Abstract: The present disclosure generally relates to a method for selectively forwarding data messages between a plurality of neighboring wireless communication nodes. The present disclosure also relates to a corresponding wireless communication node and to a wireless communication system.

Abstract: A control unit is provided for a work machine. The work machine includes an implement and an arrangement for determining the position and orientation of the implement. The control unit is adapted to, for at least two different orientations of the implement, perform the steps of: determining that the implement contacts a reference surface, determining the position of a reference point for the implement when the implement and the reference surface are in contact with each other, and determining the position of a point on the periphery of the implement relative to said reference point by using said reference point position.

Abstract: A method is provided for determining the vertical position of at least a point of a ground portion using a work machine including an implement. The work machine further includes a position determining arrangement adapted to determine at least the vertical position of the implement and a force determining arrangement adapted to determine a force applied to the implement. The method includes determining a contact force value indicative of a contact force between the ground portion and the implement using the force determining arrangement, determining whether or not the contact force value is within a predetermined contact force value range, and if it is determined that the contact force value is within the predetermined contact force value range, using the position determining arrangement for determining at least the vertical position of a portion of the implement which is in contact with the ground portion.

Abstract: The present disclosure relates to a propulsion control system (30) for controlling a marine vessel (10) comprising at least four propulsion units (20, 22, 24, 26). The marine vessel (10) comprises a longitudinal centre line (L) and a transversal line (T). The transversal line (T) extends in a direction perpendicular to the longitudinal centre line (L) and also extends through the steering axis of the aftmost of the propulsion units. The marine vessel (10) comprises four quadrants (I, II, III, IV) defined by the longitudinal centre line (L) and the transversal line (T) wherein a first (I) and a second (II) quadrant are located on the same side of said longitudinal centre line (L). When a combined sway and yaw motion is desired, the thrust of one propulsion unit is directed towards the second (I) quadrant, and the thrust of the other propulsion units is directed towards the first (II) quadrant.

Abstract: The present disclosure relates to a propulsion control system (30) for controlling a marine vessel (10) comprising at least four propulsion units (20, 22, 24, 26). The marine vessel (10) comprises a longitudinal centre line (L) and a transversal line (T). The transversal line (T) extends in a direction perpendicular to the longitudinal centre line (L) and also extends through the steering axis of the aftmost of the propulsion units. The marine vessel (10) comprises four quadrants (I, II, III, IV) defined by the longitudinal centre line (L) and the transversal line (T) wherein a first (I) and a second (II) quadrant are located on the same side of said longitudinal centre line (L). When a combined sway and yaw motion is desired, the thrust of one propulsion unit is directed towards the second (I) quadrant, and the thrust of the other propulsion units is directed towards the first (II) quadrant.

Abstract: In a method for calibrating a system for controlling thrust and steering of a drive arrangement in a watercraft, the system includes an operating device adapted for indicating a requested direction of travel of the watercraft, the operating device being connected to a control unit for providing corresponding thrust and steering commands to the drive arrangement. The method includes receiving an activation command in the control unit, for beginning the calibration, detecting any movements of the operating device, storing values corresponding to the movements in the control unit together with corresponding thrust and steering values, and repeating the detecting step and the storing step until a termination command is received in the control unit, thereby using the stored values in subsequent operation of the operating device for indicating the direction of travel of the watercraft.

Abstract: A method is provided for controlling a drive arrangement in a watercraft. The method includes detecting thrust and steering commands from an operating device which is connected to a control unit, and controlling the drive arrangement based on detected commands from the operating device for obtaining a desired course of travel of the watercraft, wherein a force is generated which acts towards a defined position on the watercraft. The method furthermore includes determining the speed of the watercraft and adapting the position on which the force from the drive arrangement acts as a function of at least the speed and as a function of the influence of the position of the center of pressure of the watercraft, thereby maintaining the desired course of travel. An arrangement for controlling a drive arrangement in a watercraft is also provided.

Abstract: A marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel, said marine propulsion control system including an input command regulator for generating a desired delivered thrust by the propulsion units in the set of propulsion units, a set of control units, wherein each control unit is associated with a separate propulsion unit in said set of propulsion units, wherein each control units is arranged to control the delivered thrust of the associated propulsion unit depending on input control signals received by the control unit and vessel including such a propulsion control unit.

Abstract: Steering control system for a vessel including at least two propulsion units pivotally arranged in relation to the hull of the vessel for generating a driving thrust of the vessel in a desired direction, wherein each propulsion unit is moveable within a working volume defined for each propulsion unit and wherein the working volume for neighboring propulsion units of the at least two propulsion units have a common space, the control system including at least two separate control units each controlling an associated propulsion unit, and a steering control instrument for determining the desired angular position of the propulsion units, where each of the separate control units are arranged for receiving a first input signal from the steering control instrument for determining the desired angular position of its associated propulsion unit and second input signal(s) originating from the other separate control units, associated with neighboring propulsion units, which second input signal(s) indicating the status of

Abstract: A marine propulsion control system for controlling a set of propulsion units carried by a hull of a vessel, said marine propulsion control system including an input command regulator for generating a desired delivered thrust by the propulsion units in the set of propulsion units, a set of control units, wherein each control unit is associated with a separate propulsion unit in said set of propulsion units, wherein each control units is arranged to control the delivered thrust of the associated propulsion unit depending on input control signals received by the control unit and vessel including such a propulsion control unit.