A submersible robot includes a re-configurable body transformable between at least a first configuration and a second configuration such that the re-configurable body, in the first configuration, has a hydrodynamic shape configured for efficient travel in a subsea environment, and such that the re-configurable body, in the second configuration, has a shape configured for performing a robotic task in the subsea environment.

The purpose of the present invention is to provide a boat capable of obtaining a propulsion force in a discretionary direction. A boat is provided with Arneson drives which drive propellers by means of propeller shafts via universal joints, and which control the left and right directions of the propellers by means of hydraulic cylinders. Two of the Arneson drives are provided, and the Arneson drives are respectively provided to the left and right sides of a hull. The propellers are controlled in the left and right directions in a mutually independent manner.

The purpose of the present invention is to provide a boat capable of obtaining a propulsion force in a discretionary direction. A boat is provided with Arneson drives which drive propellers by means of propeller shafts via universal joints, and which control the left and right directions of the propellers by means of hydraulic cylinders. Two of the Arneson drives are provided, and the Arneson drives are respectively provided to the left and right sides of a hull. The propellers are controlled in the left and right directions in a mutually independent manner.

A method of controlling two or more propulsion devices on a marine vessel includes receiving a vessel speed, determining that the vessel speed is below a first vessel speed threshold, receiving an operator thrust demand, and determining that the operator thrust demand is below a first demand threshold. At least one of the two or more propulsion devices is then turned off, and a thrust output of at least one remaining propulsion device is adjusted based on the operator thrust demand.

A method of controlling two or more propulsion devices on a marine vessel includes receiving a vessel speed, determining that the vessel speed is below a first vessel speed threshold, receiving an operator thrust demand, and determining that the operator thrust demand is below a first demand threshold. At least one of the two or more propulsion devices is then turned off, and a thrust output of at least one remaining propulsion device is adjusted based on the operator thrust demand.

A braking system for waterborne propeller driven vessel which, upon activating a brake pedal or similar actuation device causes the vessel to almost immediately stop its forward movement. The system initiates a burst of highly amplified horsepower and torque, created by a controlled pulse of electrical power released from a bank of fully charged ultracapacitors. This pulse of electrical power is sent directly to AC induction-driven motors, causing oversized propellers to immediately rotate astern, thereby generating a reverse thrust in opposition to the vessel's forward movement sufficient to stop the vessel. The horsepower and torque produced by the braking system and operation of the present invention will also cause the oversize propellers to transmit this tremendous power into the water, without cavitation, to assist in stopping vessel movement.

A braking system for waterborne propeller driven vessel which, upon activating a brake pedal or similar actuation device causes the vessel to almost immediately stop its forward movement. The system initiates a burst of highly amplified horsepower and torque, created by a controlled pulse of electrical power released from a bank of fully charged ultracapacitors. This pulse of electrical power is sent directly to AC induction-driven motors, causing oversized propellers to immediately rotate astern, thereby generating a reverse thrust in opposition to the vessel's forward movement sufficient to stop the vessel. The horsepower and torque produced by the braking system and operation of the present invention will also cause the oversize propellers to transmit this tremendous power into the water, without cavitation, to assist in stopping vessel movement.

A propulsion device for a ship is introduced. The propulsion device for the ship comprises a duct having a nose corresponding to the front vertex of a hydrofoil cross-section and a tail corresponding to the rear vertex of the hydrofoil cross-section, wherein the shape of the duct cross-section comprises: an outer surface formed upward in a convex shape at the front end of the duct and formed downward in a concave shape at the rear end of the duct; an inner front part of the duct formed downward in a convex shape at the front end of the duct; an inner rear part of the duct formed downward in a convex shape at the rear end of the duct; and a parallel part for connecting the inner forward part and the inner backward part in parallel to each other.

A propulsion device for a ship is introduced. The propulsion device for the ship comprises a duct having a nose corresponding to the front vertex of a hydrofoil cross-section and a tail corresponding to the rear vertex of the hydrofoil cross-section, wherein the shape of the duct cross-section comprises: an outer surface formed upward in a convex shape at the front end of the duct and formed downward in a concave shape at the rear end of the duct; an inner front part of the duct formed downward in a convex shape at the front end of the duct; an inner rear part of the duct formed downward in a convex shape at the rear end of the duct; and a parallel part for connecting the inner forward part and the inner backward part in parallel to each other.

A braking system for waterborne propeller driven vessel which, upon activating a brake pedal or similar actuation device causes the vessel to almost immediately stop its forward movement. The system initiates a burst of highly amplified horsepower and torque, created by a controlled pulse of electrical power released from a bank of fully charged ultracapacitors. This pulse of electrical power is sent directly to AC induction-driven motors, causing oversized propellers to immediately rotate astern, thereby generating a reverse thrust in opposition to the vessel's forward movement sufficient to stop the vessel. The horsepower and torque produced by the braking system and operation of the present invention will also cause the oversize propellers to transmit this tremendous power into the water, without cavitation, to assist in stopping vessel movement.