Abstract: A high-level motion controller provides a lower-level thrust allocation with generalized forces demanded on the ship for the current instant of time as well as a prediction of future generalized forces { ? ˆ D } t = 0 T demanded over a predicted future time, and optionally one or more other reference predictions, such as a time-varying velocity and position of the ship { ? ^ D , v ^ D } t = 0 T . When predictions of the future desired forces and torque are made available to the lower-level thrust allocation, the lower-level thrust allocation will be aware of what is needed in the future and use the predictions to make efficient changes towards the desired future references, when it generates control signals to thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the individual thrusters.

Abstract: A method of identifying a vessel as well as a vessel identifying device and a floating object and land installation including such a vessel identifying device. The vessel identifying device includes a processor operative to obtain a position of a vessel being sensed by a sensor, assign an identity to the vessel, which identity is assigned according to an identity assignment scheme of at least a part of a maritime tracking system, which maritime tracking system is an Automated Identification System (AIS), and provide an identification of the vessel according to the maritime tracking system, the identification including the assigned identity and the position of the vessel, and order a transmitter to transmit the identification of the vessel.

Abstract: A method for generating a path in a channel for automated control of a marine vessel includes acquiring position data for the marine vessel, determining, based on the position data, that the marine vessel is approaching or is in a channel, identifying, from geographical map data, a starboard side portion of the channel relative to the position of the marine vessel, determining a collision free path in the starboard side portion of the channel while travelling in the channel, and providing an output of the determined collision free path for automated control of the vessel along the determined collision free path.

Abstract: A feasible force determining device provides, for each propulsion machine of a vessel, a first set of allowable control signals of a first type with values between a minimum and a maximum value, calculates, for each allowable control signal of each propulsion machine, a vector contribution of the propulsion machine to a set of feasible forces and torques being related to at least one type of motion of the vessel, adds, for each propulsion machine, each calculated vector to all vectors in the set of feasible forces and torques, forms a vessel operations space for the operation of the vessel, which vessel operations space is based on the set of feasible forces and torques and provided in at least one dimension, and applies the vessel operations space in the operation of the vessel.

Abstract: A computer-implemented method for determining a feasible trajectory for a marine vessel traveling on water, including: determining initial state variables for the marine vessel at the initial position including present position of the marine vessel and a present heading direction of the marine vessel in relation to the surrounding environment; acquiring position data indicating positions of obstacles near the marine vessel; acquiring environmental data including at least one of present wind conditions, wave characteristics, and local sea current speed and direction; estimating environmental disturbance parameters and respective uncertainties from the environmental data; predicting subsequent state variables for the marine vessel and respective uncertainties at future time steps for a prediction horizon based on a maneuver model of a marine vessel describing a motion of a marine vessel, the initial state variables, the position data, and the environmental disturbance parameters and respective uncertainties; ge

Abstract: A method of controlling a vessel having a plurality of thrusters, where the vessel is configured to operate in a bias mode where at least two of the thrusters provide thrust forces at least partly in opposite thrust directions, the method including estimating, by a control system, an operational condition associated with the vessel; and commanding, by the control system and based on the estimation, execution of a countermeasure associated with an activation of the bias mode, a deactivation of the bias mode or a change of a bias level of the bias mode. A control system and a vessel are also provided.

Abstract: A method of identifying a vessel as well as to a vessel identifying device and a floating object and land installation including such a vessel identifying device. The vessel identifying device includes a processor operative to obtain a position of a vessel being sensed by a sensor, assign an identity to the vessel, which identity is assigned according to an identity assignment scheme of at least a part of a maritime tracking system, which maritime tracking system is AIS, and provide an identification of the vessel according to the maritime tracking system, the identification including the assigned identity and the position of the vessel, and order a transmitter to transmit the identification of the vessel.

Abstract: A method of material flow optimization in an industrial process by using an integrated optimizing system is described. The integrated optimizing system includes: a high-level optimizer module describing the material flow by coarse high-level process parameters and including an optimization program for the high-level process parameters, the optimization program being dependent on high-level model parameters and including an objective function subject to constraints; a low-level simulation module for simulating the material flow, the low-level simulation module including a low-level simulation function adapted for obtaining detailed low-level material flow data based on the high-level process parameters; and an aggregator module including an aggregator function adapted for calculating the high-level model parameters based on the low-level material flow data.

Abstract: A high-level motion controller provides a lower-level thrust allocation with generalized forces demanded on the ship for the current instant of time as well as a prediction of future generalized forces {{circumflex over (?)}D}t=0T demanded over a predicted future time, and optionally one or more other reference predictions, such as a time-varying velocity and position of the ship {{circumflex over (?)}D, {circumflex over (?)}D}t=0T. When predictions of the future desired forces and torque are made available to the lower-level thrust allocation, the lower-level thrust allocation will be aware of what is needed in the future and use the predictions to make efficient changes towards the desired future references, when it generates control signals to thrusters available in the thruster system to distribute the desired generalized forces into individual forces of the individual thrusters.