Abstract: A method is provided for controlling a boat. The boat is adapted to float in a body of water. The boat includes a hull having a longitudinal extension along a hull longitudinal axis, a lateral extension along a hull lateral axis and a vertical extension along a hull vertical axis. The boat also includes a set of drive units, the set of drive units comprising at least one drive unit. Each drive unit in the set is arranged such that it, during driving of the boat, is adapted to be at least partially submerged into the body of water; adapted to be pivotable, relative to the hull, around a drive unit longitudinal axis that is substantially parallel to the hull longitudinal axis such that a drive unit roll angle can be varied, and adapted to be pivotable, relative to the hull, around a steering axis that forms an angle with the drive unit longitudinal, axis such that a drive unit steering angle can be varied.

Abstract: A method is provided for controlling a boat. The boat is adapted to float in a body of water. The boat includes a hull having a longitudinal extension along a hull longitudinal axis, a lateral extension along a hull lateral axis and a vertical extension along a hull vertical axis. The boat also includes a set of drive units, the set of drive units comprising at least one drive unit. Each drive unit in the set is arranged such that it, during driving of the boat, is adapted to be at least partially submerged into the body of water; adapted to be pivotable, relative to the hull, around a drive unit longitudinal axis that is substantially parallel to the hull longitudinal axis such that a drive unit roll angle can be varied, and adapted to be pivotable, relative to the hull, around a steering axis that forms an angle with the drive unit longitudinal, axis such that a drive unit steering angle can be varied.

Abstract: A fluid visualization and characterization system includes a measuring section with a housing defining a fluid flow path for fluid flow. The measuring section includes one or more transducers to emit ultrasonic signals into the fluid flow, and at least one receiver to receive reflections of the ultrasonic signal from reflectors in the fluid flow. The system includes a memory for storing data and a processor operatively connected to the memory. The processor comprises several modules. A velocity estimating module is configured to apply one or more velocity estimation algorithms to received reflections of the ultrasonic signal, or data indicative thereof, to determine a velocity profile of the fluid flow. A deconvolution module is configured to apply a deconvolution algorithm at least to the determined velocity profile to determine a true velocity profile of the fluid flow.

Abstract: A fluid visualization and characterisation system includes a measuring section with a housing defining a fluid flow path for fluid flow. The measuring section includes one or more transducers to emit ultrasonic signals into the fluid flow, and at least one receiver to receive reflections of the ultrasonic signal from reflectors in the fluid flow. The system includes a memory for storing data and a processor operatively connected to the memory. The processor comprises several modules. A velocity estimating module is configured to apply one or more velocity estimation algorithms to received reflections of the ultrasonic signal, or data indicative thereof, to determine a velocity profile of the fluid flow. A deconvolution module is configured to apply a deconvolution algorithm at least to the determined velocity profile to determine a true velocity profile of the fluid flow.