The invention relates to a tug for maneuvering a vessel, comprising at least one proximity sensor in a contact area, the proximity sensor being configured to detect a distance between the contact area and the vessel, and a tug controller unit controlling an approach of the tug towards the vessel based on the detected distance between the contact area and the vessel.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust.

An interface unit providing an interface between a control and sensor system of an assisted vessel with thrust capabilities and a master dynamic positioning system. The master dynamic positioning system is configured to control a number of auxiliary vessels as one unit and control the thrust capabilities of the assisted vessel for assisting in maneuvering of the assisted vessel. A master dynamic positioning system comprises the interface unit above. A system for assisting in maneuvering of a vessel with thrust capabilities comprises the master dynamic positioning system controlling a number of auxiliary vessels as one unit for assisting in maneuvering of an assisted vessel. A dynamic positioning system of each of the auxiliary vessels is controlled by the master dynamic positioning system. The master dynamic positioning system controls the thrust capabilities of the assisted vessel. The master dynamic positioning system may be provided on-board a tugboat.

An unmanned vehicle including a vehicle body, propulsion system, maneuvering system, vehicle control system, rack, sensor, and a power supply. The vehicle control may be used to control the unmanned vehicle in combination with the propulsion and the maneuvering system. The rack may include a retractable mount that may move between a down position and an up position. The sensor system may include a plurality of transient object detection sensors. The plurality of transient object detection sensors may include a sensor adapted to detect an item of interest and may provide an item of interest signal to the vehicle control system. The vehicle control system may identify an item of interest classification and may provide a classification signal. The classification signal may be determined by the item of interest classification and may be utilized to avoid detection of the unmanned vehicle by the item of interest.

Multiple autonomous underwater vehicles (AUVs) are operated by a host platform by configuring the AUVs with intermediate nodes (such as unmanned surface vehicles (USVs)) so as to allow the host platform to manage multiple AUVs. The intermediate nodes act as a relay for communications between the host platform and the AUVs allowing the host platform to scale to higher numbers of vehicles thus simultaneously operating the entire fleet of AUVs. The AUVs may provide underwater mapping data. The host platform may be stationary. The host platform may communicate with the intermediate nodes by satellite.

A method of handling a mooring line having a first end portion attached to a vessel comprises capturing a second end portion of a mooring line with a moveable arm mounted to a towboat. The method also comprises securing a mid-portion of the mooring line between the first end portion and the second end portion with respect to the towboat. The method further comprises moving the second end portion of the mooring line from a first position to a second position whilst the mid-portion of the mooring line is secured to the towboat.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust. The system can be operated in reverse, to generate electric power when the system is in a flowing stream of thrust fluid.

A quadrotor UAV including ruggedized, integral-battery, load-bearing body, two arms on the load-bearing body, each arm having two rotors, a control module mounted on the load-bearing body, a payload module mounted on the control module, and skids configured as landing gear. The two arms are replaceable with arms having wheels for ground vehicle use, with arms having floats and props for water-surface use, and with arms having pitch-controlled props for underwater use. The control module is configured to operate as an unmanned aerial vehicle, an unmanned ground vehicle, an unmanned (water) surface vehicle, and an unmanned underwater vehicle, depending on the type of arms that are attached.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust. The system can be operated in reverse, to generate electric power when the system is in a flowing stream of thrust fluid.

A marine vessel maneuvering apparatus performs maneuvering of a marine vessel by wireless communication, and includes an operator to move the marine vessel in an operating direction of the operator, a recorder to record location information of a place where fishing is performed using the marine vessel that is moved by operating the operator, and a controller connected to at least the recorder.