Abstract: Vortex sensor amplitude information may be used to validate that a vortex signal being measured corresponds to an actual fluid flow and is not noise. The estimated amplitude of a sinusoidal vortex signal is used as a secondary means to determine the fluid flow based on vortex sensor characteristics. The original amplitude of the sinusoidal vortex signal is determined from a clipped voltage amplitude sinusoidal signal. The estimated velocity of the fluid in a pipe based on the original amplitude of the sinusoidal vortex signal is compared to the measured velocity of the fluid based on vortex velocity frequency. If the two determined velocities do not reasonably agree, the measured vortex signal is not a valid flow signal and adaptive filters are adjusted to reduce the effects of noise.

Abstract: Artificial-intelligence-based river information system. In an embodiment, a first training dataset is used to train a travel time prediction model to predict a travel time along the waterway for a given trip. In addition, a second training dataset is used to train a river level prediction model to predict a river level along the waterway for a given time. For each of a plurality of trips, a request is received that specifies the trip and a time of the trip, and, in response to the request, the travel time prediction model is used to predict a travel time for the trip, and the river level prediction model is used to predict a river level of the waterway at one or more points along the trip. Then, a voyage plan is generated based on one or both of the predicted travel time and the predicted river level.

Abstract: A method for maintaining a marine vessel propelled by a marine propulsion device in a selected position includes determining a current global position of the marine vessel and receiving a signal command to maintain the current global position. The current global position is stored as a target global position in response to receiving the signal command. A subsequent global position of the marine vessel is determined and a position error difference between the subsequent global position and the target global position is determined. The method includes determining marine vessel movements required to minimize the position error difference, and causing the marine propulsion device to produce a thrust having a magnitude, a direction, and an angle calculated to result in achievement of the required marine vessel movements. At least one of timing and frequency of discontinuity of thrust production is controlled while the position error difference is minimized.

Abstract: A gateway interface controller for a work machine includes a CAN bus interface component configured to communicate over a CAN bus of the work machine. The gateway interface controller includes message logic configured to process a request signal, indicative of a requested work machine action, that is received from a remote control, wherein the message logic validates the request signal based on a validation criterion. The gateway interface controller includes command generator logic configured to, based on the validation, generate a CAN signal that corresponds to the request signal and communicate the CAN signal over the CAN bus.

Abstract: A method of stereoscopic mapping an underwater location includes determining a relative position and relative distance between two separate sensors on separate underwater platforms. Each of the two separate sensors scans a same underwater feature from its respective determined relative position. A stereoscopic image of the underwater feature is created from the two scanned images.

Abstract: A positional sensor detects a current position and a current bearing of a boat body and outputs position information indicating the current position and the current bearing. A controller receives the position information. The controller determines a first target position of the boat body and a target bearing in the first target position. The controller calculates a bearing difference between the current bearing and the target bearing. The controller determines an offset amount of the first target position in response to the bearing difference or an outside disturbance. The controller determines a position spaced away by the offset amount from the first target position on a side toward the current position as a second target position. The controller generates an instruction signal to control a propulsion device so as to cause the boat body to arrive at the second target position.

Abstract: A submersible node and a method and system for using the node to acquire data, including seismic data is disclosed. The node incorporates a buoyancy system to provide propulsion for the node between respective landed locations by varying the buoyancy between positive and negative. A first acoustic positioning system is used to facilitate positioning of a node when landing and a second acoustic positioning system is used to facilitate a node transiting between respective target landed locations.

Abstract: A method comprises determining respective aperiodic intervals for each of a plurality of sensors to obtain performance measurements of one or more subsystems; predicting performance values of the one or more subsystems based on historical data; outputting the predicted performance values in real-time as the one or more subsystems operate; receiving the performance measurements obtained by the plurality of sensors; comparing the performance measurements obtained by the plurality of sensors at the respective aperiodic intervals to the predicted performance values; and, in response to determining a difference between the performance measurements obtained at the respective aperiodic intervals and the predicted performance values, outputting an indication of the determined difference for display together with the predicted performance values.

Abstract: A method of detecting an edge of a support surface in an imaging controller includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the plurality of depth measurements corresponding to an area containing the support surface; detecting preliminary edges in the image data; applying a Hough transform to the preliminary edges to determine Hough lines representing candidate edges of the support surface; segmenting the plurality of depth measurements to assign classes to each pixel, each class defined by one of a plurality of seed pixels, wherein the plurality of seed pixels are identified from the depth measurements based on the Hough lines; and detecting the edge of the support surface by selecting a class of pixels and applying a line-fitting model to the selected class to obtain an estimated edge of the support surface.

Abstract: A system and method for deterring theft of a marine vehicles is provided. The system is designed to collect barometric pressure data and analyze it to determine whether there has been a sudden change in elevation that may be indicative of a theft. The system is also designed to collect environmental data pertaining to a marine vehicle's normal environment and compare it to a normal environmental state of the marine vehicle in order to detect changes that may be indicative of a theft. Additionally, the system is designed to monitor equipment of the marine vehicle and alert a user if the equipment has been moved in a way that may be indicative of a theft. When the system determines an event has occurred that may be indicative of a theft, the system may alert the user by triggering an alarm via a computer readable signal.

Abstract: A positional sensor detects a current position of a boat body and outputs position information indicating the current position. A controller receives the position information. The controller determines a target position of the boat body. The controller calculates the distance between the current position and the target position. The controller determines a target speed of the boat body to reach the target position in accordance with the distance. The controller calculates the force of an outside disturbance. The controller determines a target propulsion force of a propulsion device based on the force of the outside disturbance and the target speed. The controller generates an instruction signal to control the propulsion device to produce the target propulsion force.

Abstract: A watercraft control system is configured to track and follow a lead watercraft cruising ahead of a host watercraft. The watercraft control system basically includes a detector and a digital controller. The watercraft control system can be integrated with a main watercraft control system of the host watercraft, or can be an add-on watercraft control system that supplements the main watercraft control system of the host watercraft. The detector is configured to detect the lead watercraft in front of the host watercraft. The digital controller is configured to communicate with the detector's processor to receive a detection signal from the detector. The digital controller is configured to output at least one control command related to a propulsion direction of the host watercraft and a propulsion force of the host watercraft to at least a propulsion unit of the host watercraft to track and follow the lead watercraft.

Abstract: Autonomously piloting a sea-faring vessel traveling on a pre-defined course at a nominal speed includes: measuring a slamming parameter of the vessel; determining that the slamming parameter is outside an acceptable range; and autonomously decreasing the speed of the vessel until the slamming parameter is within the acceptable range, thereby causing the vessel to enter a reduced-speed mode.

Abstract: Provided is a device configured to determine a power capacity of a battery of a vehicle, predict a first set of values indicative of amounts of power to be stored during a time interval by the battery, the power being generated by a renewable energy generator carried by the vehicle, and predict a second set of values indicative of amounts of energy to be consumed from the battery during the time interval based on previous energy consumption by the vehicle. The device is also configured to determine a score based on the power capacity, the first set of values, and the second set of values. The system is also configured to determine whether the score satisfies a threshold and, in response to a determination that the score satisfies the threshold, activate an internal combustion engine to charge to the battery.

Abstract: Embodiments for implementing intelligent vessel trajectory planning and adapting by a processor. A trajectory of a vessel may be dynamically determined according to forecasted wave conditions using a surrogate wave model, a wave forecasting model, one or more user defined constraints, or a combination thereof.

Abstract: A vessel propulsion system includes a bow thruster located at a bow of a hull, an outboard motor located on the hull and provided separately from the bow thruster, and a navigation controller. The navigation controller controls at least one of the bow thruster and the outboard motor in accordance with a state of at least one other of the bow thruster and the outboard motor.

Abstract: A passive heave compensator, including an elastic cable, an electromagnetic damping device, a cylindrical sector, and a disc damping plate. The electromagnetic damping device includes a first cylinder including a helical coil, a permanent magnet mechanism disposed in the first cylinder, a first cover plate, a second cover plate, a first sliding shaft, a second sliding shaft, a first spring, a second spring, a first end cover, and a second end cover. The cylindrical sector includes a roof plate, a middle plate, a base plate, a first side plate, a second side plate, and a curved plate. The disc damping plate is disposed around the middle plate of cylindrical sector. The elastic cable is directly connected to the electromagnetic damping device. The electromagnetic damping device is disposed in the central part of the cylindrical sector. The middle plate is disposed between the roof plate and the base plate.

Abstract: A method set point determining device and computer program product for determining set points of machines, energy storage units, wind generators and/or solar panels in a power system.

Abstract: A pneumatic fender monitoring system is provided. Image data captured by using at least one of a front view imaging device that successively images an external shape in a front view of a pneumatic fender used disposed between a vessel and a vessel or a side view imaging device that successively images the external shape in a side view of the pneumatic fender is successively input into a control unit and successively displayed on a monitor, and the control unit determines, on the basis of the image data, whether an amount of deformation of the external shape of the pneumatic fender is within a preset tolerance range or outside of a preset tolerance range.

Abstract: An underwater sailing body includes: a positioning device configured to detect positional information of a hull of the underwater sailing body; a posture detecting sensor configured to detect posture information of the hull; an actuator configured to apply thrust to the hull in a front-rear direction of the hull, a left-right direction of the hull, an upper-lower direction of the hull in water to change the position and posture of the hull; and a controller configured to control the actuator. In order to hold a hull at a target position when the hull receives an external force by disturbances, the hull keeps balance by using thrusters with respect to the external force acting on the hull. Specifically, the hull is held at the target position by controlling a thruster configured to generate thrust in a front-rear direction and a thruster configured to generate thrust in a left-right direction.

Abstract: There is provided a boat maneuvering support device for a boat including an outboard motor, a power device which outputs a thrust force in a port-starboard direction, and a steering mechanism which changes a steering angle. The device includes a rotational speed detection unit which detects a rotational speed of a propeller of the outboard motor, and a control unit which controls a magnitude of the thrust force output by the power device. The control unit controls the magnitude of the thrust force output by the power device so as to change a balance between a magnitude of a first turning force which makes the boat turn by a thrust force of the outboard motor and a magnitude of a second turning force which makes the boat turn by the thrust force of the power device.

Abstract: There is provided a fall-into-water accident determination system including: a weight detector configured to be attached to an occupant of a vessel and configured to detect a weight applied to a foot of the occupant; a water detector configured to be attached to the occupant and configured to detect water; and a fall-into-water accident determinator configured to determine whether a fall-into-water accident in which the occupant falls into water from the vessel occurs. The fall-into-water accident determinator determines whether the weight changes based on a detection result of the weight detector. The fall-into-water accident determinator determines whether the occupant is immersed in water based on a detection result of the water detector. And the fall-into-water accident determinator determines that the fall-into-water accident occurs when the weight changes and the occupant is immersed in water.

Abstract: A method for controlling low-speed propulsion of a marine vessel powered by a marine propulsion system having a plurality of propulsion devices includes receiving a signal indicating a position of a manually operable input device movable to indicate desired vessel movement within three degrees of freedom, and associating the position of the manually operable input device with a desired inertial velocity of the marine vessel. A steering position command and an engine command are then determined for each of the plurality of propulsion devices based on the desired inertial velocity and the propulsion system is controlled accordingly. An actual velocity of the marine vessel is measured and a difference between the desired inertial velocity and the actual velocity is determined, where the difference is used as feedback in subsequent steering position command and engine command determinations.

Abstract: A system can include an inertial measurement unit, a magnetometer configured to measure a magnetic field, and a processing system having an ORSE filter. The processing system can be configured to determine an estimated position based on a change in velocity or angular rate based on data received from the inertial measurement unit, determine a difference between the measured magnetic field from the magnetometer and the expected magnetic field measurement, and determine a state estimate using the ORSE filter by updating a time propagation of state and covariance with a measurement update of the state and covariance. The processing system can be configured to transform a change in velocity, a change in angulate rate, and the measured magnetic field to an Earth-centered inertial reference frame for the ORSE filter.

Abstract: A motorized, floating device is associated with another aquatic device that carries a passenger or passengers (“associated aquatic device”). The invention comprises components such as one or more magnetic field emitters that deter aquatic animals from approaching the associated aquatic device without interfering with the operation of the associated aquatic device. The associated aquatic device may be a surfboard, a raft, a personal watercraft, or other similar small craft that floats in water. The invention may be used with larger boats and other watercraft. The motorized aquatic animal deterrent is tethered to the associated aquatic device to follow movement of the associated aquatic device but is spaced apart from the associated aquatic device.

Abstract: A trim control system for controlling a relative position of a trimmable marine device with respect to a marine vessel hull includes a trim actuator coupled to the trimmable marine device about a horizontal trim axis. The trim control system further includes a trim control module executable on a processor and configured to identify a target trim position for the trimmable marine device, determine a desired trim rate of change to rotate the trimmable marine device about the horizontal axis from a current trim position toward a target trim position, and operate the trim actuator to rotate the trimmable marine device at the desired trim rate of change toward the target trim position.

Abstract: A method includes accepting inputs to a marine vessel's control module, the inputs defining first and second waypoints and a desired heading, and defining a desired track between the first and second waypoints. Ideal steering and thrust commands required to orient the vessel at the desired heading and to maneuver the vessel from the first to the second waypoint are generated and carried out. The method includes measuring a current position and heading of the vessel; calculating a cross-track error based on the current position as compared to the desired track; and calculating a heading error based on the current heading as compared to the desired heading. The method includes generating corrective steering and thrust commands that are required to minimize the cross-track error and the heading error. The propulsion system propels the marine vessel according to the corrective steering and thrust commands, as appropriate.

Abstract: A server system includes a communicator, a storage, and a controller. The controller is configured or programmed to receive positional information of a watercraft that a user of a wireless communication terminal is aboard and propulsion device information from the wireless communication terminal through the communicator. The propulsion device information indicates a type of a propulsion device on the watercraft. The controller creates cruise trajectory information and stores the created cruise trajectory information in the storage based on the positional information of the watercraft in association with the type of the propulsion device on the watercraft. The controller determines a frequency at which cruise trajectories of the watercraft match the cruise trajectories based on the cruise trajectory information in the storage. The controller creates cruise route information in association with the type of the propulsion device on the watercraft.

Abstract: A system for providing environmental wave data from floating buoys and equipment is based on the GRID tag system, which includes Geo-Referencing Identification (GRID) tag, GRID satellite (GRIDSAT) tag and associated cloud infrastructure and user interface meet the objectives of a robust global tagging and tracking system. The wave characterization module (WCM) system adds wave detection and computation to the GRID tag system. The WCM tag can be used to identify and track floating equipment while also providing local wave characteristics while communicating with other tags via mesh radio. The WCM-sat tag includes a satellite modem, global positioning system (GPS) receiver, and mesh radio to send wave and location data to a remote user. A WCM buoy includes the WCM-sat equipment in a free-floating buoy to report remote oceanic conditions.

Abstract: A ship handling device enabling easy turning calibration. With a ship handling device (7), during turning calibration with the ship handling device (7), the joystick lever (10) is turned to rotate the forward-backward propellers (4) on the port and starboard sides of the ship, and the joystick lever (10) is tilted to change a forward-thrust/backward-thrust ratio of the forward-backward propeller (4) on the port or starboard side or to change the rotation speeds. When a calibration execution switch (10a) is operated, thrusts generated with the changed forward-thrust backward-thrust ratio are set as correction coefficients, or, among thrusts generated at the changed rotation speeds (Npn, Nsn) of the forward-backward propellers (4) on the port and starboard sides, thrusts generated by the forward-backward propellers (4) on the port and starboard sides according to the tilting of the joystick lever (10) are set as correction coefficients (Cp, Cs).

Abstract: A ship handling device capable of executing dynamic positioning control. While the dynamic positioning control is being active, if a distance deviation from a target position exceeds a predetermined value and a first condition that a state where a moving amount of the ship per unit time is not more than a predetermined amount has continued for a predetermined period is satisfied, or if an orientation deviation from a target orientation exceeds a predetermined value and a second condition that a state where a turning amount of the ship per unit time is not more than a predetermined amount has continued for a predetermined period is satisfied, a thrust setting value resulting from the dynamic positioning control at a determination on the first or second condition is stored as a reference value, and the reference value is added to a thrust setting value subsequently resulting from the dynamic positioning control.

Abstract: A controller receives a bow turning signal to turn a bow of a watercraft and a propulsion signal to move the watercraft forward or rearward. The controller controls left and right outboard motors under a first control when receiving the propulsion signal after receiving the bow turning signal in a composite in which the controller receives both the bow turning signal and the propulsion signal. The controller controls the left and right outboard motors and a steering actuator under a second control different from the first control when receiving the bow turning signal after receiving the propulsion signal in the composite operation.

Abstract: Systems and methods for assessing and quantifying the environmental impact on a mechanical component are provided. In one embodiment, a method can include receiving one or more first set(s) of data from one or more first data acquisition system(s) configured to communicate with an onboard system of an aircraft. The method can further include receiving one or more second sets of data from one or more second data acquisition systems that are remote from the aircraft. The method can include determining an aggregate amount of the environmental condition experienced by a mechanical component of the aircraft based at least in part on the first sets of data and the second sets of data. The method can include predicting a level of distress associated with the mechanical component based at least in part on the aggregate amount of the environmental condition experienced by the mechanical component.

Abstract: A system for use by a diver during an underwater dive. An autonomous underwater vehicle (one component of the system, AUV) comprises a component for detecting that the AUV has entered water, an AUV acoustic transceiver, a plurality of AUV sensors, a propulsion unit, a processor for determining dive information and diver information responsive to data from one or both of the AUV acoustic transceiver and the plurality of AUV sensors, and one or more cameras. Diver equipment carried by the diver comprises a plurality of diver sensors and a diver acoustic transceiver for receiving sensed information from the plurality of diver sensors and communicating the sensed information to the AUV, and for receiving information from the AUV acoustic transceiver.

Abstract: Techniques for providing instructions to an operator of a sea vessel via a computing device are described. The computing device can request, from another computing device instructions regarding one or more of an intended course and action plan for the sea vessel, which can include at least one navigational instruction and/or deployment instruction. The computing device can send data to a display device to cause a prompt to be displayed. The prompt can include options regarding the at least one instruction. The computing device can send state information of the sea vessel to the other computing device. The state information can include the received input and location information of the sea vessel. Additionally, data can be received by the computing device from a shore based operator and data can be sent to one or more clients on shore.

Abstract: Aspects of the invention may be related to a computer system and a computerized method of controlling a marine vessel. Embodiments may include: receiving, by a controller, a position of the marine vessel from a positioning system; receiving, by the controller, geographical data, from at least one database, the geographical data may include at least a map of seabed depths; receiving, by the controller, a heading direction and speed of the marine vessel; calculating, by the controller, a safety zone ahead of the marine vessel based on the position, the heading direction and the speed of the marine vessel; identifying a location of a critical seabed depth inside the safety zone based on the received, the geographical data; and changing, by the controller, a state of a propelling unit of the marine vessel when a critical seabed depth was identified inside the safety zone.

Abstract: A search and landing light system for a vehicle includes a hemispherical housing adapted to couple to the vehicle and a plurality of light emitting elements coupled to the hemispherical housing and arranged about a surface of the hemispherical housing. Each of the plurality of light emitting elements is configured to output a light beam. The search and landing light system includes a controller, having a processor in communication with each of the plurality of light emitting elements and configured to output one or more control signals to selectively activate at least one of the plurality of light emitting elements to output the light beam at a selected position relative to the vehicle.

Abstract: A method for controlling a course of a marine vessel powered by a marine engine as it moves in a body of water includes determining a current global position and a current heading of the vessel and initiating an auto-waypoint mode of a vessel course control system. In response to initiation of the auto-waypoint mode, the method includes setting a course for the vessel based on a current position of a steering wheel of the system and the vessel's current global position. The method thereafter includes automatically rotating a steerable component coupled to the vessel and rotatable to affect a direction of movement of the vessel so as to counteract external forces on the vessel and thereby to maintain the vessel's set course.

Abstract: Disclosed is a system and method for facilitating decision making on a watercraft (100). The system comprises one or more processors (102) configured to: acquire environmental data comprising measurements of one or more parameters of an environment in a locality of the watercraft (100); provide a plurality of digital models, each digital model modelling an effect of the environment on a respective capability of the watercraft (100), each capability of the watercraft (100) being assigned to one or more actions, each action being performable by the watercraft (100) or an entity on the watercraft (100); using the environmental data and the digital models, model an effect of the environment on the capabilities of the watercraft (100); receive a selection of an action; and, using outputs of each digital model that models a capability that is assigned to the selected action, determine a risk assessment for the selected action.

Abstract: A method for operating a ship propulsion system. A setpoint rotational speed is determined for a propeller shaft and a setpoint pitch angle for an adjustable propeller on a control side based on an adjustable propeller characteristic diagram and an operator. An engine is determined based on a ship's engine characteristic diagram and the setpoint rotational speed for the propeller shaft. An actual engine operating point is determined as a function of a measured actual rotational speed and a measured actual torque, so that when the drive power is constant, the set-point rotational speed for the propeller shaft and the pitch angle for the adjustable propeller can be varied while reducing fuel consumption of the ship's engine and, when this is possible, the setpoint rotational speed for the propeller shaft, the setpoint pitch angle for the adjustable propeller and the setpoint operating point of the ship's engine are adapted.

Abstract: The present teaching aims to provide: a cam angle sensor fault diagnosis apparatus for straddled vehicle, capable of detecting a fault of a cam angle sensor installed in a straddled vehicle and guessing a fault place; an engine system; and a straddled vehicle.

Abstract: In a method involving the recognition of ambiguous objects from samples of 3D points, an initial constant is set for properties of prospective points of an object, and a sample of 3D points is received from a 3D sensor. When the sensed locations in space of points of objects represented by the 3D points are the same as those for the prospective points of an object, they are redefined as an actual points of objects, and the initial constants are replaced with corresponding properties represented by the 3D points. An ambiguous object is then recognized from a sparsely populated cluster of actual points of an object identified based on the replacement of the initial constants. The ambiguous object is confirmed based on signals representing its surface properties received from a polarization image sensor.

Abstract: A method and system for facilitating navigation of an autonomous underwater vehicle (AUV) about an egress path that mirrors an ingress path. Complex return data during an ingress cycle are obtained and a corresponding complex image of the seabed along the ingress cycle is generated. Complex return data during an egress cycle are also obtained and a plurality of corresponding complex local images of the seabed along the egress cycle can be generated. The complex local images are compared to the complex ingress image to identify a normalized cross-correlation coefficient (NCCC). A maximum NCCC indicates that a position of the AUV in the along-track direction has been found. Successive local complex images from the egress cycle can be compared against the complex image from the ingress cycle as the AUV moves along the egress path to identify successive NCCCs, and monitored overtime to determine if the successive NCCCs are increasing or decreasing as the AUV moves along the egress path.

Abstract: A wakeboat has a hull, the hull forming a wake when moving forward in the water, with a left quiet region and a right quiet region in the wake. The hull may exhibit rotation around its yaw axis which affects the quiet regions in the wake. Yaw rotation may be measured via one or more sensors. Yaw measurement may be used to control the hull and quiet regions. A trim tab is supported by the hull at the stern of the hull. The trim tab comprises a primary subtab and a secondary subtab. One or more actuators may be optionally included to reposition the trim tab more into, or more out of, the water to create a surf left and/or surf right configuration. Other systems and methods are also provided.

Abstract: For a vessel steering apparatus for performing a movement control to move a vessel to a target position on the basis of a signal of a GPS apparatus, a movement control stop area, a buffer area adjacent to the movement control stop area, and a movement-controlling area adjacent to the buffer area are set on the basis of the distance from the target position, wherein in the movement control stop area, thrust generation by a propulsion apparatus is stopped; in the movement-controlling area, thrust is generated by the propulsion apparatus; and in the buffer area, thrust is generated by the propulsion apparatus of the vessel for movement control only in the case where the vessel moves from the movement-controlling area to the buffer area, then stays in the buffer area, and moves in a direction away from the target position.

Abstract: The present disclosure provides apparatus and methods that improves the speed, functionality, and safety of wakeboat ballasting operations. A ballasting apparatus for wakeboats is provided, comprising a wakeboat with a hull and an engine; a hydraulic pump, mechanically driven by the engine; a hydraulic motor, powered by the hydraulic pump; a ballast compartment; and a ballast pump, powered by the hydraulic motor. A ballasting apparatus for wakeboats is provided, comprising a wakeboat with a hull and an engine; a ballast compartment; and a hydraulic ballast pump, the ballast pump configured to be powered by the engine, the ballast outlet and/or inlet of the ballast pump connected to the ballast compartment, the ballast pump configured to pump ballast in and/or out of the ballast compartment.

Abstract: A system (102) is configured to monitor energy usage of a surface maritime vessel (100). The system comprises a device (102A) configured to receive characteristic data representing at least one operating characteristic of the vessel, and a device (102A) configured to receive model data representing at least one energy usage model for the vessel. The system further includes a device (102A) configured to process the characteristic data and the model data to generate an output representing a comparison between the characteristic data and the model data.

Abstract: Wakeboat ballast compartment fluid level sensing assemblies are provided that can include: a wakeboat having a hull; a ballast compartment associated with the hull; a nonconductive sensor chamber in fluidic communication with the ballast compartment; and at least one conductive electrode associated with the sensor chamber. Methods for sensing a fluid level within a ballast compartment aboard a wakeboat are also provided. The methods can include maintaining fluid communication between the ballast compartment and a sensor chamber; and determining the electrical communication of electrodes operatively associated with the sensor chamber.

Abstract: A boat maneuvering control method for a boat provided with a propulsion device includes acquiring a target orientation, acquiring an actual orientation of the boat, setting a target yaw rate value based on orientation information of at least one of the target orientation and the actual orientation, detecting an actual yaw rate value of the boat, and controlling a direction of a thrust force of the propulsion device based on the target yaw rate value and the actual yaw rate value.

Abstract: A control system for controlling a vessel, a method for controlling dynamic positioning of the vessel or ship, and a computer program for carrying out the method are disclosed. The vessel includes an electrical power grid, at least one combustion engine driven power generator, and an energy storage medium. The power grid is arranged to provide power to an electric motor driving one or more thrusters or propellers of the vessel. The control system further includes a control unit arranged with computer programs and hardware configured to: calculate a Remaining Operation Window time for carrying out dynamic positioning powered by the energy storage medium, generate and display information including a time period for the Remaining Operation Window of dynamic positioning, and carry out an automatic control action in relation to at least one of a power generator or power consuming device connected to the power grid.