buoyancy means in response to an incoming fluid flow in the horizontal plane (6). The second individually-pivoted substantially planar blade (5) is capable of producing a reactive force by self-attenuating by spring or dynamics of buoyancy means in response to an incoming fluid flow in the vertical plane (7).

Equipment and methods that combine the use of wave powered vehicles and unmanned aerial vehicles (UAVs or drones). A UAV can be launched from a wave-powered vehicle, observe another vessel, and report the results of its observation to the wave-powered vehicle, and the wave-powered vehicle can report the results of the observation to a remote location. The UAV can land on water and can then be recovered by the wave-powered vehicle.