公开(公告)号：US20220097809A1

公开(公告)日：2022-03-31

申请号：US17366431

申请日：2021-07-02

Applicant: Shanghai Maritime University

Inventor： Diju Gao ,  Yao Jiang ,  Wanneng Yu

IPC: B63B79/20 ,  G06N3/04

Abstract: The disclosed is a method for forecasting a demand load during navigation of a ship based on working condition classification. The method of the disclosure comprises: training historical data values by employing a least squares support vector machine to obtain a classification plane, classifying working conditions during the navigation into a fast-changing working condition and a stable working condition, and determining in real time a working condition type of the ship in an online stage. A method for forecasting a demand load by means of a Markov chain is employed for the stable working condition, and a method for forecasting a demand load by means of a radial basis function neural network optimized by a genetic algorithm is employed for the fast-changing working condition. A desirable forecasting effect can be achieved by selecting forecast models suitable for either type of working condition.

公开(公告)号：US20220035374A1

公开(公告)日：2022-02-03

申请号：US17408480

申请日：2021-08-22

Applicant: ZHEJIANG UNIVERSITY

Inventor： Huarong ZHENG ,  Wen XU ,  Dongfang MA ,  Fengzhong QU

IPC: G05D1/02 ,  G05B17/02 ,  G05D1/00 ,  B63B79/40 ,  G08G3/00 ,  B63B79/20

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. The scheduling model of the present application is based on the combinatorial optimization, and considers performance indexes such as transportation distance and customer satisfaction, and constraints such as time window and loading capacity. An initial path by using an insertion method within the framework of rolling horizon is constructed. The initial path is then optimized and improved by designing a tabu search heuristic so that obtaining quasi-optimal multi-wAGV paths are obtained in real time. This system is helpful to improve the autonomy level of large ports.

公开(公告)号：US20210382484A1

公开(公告)日：2021-12-09

申请号：US17046680

申请日：2019-04-24

Applicant: SCHOTTEL GMBH

Inventor： Gerhard Jensen

IPC: G05D1/02 ,  B63B21/56 ,  B63B35/68 ,  B63B21/20 ,  B63B79/40 ,  B63B79/20 ,  B63B79/15

Abstract: A method for controlling a towing train including a ship and at least one tug acting on the ship, including the steps of: providing a data model, which includes fixed data of the ship and of the at least one tug as well as variable environmental data; determining the current course, the thrust vector, and the inertial force of the ship and specifying a desired travel direction of the ship with subsequent calculation of the correction force vector and correction torque required to achieve the desired travel direction; calculating the required positions, orientations, and drive settings of the at least one acting tug using an algorithm that accesses the data model and generating control commands for the at least one tug such that the sum of all the force vectors and torques of the at least one acting tug corresponds to the required correction force vector and correction torque; transmitting the generated control commands to at least one acting tug and monitoring the completion of the control commands; and conducting an evaluation of the produced correction force vector and correction torque after completion of the control commands and generating and storing correction values in the data model when deviations are detected between the produced correction force vector and the required correction force vector and/or between the produced correction torque and the required correction torque and then repeating certain steps.

公开(公告)号：US20210348926A1

公开(公告)日：2021-11-11

申请号：US17286905

申请日：2019-10-14

Applicant: Offshore Navigation Limited ,  G.M.S. Global Maritime Services Ltd.

Inventor： Sverre DOKKEN ,  Kris LEMMENS ,  Joegen GRINDEVOLL ,  Alexis MICHAEL ,  Hans Lennart CEDERBERG ,  Wengang MAO ,  Helong WANG

IPC: G01C21/20 ,  B63B79/20 ,  B63B79/15

Abstract: An apparatus for determining an optimal route of a maritime ship comprises a database configured to store a service speed of the maritime ship. The apparatus further comprises a processor configured to generate a plurality of state nodes, to determine a plurality of time sets, to append the plurality of time sets to the plurality of state nodes to obtain a plurality of appended state nodes, to generate a plurality of edges based on the plurality of appended state nodes, to generate a graph based on the plurality of appended state nodes and the plurality of edges, to apply a preliminarily generated optimal route algorithm on the graph to obtain a preliminarily defined route path, and to apply a genetic algorithm based on the preliminarily defined route path to obtain the optimal route of the maritime ship.

公开(公告)号：US11148779B2

公开(公告)日：2021-10-19

申请号：US16460326

申请日：2019-07-02

Applicant: Robert A. Morvillo

Inventor： Robert A. Morvillo

IPC: B63H25/42 ,  B60W10/20 ,  B62D6/00 ,  B63H20/08 ,  B63B79/10 ,  B63B79/20 ,  B63B79/40 ,  B63H20/00 ,  B63H25/02

Abstract: A system for controlling one or more propulsion devices of a marine vessel. The system includes circuitry configured to: receive a steering angle command for a propulsion device of the marine vessel; receive a trim position of the propulsion device; and generate a steering actuator position command for the propulsion device based on the steering angle command and the trim position of the propulsion device.

公开(公告)号：US20240300625A1

公开(公告)日：2024-09-12

申请号：US18686303

申请日：2021-05-14

Applicant: Sunit TYAGI

Inventor： Sunit TYAGI

IPC: B63B35/44 ,  B63B1/12 ,  B63B39/00 ,  B63B79/10 ,  B63B79/20 ,  B63B79/40 ,  F03D9/00 ,  F03D9/11 ,  F03D13/25

CPC classification number: B63B35/44 ,  B63B1/125 ,  B63B39/00 ,  B63B79/10 ,  B63B79/20 ,  B63B79/40 ,  F03D9/007 ,  F03D9/11 ,  F03D13/256 ,  B63B2035/4453 ,  B63B2035/446 ,  B63B2035/4466 ,  B63B2241/06 ,  B63B2241/08 ,  F05B2240/93 ,  F05B2240/95

Abstract: Renewable Energy (RE) sources are already one of the cheapest sources of energy available today but are variable and infirm, and the open ocean offers many opportunities to generate energy by using various disparate sources and methods on a floating station. These energy stations converting renewable energy including solar, ocean currents, wind, waves and batteries and hydrogen to store energy and provide sufficient stable power and energy as required and available most of the hours. The invention claimed here is a system to capture energy from a combination of wind, solar and ocean currents, along with batteries for storage and later use and hydrogen creation, storage and use for generation. In addition, apparatus is described that provide mechanical stability and resilience in deep open seas and reliably survive storms and hurricanes. Also described is a method for overcoming intermittency of ensuring continuous and stable energy export from the station, and finally methods to continually operate RE station in the open seas even during storms and hurricanes and survive the high winds and waves.

公开(公告)号：US20240286728A1

公开(公告)日：2024-08-29

申请号：US18502339

申请日：2023-11-06

Applicant: Robert A. Morvillo

Inventor： Robert A. Morvillo

IPC: B63H25/42 ,  B60W10/20 ,  B62D6/00 ,  B63B79/10 ,  B63B79/20 ,  B63B79/40 ,  B63H20/00 ,  B63H20/08 ,  B63H25/02

CPC classification number: B63H25/42 ,  B60W10/20 ,  B62D6/002 ,  B63B79/10 ,  B63B79/20 ,  B63B79/40 ,  B63H20/08 ,  B60W2510/20 ,  B60W2540/18 ,  B60W2710/20 ,  B63H2020/003 ,  B63H2025/026

Abstract: A system for controlling one or more propulsion devices of a marine vessel. The system includes circuitry configured to: receive a steering angle command for a propulsion device of the marine vessel; receive a trim position of the propulsion device; and generate a steering actuator position command for the propulsion device based on the steering angle command and the trim position of the propulsion device.

公开(公告)号：US20240253751A1

公开(公告)日：2024-08-01

申请号：US18407914

申请日：2024-01-09

Applicant: Brunswick Corporation

Inventor： Thomas S. Kirchhoff ,  Sandhya Alla

IPC: B63B79/20 ,  B63B79/15 ,  B63B79/30 ,  B63B79/40

CPC classification number: B63B79/20 ,  B63B79/15 ,  B63B79/30 ,  B63B79/40 ,  B63H2021/003 ,  B63H21/17 ,  B63H2025/045

Abstract: An electric marine propulsion system includes a power storage system comprising at least one marine battery, an electric marine drive powered by the power storage system, and a control system. The control system is configured to identify at least one environmental vector describing a magnitude and a direction of at least one environmental force impacting a marine vessel, and then calculate a resultant vector based on the at least one environmental vector. A nominal range to empty is then determined based on a charge level of the power storage system, and the system determines an eccentric range based on the resultant vector and the nominal range to empty, wherein the eccentric range represents a range to empty in a plurality of directions around the marine vessel. An eccentric range display is generated on a display device based on the eccentric range.

公开(公告)号：US11886191B2

公开(公告)日：2024-01-30

申请号：US17408480

申请日：2021-08-22

Applicant: ZHEJIANG UNIVERSITY

Inventor： Huarong Zheng ,  Wen Xu ,  Dongfang Ma ,  Fengzhong Qu

IPC: G05D1/02 ,  B63B79/40 ,  G05B17/02 ,  B63B79/20 ,  G08G3/00 ,  G05D1/00

CPC classification number: G05D1/0206 ,  B63B79/20 ,  B63B79/40 ,  G05B17/02 ,  G05D1/0088 ,  G08G3/00

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.

公开(公告)号：US11845524B2

公开(公告)日：2023-12-19

申请号：US17475787

申请日：2021-09-15

Applicant: Robert A. Morvillo

Inventor： Robert A. Morvillo

IPC: B63H25/42 ,  B60W10/20 ,  B63H20/08 ,  B62D6/00 ,  B63B79/10 ,  B63B79/20 ,  B63B79/40 ,  B63H20/00 ,  B63H25/02

CPC classification number: B63H25/42 ,  B60W10/20 ,  B62D6/002 ,  B63B79/10 ,  B63B79/20 ,  B63B79/40 ,  B63H20/08 ,  B60W2510/20 ,  B60W2540/18 ,  B60W2710/20 ,  B63H2020/003 ,  B63H2025/026

Abstract: A system for controlling one or more propulsion devices of a marine vessel. The system includes circuitry configured to: receive a steering angle command for a propulsion device of the marine vessel; receive a trim position of the propulsion device; and generate a steering actuator position command for the propulsion device based on the steering angle command and the trim position of the propulsion device.