Abstract: A foot operated control for controlling both the steering and speed of a trolling motor that is mounted on a boat. The foot control includes an on-off switch disposed on a conically shaped, rotatable foot plate which can support an operator's entire body weight when operating and can be accessed by the foot of an operator from plural sides without repositioning the foot control on a boat deck. The rotatable foot plate overlays a thrust bearing that is secured to a flat bodied base plate. When the foot plate is rotated by the operator's foot, motion is transferred through a mechanism, e.g. a rack and pinion, that is recessed in base plate. The rack is connected to the trolling motor by a flexible control cable, and when foot plate is rotated, the trolling motor rotates up to a desired one to one angular ratio with foot plate.

Abstract: Magnetic forces developed from electromagnets, superconductor magnets, or other magnets, serve as the basic elements to move, control, direct and stabilize ships in locks chambers and canals. Basic requirements include, but are not limited to, a power supply, the magnetic devices and a system for operation and control of the magnetic devices. This process of moving ships through canals and locks chambers will eliminate other, more expensive means currently in use. The magnetic system will speed the process of canal transit because of its simplicity of operation. It will require much less hardware and human resources to operate and maintain. The magnets would be installed in the locks chamber floors. In canals and approach lanes, the magnets could be placed on a substructure at the bottom of the channel using different structural elements depending on the channel's shape, size and dredging needs.

Abstract: A device for controlling the speed and direction of a watercraft using voice commands. The device includes a voice recognition computer, which recognizes spoken commands, and a motor control computer which causes the speed and steering direction of the watercraft to change in response to the spoken commands. A remote control beltpack unit with a radio or infrared link allows free movement of the operator while controlling the watercraft.

Abstract: A marine autopilot having a deadband feature to reduce ineffectual rudder movement and unnecessary wear on the rudder and associated drive apparatus. In a first deadband operation, four deadband values are computed based on various parameters in order to provide optimum system performance and circuit redundancy. The deadband values are a function of the maximum allowable heading error, the maximum allowable angular velocity of the vessel, and the vessel speed. A second deadband operation compensates for noise introduced into the autopilot system by the speed sensor, compass, and roll sensor.

Abstract: An articulated control surface is provided for hydrodynamic control utilig a moldable control surface. The central surface is shaped by contracting and elongating wire bundles fabricated with shape-memory alloys located in an adjacent cooling chamber. The shape-memory alloys contract when heated via an applied electric current and elongate when cooled, i.e., the electric current is removed. A pair of wire bundles is anchored inside the cooling chamber. Each bundle is routed over several pulleys in such a manner that a lateral movement is produced at the actuator end of the wire. A pair of bundles act in opposition to maintain dynamic tension at the actuator end. Cooling flow to opposing wire bundles is controlled independently to enhance response time and reduce power requirements. The actuator is a post extending from the cooling chamber to the trailing edge structure of the control surface.

Abstract: A ship steering system has a multiplicity of selectable steering stations. A continuously rotating helm at each steering station generates digital rudder control signals which cause a predetermined rudder movement for each 360.degree. of helm rotation. Steering stations are selected through a multiplexer controlled at a command steering station. The steering system is operable from the command steering station in a plurality of modes, which includes auto-pilot, helm (full-follow-up), and tiller (non-follow-up). Helm and/or tiller modes of operation are available at steering stations remote from the command steering station. The system provides for an emergency takeover from the helm or autopilot modes by automatically establishing the tiller mode when the tiller stick is moved. When in the autopilot mode an alarm system provides an alert should the course deviate from a selected course tolerance.

Abstract: A ship steering system for automatically maintaining a steering course including a manual steering device and a memory that retains the course setting when the manual steering operation is discontinued for maintaining that set course and thus minimizing abrupt course deviations during automatic control.

Abstract: The rudder order bias integrator of a marine autopilot is reactivated upon substantial completion of a turning maneuver in response to heading error, heading rate and the derivative portion of the rudder order signal. Upon reactivation, the integrator time constant is ramped from a predetermined small value to the normal large time constant of the integrator.

Abstract: An electronic processing circuit 17 compares digital signals representing the position of a number of mutually connected control members to the contents of an electronic memory 18. On detecting a difference indicating the displacement of the position of one of the control members, the circuit 17 actuates those motors of motors 4, 5, 6 which are associated with the non-actuated control members in order to make them folllow the displacement. Excessive displacements indicating a fault are shown on an indicator 19.

Abstract: Apparatus is described for controlling the steering of an outboard motor (e.g., a trolling motor) on a marine craft. The apparatus includes a frame for attachment to a mounting surface for the motor, a D.C. motor which can be driven in clockwise and counterclockwise directions, a capstan, a flexible cable extending between the ends of the frame and being connected to the capstan and the outboard motor, and switches for actuating the D.C. motor and controlling direction of rotation. The apparatus causes the outboard motor to be pivoted in the desired direction to steer the marine craft. The D.C. motor can be controlled from a remote location on the marine craft.

Abstract: A permanent magnet direct-current gearhead motor is supported by a base member so that its output gear motion is transmitted to a splined steering shaft which descends and is attached to the electric trolling motor itself. The transmission of motion between the gearhead motor and the spline gear on the upper end of the steering shaft may utilize a larger intermediate gear so that limit switches can be installed thereon to limit the range of rotation of the gears, and thus of the trolling motor itself. The direction of the gearhead motor rotation is dependent on the polarity of the direct current applied; the desired polarity being established through by button-type switches connected through a double throw, double pole direct current relay which is housed on the base member, adjacent to the gearhead motor. The button switches may be positioned at a multiple number of different locations within the boat, wherever desired.

Abstract: A marine automatic steering apparatus for setting a desired course in a digital fashion is disclosed, in which a course deviation which is a difference between a set course and a ship's heading is indicated in an analog manner on a course deviation indicator whose zero point is set at the position corresponding to the lubber line of a steering repeater card.

Abstract: Heading keeping apparatus for a marine vessel autopilot that compares the RMS yaw to a plurality of yaw increments and compares the instantaneous yaw to a plurality of yaw increments to provide respective gain controlling signals in accordance with the increments in which the RMS yaw and instantaneous yaw resides. The gain controlling signal representative of the highest gain is selected to control the gain of the autopilot.

Abstract: A heading change unit for a ship's autopilot gyrocompass that provides a heading error signal to produce a proportional rudder control signal. An operator enters a heading change which causes an up/down counter to be incremented or decremented in accordance with the heading change order. The counter is also responsive to a step heading input signal. The count is referenced to a zero value and converted to an analog control signal by a digital-to-analog converter. As the ship turns towards the new heading, the changing step heading input will cause the counter to count back to zero. The displayed amount of heading error or ordered heading change is generated by converting the analog heading error signal to a digital encoded format which controls a display. The heading error signal is generated in the form of a parallel twelve bit binary code which represents integer degree changes and 1/6 degree fractional changes.

Abstract: There is disclosed a portable system to control and monitor the basic maneuvering functions of marine vessels: The control and monitoring functions are contained on a hand held, small and lightweight consul which can be plugged into multi-pin sockets which are wired from various remote places of the ship to a central electronics logic and control module matrix. Switches on the portable helm control the electronic module matrix which powers servo motors mechanically linked to: engines' throttle controls, shift forward-neutral-reverse controls, and steering apparatus. Feedback loops monitor the positions of these maneuvering functions. Monitored on the portable helm are: rudder angle, engines' idle status, forward, neutral and reverse status of each drive trian, power on, and engines' synchronization.

Abstract: The rotation angles around the X and Y axes due to the operation of a joystick lever having degrees of freedom of three axes are respectively detected by two rotation angle detectors. A push button switch is provided at the edge of the joystick lever. When the push button switch is not operated, the operating direction and operation amount of the joystick lever are calculated on the basis of the outputs of two rotation angle detectors. When the push button switch was operated, the operating direction and operation amount of the joystick lever are calculated from the output of either one of two rotation angle detectors.

Abstract: An electronic boat controller which can be plugged in and removed from a boat which is hard wired to a plurality of locations which when plugged into allows the boat controller to become electrically wired to power controllers which supply power on a pulse basis to electric motors from a common power supply. This power supply is an electric battery mounted at the rear of the boat. The controller controls two channels which control ultimately two power supplies to two separate and distinct electric motors which are spacially separated at the rear of the motor permitting turning as well as forward control of the boat.

Abstract: An electric trolling motor is remotely controlled by a hand held or foot operated radiant energy transmitter coacting with a receiver, the trolling motor and a turning or directional motor connected through gearing with a trolling motor support shaft. The trolling motor can operate in a straightaway propulsion mode or in left hand or right hand directional turning modes, all remotely controlled. The fisherman is free to occupy the bow of the boat during fishing activities while remotely controlling the trolling motor at the stern.

Abstract: Described herein is a steering amplifier for use in the steering systems of watercraft. Potentiometers are mounted within the helm unit and the feedback unit of the craft and these potentiometers are used to determine the various helm and rudder positions. Circuitry is provided to determine the difference or error between the helm position and the rudder position and to energize solenoid valves which cause the rudder to move in the appropriate direction to correct the error.

Abstract: An error sensing system for use in marine autopilot systems of the type having a photographic film compass disk aligned with the direction North and sensing means associated with the disk is operative to sense relative movement between the disk and the sensors in response to changes in the heading of the vessel. A first direction error surface portion on the disk has opaque and transparent areas defining a zero reference therebetween, a second magnitude error surface portion on the disk has a second zero reference position in predetermined relation to the first zero reference position and an area of variable transparency extending along the second surface portion. The first and second surface portions are defined by images along the peripheral surface of the photographic film disk.

Abstract: Apparatus for steering a vessel and maintaining it on a preset course through the combination and arrangement of an incremental encoder and a heading reference circuit is disclosed. The encoder includes circuitry operative to generate a directional signal and count pulse for each incremental movement of the vessel away from the preset heading and for transmitting same into a heading reference circuit. Counting means are included in the heading reference circuit including adjustable reference setting means to set the counter at a reference position corresponding to the preset heading. The counter is responsive to the pulses received from the incremental encoder to count in a positive or negative direction under the control of the directional signals. A sign-detector in the counter detects whether the total number of pulses is positive or negative with respect to the reference position and generates a signal representative of the direction of the net change.

Abstract: A propelled water craft which is generally characterized by a twin pontoon barge having a generally flat deck, a pair of seat pedestals mounted on the deck and carrying rotatable, folding seats, and further characterized by port and starboard variable speed, reversible motors mounted in the rear of the water craft behind each one of the pontoons and operative responsive to on-off pressure switches mounted on a portable support, and forward and reverse thrust switches, and speed control means.

Abstract: A reversible motor is coupled to the stern leg of a watercraft for angulating the leg up and down through a trim and tilt range. A manually settable device provides a voltage signal corresponding to the desired trim angle and a position sensor provides a voltage signal corresponding to the present stern leg position. A first comparator changes the state of its output if the difference between the signals has one polarity and a second comparator changes state for the opposite polarity. The state changes turn on one of two transistor switches which provide an up or a down signal, respectively, to a motor control circuit for causing the motor to run until the difference is nulled. When the active transistor switch turns off, the other delivers a momentary pulse for plugging the motor.

Abstract: A ship steering system includes a pump assembly for controlling hydraulicy actuated rudders, a first actuation unit for translating a helm steering command signal into a mechanical control signal for the pump assembly, and a second actuation unit for translating a combined helm steering command signal and ship roll reduction command signal into a mechanical control signal for the pump assembly. The second actuation unit includes an electrically activated mechanical actuator that translates the electrical helm and roll reduction command signal into a mechanical impulse that controls the operation of the pump assembly. The mechanical actuator includes a switch apparatus for switching the rudder control function from the first actuation unit to the second actuation unit when the switch apparatus and second actuation unit are activated.

Abstract: A propelled water craft which is generally characterized by a twin pontoon barge having a generally flat deck, a seat pedestal mounted on the deck and carrying a rotatable, folding seat, and further characterized by port and starboard variable speed, reversible motors mounted in the rear of the water craft behind each one of the pontoons and operative responsive to on-off pressure switches, forward and reverse thrust switches, and speed controls.

Abstract: In the construction of a remote control unit advantageously usable for an automatic steering system of small-sized boats and cruisers, a rotatable main-dial, which is adapted for adjusting the resistance of a main variable resistor for manual steering, is always elastically registered at the zero-point for automatic zero-point resetting purpose. In addition to the automatic zero-point resetting function without requirement for any highly skilled technique, unexpected and dangerous accidental turning of the main-dial can be successfully obviated.

Abstract: An autopilot automatically adjusts the sensitivity of a ship's steering system to accommodate changes in speed as well as sea and wind conditions. The autopilot utilizes heading error, speed and speed squared signals to produce a rudder order signal for controlling rudder position. The rudder order signal is developed in a heading keeping circuit unless a heading change greater than a predetermined threshold is commanded, in which event a programmer substitutes a heading change circuit for the heading keeping circuit. The sensitivity of the heading change circuit is automatically adjusted as an inverse function of vessel speed squared, and automatic rudder order limits are established in the same circuit as an inverse function of speed. The sensitivity of the heading keeping circuit is adjusted in accordance with a signal from an automatic gain control circuit which derives a performance index J from ship's speed, heading error and rudder order signals occurring during a given measurement interval.

Abstract: An automatic pilot for a sailboat includes a mode switching arrangement which permits a person to operate the sailboat in any one of several modes. One is the STEER mode, a second is the OFF mode, a third is the STANDBY mode, a fourth is the WIND mode and a fifth is the COMPASS mode. Another switching arrangement enables either the WIND mode or COMPASS mode to be operated in COURSE CHANGE sub-mode manners. Various mechanisms and circuitry further are included to enable the sailboat to be manually steered, to stabilize the rate of change of rudder position, to null a control that is a function of the change in heading error, to wash out certain signals under certain conditions, to inhibit certain signals under certain conditions, and to provide a steering command that furnishes a visual direction to the steersman when the automatic pilot is in a COURSE CHANGE sub-mode.

Abstract: Steering mechanism for a boat motor having a shaft which turns to turn the boat motor. A plurality of first contacts is spaced circumferentially around the shaft. A sweep contact mounted on the shaft sequentially engages the first contacts as the shaft turns. A pivotally mounted pedal swings a contact plate. A plurality of second contacts, each of which is connected to a respective one of the first contacts, is engageable with the contact plate. Upon movement of the pedal power is supplied to the steering motor until the sweep contact engages one of the first contacts which is connected to a second contact that is free of the contact plate. The contact plate can include two contact plate portions, one of which is connected in series with the steering motor when the pedal is moved in one direction and the other of which is connected in series with the steering motor when the pedal is moved in an opposite direction.