An improvement for inboard motor boats has a rigid exhaust conduit, a miniature rudder, and a rudder control system. The rigid conduit is provided for conduction of combustion gases exhaust outside the hull and has an aft facing outlet. The miniature rudder is pivotably mounted on the rigid conduit relative the aft facing outlet whereby combustion gases exhaust past the rudder. The rudder control system has a user interface inside the boat and has a control mechanism pivoting the rudder in response to inputs to the user interface.

An improvement for inboard motor boats has a rigid exhaust conduit, a miniature rudder, and a rudder control system. The rigid conduit is provided for conduction of combustion gases exhaust outside the hull and has an aft facing outlet. The miniature rudder is pivotably mounted on the rigid conduit relative the aft facing outlet whereby combustion gases exhaust past the rudder. The rudder control system has a user interface inside the boat and has a control mechanism pivoting the rudder in response to inputs to the user interface.

A system for autonomous ocean data collection includes at least one sensor capable of collecting sensor data, at least one transmission device, and at least one computing device comprising one or more hardware processors and memory coupled to the one or more hardware processors, the memory storing one or more instructions which, when executed by the one or more hardware processors, cause the at least one computing device to generate data for transmission based on the sensor data collected by the at least one sensor, and cause the at least one transmission device to transmit the data.

A system for autonomous ocean data collection includes at least one sensor capable of collecting sensor data, at least one transmission device, and at least one computing device comprising one or more hardware processors and memory coupled to the one or more hardware processors, the memory storing one or more instructions which, when executed by the one or more hardware processors, cause the at least one computing device to generate data for transmission based on the sensor data collected by the at least one sensor, and cause the at least one transmission device to transmit the data.

Some embodiments relate to a control system for a marine vessel having a first propulsion system and a second propulsion system, the control system comprising: a processor configured to: receive a steering command and a thrust command; and control at least the first propulsion system and the second propulsion system based on the steering command and the thrust command.

Some embodiments relate to a control system for a marine vessel having a first propulsion system and a second propulsion system, the control system comprising: a processor configured to: receive a steering command and a thrust command; and control at least the first propulsion system and the second propulsion system based on the steering command and the thrust command.

Provided is a rudder assembly producing significant thrust to reduce energy consumption of vessels during voyage. The rudder assembly is formed of first/second rudder units arranged on both sides of first/second propellers. As seen from rear, each first/second rudder unit is formed of left/right rudders arranged on the left/right of the first/second propeller. Each left/right rudder of the first/second rudder units is formed of a first left/right rudder portion extending in the right-left direction, a second left/right rudder portion curved from the left/right end of the first left/right rudder portion toward lower left/right, and a third left/right rudder portion extending downwards from the lower end of the second left/right rudder portion. The first left/right rudder portions of the first/second rudder unit are arranged spaced upwardly apart from the upper edge of the tip circle of the first/second propeller for a distance of 10-20% of the diameter of the first/second propeller.

Provided is a rudder assembly producing significant thrust to reduce energy consumption of vessels during voyage. The rudder assembly is formed of first/second rudder units arranged on both sides of first/second propellers. As seen from rear, each first/second rudder unit is formed of left/right rudders arranged on the left/right of the first/second propeller. Each left/right rudder of the first/second rudder units is formed of a first left/right rudder portion extending in the right-left direction, a second left/right rudder portion curved from the left/right end of the first left/right rudder portion toward lower left/right, and a third left/right rudder portion extending downwards from the lower end of the second left/right rudder portion. The first left/right rudder portions of the first/second rudder unit are arranged spaced upwardly apart from the upper edge of the tip circle of the first/second propeller for a distance of 10-20% of the diameter of the first/second propeller.

The present invention provides a tail rudder control system for a kayak which includes a tail rudder assembly, having a tail rudder, a swing mechanism for driving the tail rudder to rotate in the horizontal direction, a traction mechanism for driving the tail rudder to flip longitudinally for storage, and a guide wheel box for driving the swing mechanism and reset the tail rudder. Two pedal assemblies are in transmission connection with the swing mechanism through a steering traction line for driving the swing mechanism to act. A transmission assembly includes a first transmission wheel wound with a transmission traction line, a second transmission wheel wound with a reverse traction line. The second transmission wheel is driven by the first transmission wheel, and the reverse traction line is in transmission connection with the traction mechanism for driving the traction mechanism to act.

The present invention provides a tail rudder control system for a kayak which includes a tail rudder assembly, having a tail rudder, a swing mechanism for driving the tail rudder to rotate in the horizontal direction, a traction mechanism for driving the tail rudder to flip longitudinally for storage, and a guide wheel box for driving the swing mechanism and reset the tail rudder. Two pedal assemblies are in transmission connection with the swing mechanism through a steering traction line for driving the swing mechanism to act. A transmission assembly includes a first transmission wheel wound with a transmission traction line, a second transmission wheel wound with a reverse traction line. The second transmission wheel is driven by the first transmission wheel, and the reverse traction line is in transmission connection with the traction mechanism for driving the traction mechanism to act.