Abstract: A user interface apparatus for controlling a marine vessel. The apparatus includes concentric positioned mechanical stick, block and ring for setting a control parameter, electric motors, and electric visual elements. The apparatus also includes one or more processors configured to operate the user interface apparatus in a plurality of operation modes, each operation mode with a distinct configuration, retrieve distinct settings for the tactile feedback and/or the visual feedback, and control the tactile feedback given by the one or more electric motors and/or the visual feedback given by the one or more electric visual elements based on the retrieved distinct settings during setting a selected control parameter mapped to the mechanical stick, block or ring.

Abstract: Real-time monitoring of surroundings of a marine vessel. One or more observation sensor modules are configured and positioned to generate sensor data extending around the marine vessel. One or more data processors are configured to map and visualize the sensor data in relation to a virtual model of the marine vessel. A user interface is configured to display the virtual model together with the visualized sensor data from a user selectable point of view to a mariner of the marine vessel.

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 and a system for determining a region of water clearance of a water surface are disclosed. The method includes receiving image data of an image captured by a camera, determining water surface pixels of the image from the image data, determining image coordinates of at least a first group of the determined water surface pixels in an image coordinate system, determining a position and an orientation of the camera at the time the image has been captured, determining real-world coordinates of the corresponding water surface in the real world by transferring at least the image coordinates of the first group to a real-world coordinate system under consideration of the determined position and orientation of the camera, and determining a region of the water surface, which is defined by the determined real-world coordinates of the first group, as the region of water clearance.

Abstract: A user interface apparatus for controlling a marine vessel. The apparatus includes concentric positioned mechanical stick, block and ring for setting a control parameter, electric motors, and electric visual elements. The apparatus also includes one or more processors configured to operate the user interface apparatus in a plurality of operation modes, each operation mode with a distinct configuration, retrieve distinct settings for the tactile feedback and/or the visual feedback, and control the tactile feedback given by the one or more electric motors and/or the visual feedback given by the one or more electric visual elements based on the retrieved distinct settings during setting a selected control parameter mapped to the mechanical stick, block or ring.

Abstract: Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.

Abstract: Real-time monitoring of surroundings of a marine vessel. One or more observation sensor modules are configured and positioned to generate sensor data extending around the marine vessel. One or more data processors are configured to map and visualize the sensor data in relation to a virtual model of the marine vessel. A user interface is configured to display the virtual model together with the visualized sensor data from a user selectable point of view to a mariner of the marine vessel.

Abstract: Controlling marine vessel: obtaining motion data related to the marine vessel; obtaining an operation state related to one or more apparatuses exerting force from the marine vessel to ambient water; detecting a disturbance in one or more degrees of freedom affecting the marine vessel based on the motion data; and determining control data for the one or more apparatuses exerting force to attenuate the detected disturbance.

Abstract: A computer-implemented method is disclosed for determination of a route for a ship by defining one or more performance variables of the ship and dynamic input parameters that affect to the performance variable. Information of ship operation and measurement results from sensors during the operation of the ship are obtained and a set of dynamic input parameters is produced. A model for simulating the performance of a ship is created by defining one or more relationships between the performance variables and the dynamic input parameters. A route is found for which a simulation result of the ship performance fulfills one or more criteria set for the selected performance variable. The results are continuously updated along with receiving new input data for determination of a route having better conformity with set criteria for the result.

Abstract: A computer-implemented method and a system are disclosed for evaluation of the performance of a ship. Performance variables of a ship and dynamic input parameters that affect the performance variables are defined. The dependencies between the performance variables and the dynamic input parameters are then learned automatically to provide an initial model for simulating the performance. The initial model is updated to be used as the model in further operation and further updating the model until the model meets preset quality criteria for a model to be used.

Abstract: A computer-implemented method is disclosed to produce a model that predicts performance of a ship by creating an initial model based on relationships between factors related to the ship during operation and parameters representing primary dynamic input data that depend on the factors. Measurement results are obtained from sensors during the operation of the ship for producing a set of new dynamic input data to be used in the model. If a difference between a simulation result and an actual operation exceeds defined threshold criteria, the model is improved by repeatedly producing new sets of dynamic input data until defined quality criteria are met.