An integrated tow system may include one or more unmanned towboat modules that may be used to improve maneuvering of tows on an inland waterway, such as a river. To reduce environmental stresses on operators, a command module that includes control and communications equipment for controlling operation of the unmanned towboat modules may provide living quarters for the operators, but not include a propulsion system for maneuvering a tow. The control and communication equipment may monitor for rotation commands by an operator that exceed rotational capabilities of the unmanned towboat modules, and provide for non-linear controls that include changing position of a rotational point that is centrally located longitudinally along the tow so as to provide for 1:1 rotational control of the tow by a tow drive system (e.g., bow and stern unmanned towboat modules). River tracking and river parking features may be supported by the control and communications equipment.

A boat propeller apparatus can be coupled to virtually any motor boat to cause the boat to safely and efficiently produce a surfable wake. The boat propeller apparatus can be configured to mount to the boat in a way that causes the apparatus to be positioned and secured behind but spaced from the propeller while the boat is moving forward. The apparatus will therefore be in the path of the propelled water and will function to divert the propelled water in such a way as to create a larger/taller wake than would otherwise be produced by the boat. The boat propeller apparatus can also function as a propeller shield and be used in conjunction with a propeller guard.

A boat propeller apparatus can be coupled to virtually any motor boat to cause the boat to safely and efficiently produce a surfable wake. The boat propeller apparatus can be configured to mount to the boat in a way that causes the apparatus to be positioned and secured behind but spaced from the propeller while the boat is moving forward. The apparatus will therefore be in the path of the propelled water and will function to divert the propelled water in such a way as to create a larger/taller wake than would otherwise be produced by the boat. The boat propeller apparatus can also function as a propeller shield and be used in conjunction with a propeller guard.

Different solutions to stop automatically a vessel, which includes at least a first cycloidal propeller unit and a second cycloidal propeller unit, are disclosed. During a stopping procedure motion control values of at least the first cycloidal propeller unit are adjusted to cause, while maintaining a movement direction of the vessel to be according to a latest steering command, the first cycloidal propeller unit to brake in a first mode or in a second mode. In the first mode the main wheel is rotating, and blades of the cycloidal propeller unit are rotated to change a thrust direction towards to a reverse thrust direction. In the second mode either the main wheel is kept in a first position and the blades are positioned individually towards a corresponding predetermined angle to the movement direction or the blades are kept in first positions and the main wheel is rotated.

Different solutions to stop automatically a vessel, which includes at least a first cycloidal propeller unit and a second cycloidal propeller unit, are disclosed. During a stopping procedure motion control values of at least the first cycloidal propeller unit are adjusted to cause, while maintaining a movement direction of the vessel to be according to a latest steering command, the first cycloidal propeller unit to brake in a first mode or in a second mode. In the first mode the main wheel is rotating, and blades of the cycloidal propeller unit are rotated to change a thrust direction towards to a reverse thrust direction. In the second mode either the main wheel is kept in a first position and the blades are positioned individually towards a corresponding predetermined angle to the movement direction or the blades are kept in first positions and the main wheel is rotated.