Described is a robot (1) for cleaning swimming pools comprising a main body (2), a plurality of rotors (3), a control unit and means for cleaning the swimming pool. The main body (2) has at least one sealed containment space (4). The plurality of rotors (3) is configured for generating a hydrodynamic thrust designed for moving the robot inside an entire space of the swimming pool. The control unit inserted in the containment space (4) and is configured for modifying at least one respective operating parameter of each rotor (3) in such a way as to direct the hydrodynamic thrust.

Described is a robot (1) for cleaning swimming pools comprising a main body (2), a plurality of rotors (3), a control unit and means for cleaning the swimming pool. The main body (2) has at least one sealed containment space (4). The plurality of rotors (3) is configured for generating a hydrodynamic thrust designed for moving the robot inside an entire space of the swimming pool. The control unit inserted in the containment space (4) and is configured for modifying at least one respective operating parameter of each rotor (3) in such a way as to direct the hydrodynamic thrust.

A system for controlling a marine vessel having first and second steering nozzles and corresponding first and second reversing buckets, comprises a processor configured to receive a first vessel control signal including at least a component corresponding to a translational thrust command in a port direction, and that is configured to provide a set of actuator control signals coupled to and control the first and second reversing buckets. The processor is configured to provide the set of actuator control signals so as to maintain the first reversing bucket substantially in a first discrete position and the second reversing bucket substantially in a second discrete position as long as the first vessel control signal includes a component corresponding to a translational thrust command in the port direction.

A system for controlling a marine vessel having first and second steering nozzles and corresponding first and second reversing buckets, comprises a processor configured to receive a first vessel control signal including at least a component corresponding to a translational thrust command in a port direction, and that is configured to provide a set of actuator control signals coupled to and control the first and second reversing buckets. The processor is configured to provide the set of actuator control signals so as to maintain the first reversing bucket substantially in a first discrete position and the second reversing bucket substantially in a second discrete position as long as the first vessel control signal includes a component corresponding to a translational thrust command in the port direction.

The present disclosure relates to a vessel propelling mechanism. In one aspect, a vessel propelling system includes a motor and a waterjet system. The waterjet system is coupled to the motor and includes a stator with a plurality of blades. A first blade of the plurality of blades has a shape that is different than remaining blades of the plurality of blades, the shape of the first blade allowing a driving mechanism of the motor to be coupled to a shaft within the waterjet system.

The present disclosure relates to a vessel propelling mechanism. In one aspect, a vessel propelling system includes a motor and a waterjet system. The waterjet system is coupled to the motor and includes a stator with a plurality of blades. A first blade of the plurality of blades has a shape that is different than remaining blades of the plurality of blades, the shape of the first blade allowing a driving mechanism of the motor to be coupled to a shaft within the waterjet system.

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.

The invention relates to a method for controlling a water jet propulsion device for the propulsion of a marine vessel, the water jet propulsion device comprising: a conduit extending between an inlet and an outlet; an impeller in the conduit; and a mechanical power provider arranged to deliver power to the impeller; the method comprising receiving a plurality of thrust commands, and controlling a thrust level of the water jet propulsion device in dependence the thrust commands, wherein controlling the thrust level comprises adjusting a position of a deflector arranged to deflect water flowing out of the outlet, characterised by coordinating the adjustment of the position of the deflector with a level of engagement of a clutch, arranged to adjust the delivery of power from the power provider to the impeller, so that the thrust level is substantially continuous in a thrust command domain.

The invention relates to a method for controlling a water jet propulsion device for the propulsion of a marine vessel, the water jet propulsion device comprising: a conduit extending between an inlet and an outlet; an impeller in the conduit; and a mechanical power provider arranged to deliver power to the impeller; the method comprising receiving a plurality of thrust commands, and controlling a thrust level of the water jet propulsion device in dependence the thrust commands, wherein controlling the thrust level comprises adjusting a position of a deflector arranged to deflect water flowing out of the outlet, characterised by coordinating the adjustment of the position of the deflector with a level of engagement of a clutch, arranged to adjust the delivery of power from the power provider to the impeller, so that the thrust level is substantially continuous in a thrust command domain.