Abstract: An outboard motor includes an engine, a propeller to generate a propulsive force by the drive force of the engine, a lithium ion capacitor, a starter motor to be actuated by a power supply from the lithium ion capacitor to crank the engine, a starter relay provided on a starting power supply line between the lithium ion capacitor and the starter motor, a start switch to be turned on by an engine starting operation by a user to energize a coil of the starter relay from the lithium ion capacitor so as to turn on the starter relay, and a charging controller including a switch to connect the lithium ion capacitor to a charging power source to charge the lithium ion capacitor during the driving of the engine, and to disconnect the lithium ion capacitor from the charging power source when the driving of the engine is stopped.

Abstract: A ship speed control system includes: a ship speed deviation calculation module which calculates a ship speed deviation based on the difference between an actual ship speed and a ship speed target value; and an input gain adjustment module which adjusts a gain input to a throttle control function to a first gain value when the ship speed deviation is not less than a first threshold value, and adjusts the input gain to a second gain value which is larger than the first gain value and smaller than the initial gain value when the ship speed deviation is not less than the first threshold value and not less than the second threshold value.

Abstract: A marine propulsion system for a marine vessel includes at least two marine drives, a control system communicatively connected to the at least two marine drives and configured to detect that at least one of the marine drives is running and that least one of the marine drives is not running and determine, based on a trim position of each of the at least one non-running marine drive, that at least one non-running marine drive is trimmed down. The control system then controls each of the at least one running marine drive based on an output limit restriction until the at least one non-running marine drive is sufficiently trimmed up.

Abstract: An automatic berthing system and method for a vessel are provided. The automatic berthing system comprises a controller, controlling the vessel; an input part, receiving an input to perform the automatic berthing mode; at least one peripheral sensor, detecting position information and speed information of another vessel other than the vessel to determine whether a wake caused by the another vessel has influence on the vessel. The controller performs an automatic berthing control when the input to perform the automatic berthing mode is received until the vessel reaches a berthing position, and the controller stops the automatic berthing control when the another vessel is located within a predetermined distance from the vessel based on the position information.

Abstract: A method of controlling attitude of a marine vessel includes measuring a roll motion of the marine vessel with an attitude sensor, and then determining that the roll motion exceeds a threshold roll where no corresponding steering input is present. The method further includes determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and then controlling a steering actuator to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract an environmentally-induced roll motion of the marine vessel without effectuating a net change in heading and/or translation.

Abstract: The disclosure includes embodiments of systems, methods, and a kit to monitor remotely operational conditions of a pump engine and a pump mounted on a marine barge during offloading operation of barge petroleum product contents. According to an embodiment, a marine barge monitoring system may include a housing connected to the marine barge in a position to monitor the pump engine and the pump and having an electronic assembly positioned in the housing. The marine barge monitoring system also may include one or more sensors communicatively connected to the relay control module via the input/output module; a status monitoring and communication device communicatively connected to the relay control module; a warning indicator connected to the electronic assembly; and one or more remotely positioned monitoring servers having a memory positioned remote from the marine barge and in communication with the status monitoring and communication device.

Abstract: An arrangement including a gearwheel connected to the propulsion unit, a steering electric motor operatively connected to the gearwheel and controlled by a drive, a force transmission arrangement including a clutch between the gearwheel and the steering electric motor, and a measurement unit for measuring rotational motion positioned at each side of the clutch. The steering electric motor is arranged to rotate the gearwheel and thereby also the propulsion unit. A difference in the output signals of the two measuring units indicating slipping of the clutch is detected. The steering electric motor is controlled to at least reduce the difference in the output signals when the difference exceeds a predetermined threshold.

Abstract: The instant invention describes devices and methods of measuring the differential air pressure at numerous representative points across the surface of the sail or sails and providing visual feedback of areas of ideal laminar flow and areas of less than optimal airflow with a calculation of thrust and providing an indication the maximal differential airflow and thrust. The invention utilizes an array of sensors that detect minute variations in barometric pressure and other data on each side of the sail surface. These sensors are connected together to form a network or net across the sail. This connection can be physical, using wires, or it may be wireless, using for example, but certainly not being limited to, Bluetooth LE 5.0 or other wireless topologies or technologies. This can be extended over multiple sails and monitor not only the sail but the interaction of the sails.

Abstract: A message handler for receiving and transmitting positional information over a short burst data (SBD) service is provided.

Abstract: A vessel operation system includes a propulsion apparatus to generate a forward thrust or a backward thrust by output of an engine, a throttle actuator to change a throttle opening degree of the engine, a first operator, a second operator, and a controller. When the propulsion apparatus generates a backward thrust, the controller sets a first target value within a range not more than a first upper limit value in accordance with an operation of the first operator and control the throttle actuator so that the throttle opening degree reaches the first target value. The controller sets a second target value within a range not more than a second upper limit value larger than the first upper limit value in accordance with an operation of the second operator and control the throttle actuator so that the throttle opening degree reaches the second target value.

Abstract: An intelligent assistance system and a method for berthing and unberthing based on multi-tugboat collaboration are provided.

Abstract: A system, adapted to determine that automatic docking of a boat is completed. The system including a control unit including a processor configured to switch a control mode of the control unit to an automatic docking mode; output a control signal for controlling an automatic steering of the boat when the control mode is switched to the automatic docking mode; obtain a vibration that is exerted on the boat, wherein, when the control unit is in the automatic docking mode, the control unit is configured to end the automatic docking mode when the control unit detects the vibration.

Abstract: A navigation system for a marine vessel incudes one or more proximity sensors, each at a sensor location on the marine vessel and configured to measure proximity of objects in an area surrounding the marine vessel and generate proximity measurements, and a control system configured to receive the proximity measurements measured by the one or more proximity sensors. From the received proximity measurements, four linearly-closest proximity measurements to the marine vessel are identified, including one closest proximity measurement to the marine vessel in each of a positive X direction, a negative X direction, a positive Y direction, and a negative Y direction. A most important object (MIO) dataset is generated identifying the four linearly-closest proximity measurements and propulsion of the marine vessel is controlled based at least in part on the MIO dataset.

Abstract: A method of operating a steering system on a marine vessel includes changing a maximum drive angle defining a permitted drive angle range for at least one marine drive and then, based on a steering map correlating wheel positions of a manually rotatable steering wheel to drive angles of the marine drive, adjusting at least one end stop wheel position to an adjusted end stop wheel position based on the changed maximum drive angle. Once it is determined that a current wheel position of the steering wheel is approaching the adjusted end stop wheel position, a resistance device is controlled to apply a resistance force against rotation of the steering wheel in a first rotational direction past the end stop position. The steering actuator associated with the marine drive is then controlled based on the steering map such that a drive angle of the marine drive stays within the permitted drive angle range.

Abstract: The invention relates to an autonomous underwater vehicle (AUV). The AUV includes a frame and tunnel thrusters for propelling and orientating the AUV, where the tunnel thrusters have inlets and outlets, each of outlets being directed in a different orientation, and are mounted to the frame. The AUV further includes fasteners for connecting the frame to a hull, where the fasteners have an orientation that is substantially parallel to the tunnel thrusters. The hull has a substantially spherical shape and further includes (1) a bottom plate with inlet openings, (2) a top plate with outlet openings, where the top plate and the bottom plate are affixed to the fasteners and hold plate rings of the hull in place, and (3) each of the plate rings that further includes a corresponding retention ring and corresponding central plates.

Abstract: A docking device includes a docking station capable of being connected to a carrying vessel by means of a cable, the docking station comprising a guide device which comprises a set of arms which are connected to the body and each comprise a distal end and a proximal end, the set of arms being capable of being in a deployed configuration wherein it defines a space flaring towards the rear so as to enable the underwater vehicle to be guided to the stop, the distal end of each arm being located behind the proximal end of the arm in the deployed configuration, the set of arms being capable of being in a collapsed configuration wherein a distal end of each arm of the set of arms is closer to the longitudinal axis than in the deployed configuration and wherein the distal end is located in front of the position occupied by the distal end in the deployed configuration, such that a length, along the axis x, of a space defined by the set of arms behind the stop is smaller in the collapsed configuration than in the depl

Abstract: A boat maneuvering control method for a boat includes acquiring target route information and information about an actual position of the boat, setting a target position based on the target route information and the information about the actual position, acquiring, as a deviation amount, a distance between the target position and the boat in a predetermined direction that intersects with a target route, and controlling a magnitude of a propulsion force of a propulsion device so as to reduce the deviation amount.

Abstract: A method and a system for maneuvering vehicles using adjustable ultrasound sensors is disclosed. The method includes determining at least one first position of an object relative to a vehicle using at least one high range sensor and determining for each of at least one first position of the object non-conformance with one or more object position criteria. The method further includes determining at least one second position of object relative to vehicle, when at least one first position of the object is in non-conformance with one or more object position criteria. The method further includes assigning at least one ultrasound sensor to dynamically focus on the object and maneuvering the vehicle on a trajectory plan based on the at least object attribute. Each of plurality of ultrasound sensors is deployed on rotatable mount and assigned at least one ultrasound sensor is dynamically focused by rotating on associated rotatable mount.

Abstract: A propulsion control system for a marine vessel includes a memory and a controller coupled to the memory. The controller is configured or programmed to, while performing dynamic positioning control of the marine vessel or in a case in which the marine vessel has changed to a mode in which the marine vessel is kept at a certain location, perform deceleration control to reduce a bow direction speed of the marine vessel. Alternatively, the controller is configured or programmed to, in a case in which the marine vessel has changed to a mode in which the marine vessel moves along a predetermined route, when the marine vessel deviates from the predetermined route in a bow direction of the marine vessel, perform deceleration control to prevent the marine vessel from moving in the bow direction.

Abstract: Objects of the present invention are provide as evaluation method of ship propulsive performance in actual seas, an evaluation program of ship propulsive performance in actual seas and an evaluation. system of ship propulsive performance in actual seas capable of precisely evaluating ship propulsive performance in actual seas on the same scale also before the ship sails for example. As solving means of the objects, a standard sailing model 2 of the ship in actual seas is set, a sailing condition of the ship and a ship condition of the ship are input to the standard sailing model 2, the standard sailing model 2 into which the sailing condition and the ship condition are input and the ship condition are applied to a previously verified calculating method 1 of ship performance is actual seas, and ship propulsive performance in actual seas is evaluated.

Abstract: A method and system for controlling a marine vessel is configured to operate a lanyard system to detect at least one fob worn by an individual present on the marine vessel and determine that a missing fob of the at least one fob is no longer detected, wherein the missing fob is either an operator fob or a passenger fob. A man overboard event is generated based on the missing fob, wherein the man overboard event is an operator overboard event if the missing fob includes the operator fob or a passenger overboard event if the missing fob is the passenger fob. One or more search assistance functions are automatically activated based on the man overboard event, wherein the search assistance functions activated depend on whether the man overboard event is the operator overboard event or the passenger overboard event.

Abstract: A system and method for precise and consistent control of automated systems for deployment of boat fenders. The system comprises a computing device, one or more sensors, a motor controller, and a motor driver for operating motorized systems for deployment and/or retrieval of boat fenders. Various embodiments of the system use sensors and corresponding compensators to adjust the time of operation of a motor of the motorized system to ensure that the boat fender is deployed and/or retrieved to the proper height.

Abstract: The invention discloses an unmanned surface vessel (USV) formation path-following method based on deep reinforcement learning, which includes USV navigation environment exploration, reward function design, formation pattern keeping, a random braking mechanism and path following, wherein the USV navigation environment exploration is realized adopting simultaneous exploration by multiple underactuated USVs to extract environmental information, the reward function design includes the design of a formation pattern composition and a path following error, the path following controls USVs to move along a preset path by a leader-follower formation control strategy, and path following of all USVs in a formation is realized by constantly updating positions of the USVs.

Abstract: A computer implemented method for providing marine vessel data of a marine vessel with a plurality of sensor devices includes receiving a first sensor data item with first sensor data of a first sensor device of the plurality of sensor devices, associated with a first local timestamp generated based on a local clock; receiving a second sensor data item including second sensor data of a second sensor device of the plurality of sensor devices, associated with a second local timestamp generated based on the local clock and a first universal timestamp generated based on a universal clock; determining time correction value based on the second sensor data item's second local timestamp and the universal timestamp; and generating time information for the first sensor data of the first sensor device using the first local timestamp and the time correction value.

Abstract: A ship body control device is provided, which includes a rudder controller configured to control a rudder angle of a ship, a sensor configured to measure a ship body direction of the ship, and an autopilot controller configured to output a rudder angle command to the rudder controller. The autopilot controller includes an angle-of-deviation calculating module configured to calculate a deviation angle of a stern direction from a target stern direction based on the ship body direction, and a rudder angle command setting module configured to set the rudder angle command so as to maintain a current rudder angle when the deviation angle is less than a first threshold, and to change it to a given fixed turning rudder angle when the deviation angle is the first threshold or more.

Abstract: The present application discloses is a scheduling method and system for fully autonomous waterborne inter terminal transportation, and belongs to the field of transportation. The method includes: establishing a dynamic scheduling model for waterborne Autonomous guided vessels (wAGVs); quickly inserting the dynamically arriving transportation tasks into all the existing wAGV paths, calculating the insertion cost and selecting the path and position with the lowest insertion cost to obtain updated initial paths; improving the initial path using a heuristic algorithm based on tabu search to obtain quasi-optimal wAGV paths; executing the scheduling wAGV paths.

Abstract: The present disclosure provides a design method for an active disturbance rejection roll controller of a vehicle under disturbance of complex sea conditions, including: step 1: establishing a vehicle roll attitude control model; step 2: designing an active disturbance rejection controller (ADRC) on the basis of the control model in step 1 and a pole placement method; and step 3: performing an active disturbance rejection roll control by using the active disturbance rejection controller in step 2. The present disclosure solves the problem of a stable control of the vehicle under the disturbance of the complex sea conditions.

Abstract: A ship body control device is provided, which includes a sensor, a propelling force controller, and an autopilot controller. The sensor measures a speed of a ship. The propelling force controller controls a propelling force of the ship. The autopilot controller outputs an instruction to reduce the propelling force to the propelling force controller, when a condition of canceling an automatic cruise in which the speed of the ship matches with an automatic ship speed setting is satisfied.

Abstract: A ship body control device is provided, which includes a control lever having a neutral position, and processing circuitry. When the control lever is moved during an automatic cruise, the processing circuitry executes a deceleration control from a speed of a ship body during the automatic cruise, and when the position of the control lever is in agreement with a position for changing to a manual cruise, the processing circuitry changes the automatic cruise to the manual cruise at a rotating speed of an engine according to the position for changing to the manual cruise.

Abstract: A tidal current display data generation apparatus for a movable body, for displaying tidal current information on a display screen, includes a tidal current information receiving terminal configured to receive tidal current information including a position of a tidal current on a chart of a region including the movable body, and a plurality of predicted tidal current directions of the tidal current at the position at a corresponding plurality of time instants, and a tidal current display data generation terminal configured to generate an indicator including a time scale determined according to the plurality of time instants, determine position of each predicted tidal current direction on the time scale at respective time instant, generate a plurality of symbols for respective positions on the time scale, each symbol indicating respective predicted tidal current direction at respective time instant, and output the indicator including the plurality of symbols to the display screen.

Abstract: Provided are an apparatus, a method, and a system for determining speeding of a vessel. According to an embodiment of the present disclosure, the method may include: receiving, by sound signal receiving apparatuses installed at at least two points, a sound signal of a first vessel operating at a preset section; extracting operation vibration information of the first vessel from each sound signal received by the sound signal receiving apparatuses installed at the at least two points; measuring an operation speed of the first vessel from each of the received sound signals; and constructing a database including operation speed range information matching the operation vibration information of the first vessel.

Abstract: A system for proximity sensing on a marine vessel includes a main inertial measurement unit (IMU) positioned on the marine vessel at a main installation attitude and a main location, a first proximity sensor configured to measure proximity of objects from a first sensor location on the marine vessel, and a first sensor IMU positioned on the marine vessel at the first sensor location and at a first installation attitude. A processor is configured to receive main IMU data from the main IMU and first IMU data from the first sensor IMU, wherein the main location of the main IMU on the marine vessel is known and at least one of the first sensor location and the first installation attitude of the first sensor IMU are initially unknown, calibrate the proximity measurements based on the main IMU data and the first IMU data, and output a calibration completion alert.

Abstract: A method of proximity sensing on a marine vessel includes storing at least one zone map, wherein the zone map divides an area surrounding the marine vessel into two or more zones. Proximity measurements measured by one or more proximity sensors on the marine vessel are received, and the proximity measurements are then divided into zone sets based on a location of each proximity measurement with respect to the zone map. A closest proximity measurement in each zone set is then identified and a zone-filtered dataset is generated. The zone-filtered dataset contains only the closest proximity measurement from each zone set.

Abstract: A method for the use in offshore crew transfer when transferring a person between a crew transfer vessel and a structure or vice versa where a prediction system for predicting vessel bow motion in response to sea waves detected by said wave detection device is used. An indicator is adapted to indicate a prediction of vessel bow motion below a first bow motion threshold value within a first predetermined time period based on said prediction system. The transfer of the person only takes place when said vessel bow motion is indicated to be below the first vessel bow motion threshold value within the first predetermined time period.

Abstract: A method of controlling a marine drive on a marine vessel includes receiving a trim position instruction to adjust a trim position of the marine drive, receiving a steering position of the marine drive, determining an allowable steering angle range based on the trim position instruction and/or the adjusted trim position of the marine drive, and controlling a trim actuator to adjust the trim position of the marine drive based on the trim position instruction, the steering position, and the allowable steering angle range such that the steering position of the marine drive remains within the allowable steering angle range for the adjusted trim position.

Abstract: The present invention discloses an integrated automated driving system for a maritime autonomous surface ship (MASS).

Abstract: A control device of a marine propulsion device, which has an engine and a propeller and is mounted on a hull. The control device includes a processor, and a non-transitory storage medium having program instructions stored thereon. The execution of the program instructions by the processor causes the control device to acquire a rotation speed of the engine or a rotation speed of the propeller, acquire a torque of the engine, acquire a speed of the hull, and determine whether a ventilation of the engine has occurred based on at least two among the acquired rotation speed, the acquired engine torque, and the acquired hull speed.

Abstract: A ship body control device is provided, which includes a sensor, a propelling force controller, and an autopilot controller. The sensor measures a speed of a ship. The propelling force controller controls a propelling force of the ship. The autopilot controller outputs an instruction to reduce the propelling force to the propelling force controller, when a condition of canceling an automatic cruise in which the speed of the ship matches with an automatic ship speed setting is satisfied.

Abstract: A marine-type communication device that reads data from a data bus, dynamically creates new data channels for a plurality of operational systems and performs a volatility assessment to determine when to save the data for transmission to a cloud network and when to transmit the data to the cloud network.

Abstract: A marine vessel advisory system may be configured to calculate and provide operational information that show fuel consumption savings based on adjustment of vessel speed and/or heading. In an embodiment, the advisory system may operate real-time to collect operational and/or environmental conditions information to be used to calculate alternative operational performance of the marine vessel that will save fuel and reduce emissions. The calculations may include a simulation, machine learning, and/or artificial intelligence to determine a speed and/or heading of the marine vessel that will reduce fuel consumption. The advisory system may display the computed information for the operator, and the operator may elect to switch to the alternative operating parameters (e.g., slower speed).

Abstract: A system for autonomous ocean data collection includes at least one sensor capable of collecting sensor data, at least one transmission device, and at least one computing device comprising one or more hardware processors and memory coupled to the one or more hardware processors, the memory storing one or more instructions which, when executed by the one or more hardware processors, cause the at least one computing device to generate data for transmission based on the sensor data collected by the at least one sensor, and cause the at least one transmission device to transmit the data.

Abstract: A method of controlling attitude of a marine vessel includes identifying a natural roll frequency of the marine vessel, measuring a roll motion of the marine vessel with an attitude sensor, and then determining that the roll motion exceeds the threshold roll where no corresponding steering input is present. The method further includes determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and the natural roll frequency of the marine vessel. A steering actuator is then controlled to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract an environmentally-induced roll motion of the marine vessel.

Abstract: Aggregated, submarine cable system information is securely stored, accessed and managed. Security is assured through the use of multi-factor authentication that is compliant with National Institutes of Standards And Technology and US. Government Defense Federal Acquisition Regulation requirements. Further, real-time audit logs are generated as end-users access controlled unclassified information.

Abstract: The instant invention describes devices and methods of measuring the differential air pressure at numerous representative points across the surface of the sail and providing visual feedback of areas of ideal laminar flow and areas of less than optimal airflow with an indication of how the sail must be adjusted to create the maximal differential in airflow. The invention utilizes an array of sensors that detect minute variations in barometric pressure and other data on each side of the sail surface. These sensors are connected together to form a network or net across the sail. This connection can be physical, using wires, or it may be wireless, using for example, but certainly not being limited to, Bluetooth LE 5.0 or other wireless topologies or technologies. Finally it may utilize a combination of wired and wireless connections to fit individual situations and may couple with existing terrestrial and satellite ship networks.

Abstract: The disclosure provides a method and system to monitor and advise the status of a group of floating platforms, such as offshore floating wind platforms, by using a floating platform's motion in the group and detect one or more anomalies to identify one or more disorders (including irregularities) in the group. Input for this method can include information of wind speed and direction and orientations of the wind turbine nacelles. The orientation of the platform can complement the orientation of a wind turbine nacelle on the platform in case the platform is equipped with a turret. Disorders include, but not limited to, mooring line failure, shifts of a drag anchor, other issues with the mooring system components such as fairleads, issues with the ballasting configuration of the floater, issues with the turret (if any), issues with the swivel of the nacelle, issues with the rotor, and issues with the blades.

Abstract: The present disclosure relates to systems and methods for continuous monitoring and control of the vessel performance and history of a vessel, and is configured for use with multiple wide-area network (WAN) interfaces. The disclosed systems can use multiple vessel system interfaces and inputs and outputs to log, report, and transmit vital information via a computer program that adapts to weighted metrics and WAN availability. This can help ensure that prioritized data always is sent first; while ancillary and auxiliary data are sent later through a transmission medium that is directed, timely, and fiscally responsible. Thus, real-time data can be processed to hasten repairs or troubleshooting, and long-term data can be analyzed for safety and nominal operation of machinery.

Abstract: Methods and structures are disclosed for providing autonomous control of an underwater vehicle using a state machine. A controller is used onboard the underwater vehicle and includes a state machine having a plurality of operating states. Each of the plurality of operating states includes one or both of entrance criteria and exit criteria. The controller is configured to transition from executing a first operating state of the plurality of operating states to executing a second operating state of the plurality of operating states in response to the exit criteria of the first operating state and the entrance criteria of the second operating state both being met. The plurality of operating states includes a first portion of operating states associated with a first task, a second portion of operating states associated with a second task, and a third portion of operating states associated with both the first and second tasks.

Abstract: A method of deploying autonomous underwater vehicles (AUVs), the method comprising loading the AUVs into a deployment device; submerging the deployment device containing the AUVs after the AUVs have been loaded into the deployment device; towing the submerged deployment device containing the AUVs with a surface vessel; deploying the AUVs from the submerged deployment device as it is towed by the surface vessel; and operating a thruster of each AUV after it has been deployed so that it moves away from the submerged deployment device. A method of retrieving autonomous underwater vehicles (AUVs) is also disclosed, the method comprising towing a submerged retrieval device with a surface vessel; loading the AUVs into the submerged retrieval device as it is towed by the surface vessel; and after the AUVs have been loaded into the submerged retrieval device, lifting the submerged retrieval device containing the AUVs out of the water and onto the surface vessel.

Abstract: A marine autopilot system is disclosed. While in autopilot mode, the marine vessel's autopilot system autonomously steers the marine vessel's rudder. Steering input provided using the helm typically results in counter-steering to the autopilot. If the autopilot is following a current heading or course (route), the autopilot may continue its efforts to remain on the heading or course in response to the deviation caused by steering input to the helm. The disclosed autopilot system improves this problem by including one or more sensors that measure helm movement and wirelessly transmit helm movement data to one or more components of the marine vessel's electronic network. If the operator of the marine vessel manually steers the helm to deviate from a current heading or course, helm movement exceeding a predetermined autopilot disengagement threshold may cause the autopilot control to temporarily disengage, allowing a user to manually steer the marine vessel.

Abstract: A boat maneuvering control method for a boat includes acquiring target route information and information about an actual position of the boat, setting a target position based on the target route information and the information about the actual position, acquiring, as a deviation amount, a distance between the target position and the boat in a predetermined direction that intersects with a target route, and controlling a magnitude of a propulsion force of a propulsion device so as to reduce the deviation amount.