DK178218B1 - A method of operating a boat - Google Patents

A method of operating a boat Download PDF

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Publication number
DK178218B1
DK178218B1 DKPA201470079A DKPA201470079A DK178218B1 DK 178218 B1 DK178218 B1 DK 178218B1 DK PA201470079 A DKPA201470079 A DK PA201470079A DK PA201470079 A DKPA201470079 A DK PA201470079A DK 178218 B1 DK178218 B1 DK 178218B1
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DK
Denmark
Prior art keywords
boat
hull
water
flotation
sailing
Prior art date
Application number
DKPA201470079A
Other languages
Danish (da)
Inventor
Arnd Friedrich Baurichter
Original Assignee
Bauritec I S
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bauritec I S filed Critical Bauritec I S
Priority to DKPA201470079A priority Critical patent/DK178218B1/en
Priority to PCT/DK2015/050034 priority patent/WO2015120862A1/en
Publication of DK201470079A1 publication Critical patent/DK201470079A1/en
Application granted granted Critical
Publication of DK178218B1 publication Critical patent/DK178218B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H9/00—Marine propulsion provided directly by wind power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/02—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses
    • B63B39/03—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses by transferring liquids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/003—Righting capsized vessels, e.g. sailing vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H19/00—Marine propulsion not otherwise provided for
    • B63H19/02—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/009—Wind propelled vessels comprising arrangements, installations or devices specially adapted therefor, other than wind propulsion arrangements, installations, or devices, such as sails, running rigging, or the like, and other than sailboards or the like or related equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B41/00—Drop keels, e.g. centre boards or side boards ; Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B63B2041/003—Collapsible keels, or the like, e.g. telescopically; Longitudinally split hinged keels
    • B63B2041/006—Telescopically collapsible keels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
    • B63B2043/145—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members pneumatic, e.g. inflatable on demand
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
    • Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
    • Y02T70/5236—Renewable or hybrid-electric solutions

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Toys (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Wind Motors (AREA)

Abstract

The invention relates inter alia to a method of stabilizing and/or uprighting a heeling marine vessel (10) sailing in a body (1) of water and having a hull (20) with a bottom (25) submerged in said body (1) of water, said hull (20) having one or more flotation bodies (60, 60´, 60´´, 60´´´) depending from said submerged bottom (25), comprising a step of shifting the resulting upthrust generated by said one or more flotation bodies (60, 60´, 60´´, 60´´´) in a leeward direction when said hull (20) heels in said leeward direction.

Description

A method of operating a boat
Field of the invention
The present invention relates generally to a boat heel compensation method and system configured to maintain a boat floating in a body of water in a horizontal (upright) or essentially horizontal position, irrespective of external destabilizing forces, such as forces arising from wind or waves. The invention may find particular use for sail boats that typically have a relatively narrow or slim hull, seen in cross-section perpendicular to the length of the sail boat; the invention may, however, also find use for larger marine vessels, stationary or not, including ships such as, cruise ships.
Description of the prior art
The efficiency of a boat or similar vessel moving in a body of water is atfected by any deviation of the boat from its normally designed balance in the water. In slim boats it is usual to have on the underside of the boat’s hull a fixed ballasted keel for the purpose of lateral balance and control.
In sail boats a mast for a sail and the keel are rigidly connected ίο the boat’s hull. As the wind operates on the sail the mast and the hull lean and consequently the keel leans or heels at the same angle.
Active heel compensation of a sailboat has been known in the past. By way of example, US patent 4 117 797 discloses a sail boat with a swinging depending keel arranged to be turned about a longitudinal axis of the boat by a control mechanism. The control mechanism operates to turn the depending keel windward by a certain amount and as a result the center of gravity of the boat is laterally displaced relative to the center of buoyancy to oppose the heeling moments applied to the sail. Thus, the boat hull itself will better maintain a horizontal or near horizontal position, thereby keeping the high efficiency of the sail boat.
Common to the prior art sail boats is the need to mount a heavy keel to the hull in order to provide for the required balancing of the relatively narrow hull. For many reasons such a heavy keel may be undesirable; by way of example the keel adds draft and also makes transport of the boat on shore more complicated.
DE 20 2007 000 654 U1 discloses a sailboat having a canting keel with a buoyancy member, wherein the keel is canted to the leeward side to counter a heeling of the sailboat when sailing. The reference discloses a sailboat having a vee-shaped hull and is silent about how to operate the keel when the sailboat is not sailing.
Summary of the invention
Accordingly, it is herein described to provide an alternative type of boat, such as a sail boat, where a heavy keel as normally used for stabilizing the boat when sailing on open waters may be dispensed with while still reducing the risk of the boat capsizing.
This is achieved by the described heel compensation method and system for a sail boat having a hull with a bottom, wherein at least one flotation body with a buoyancy depends from said hull, with the system being configured to provide for a variable port to starboard location of the resulting upthrust generated by the flotation body or flotation bodies, i.e. a correcting or positioning of the resultant upthrust relative to the huil such as to give rise to a moment seeking to correct or eliminate the boat’s heeling arising from external forces on the hull, such as cross-wind.
The flotation body may be mounted to the hull by a pivoting connecting structure capable of tilting transversely to either port or starboard in a leeward direction when said hull heels in said leeward direction.
Accordingly, the present invention provides a method of operating a boat according to claim 1.
Further embodiments of the invention are defined in the dependent claims, the objects of which will appear from the following.
Description of the drawings A presently preferred embodiment of the invention will now be described with reference to the appended drawings; the following description is not intended to limit the scope of the present invention which is defined by the claims.
Fig. 1 is an end view of a first boat, in a non-sailing mode according to the invention, or when slow-sailing in protected waters, such as in a harbor,
Fig. 2a is an end view of the boat of fig. 1, in a sailing mode,
Fig. 2b is a side view of the boat of fig. 1, in the sailing mode,
Fig. 3 is an end view of a second boat, in a sailing mode,
Fig. 4 an end view of a third boat, in a sailing mode
Fig. 5a is a side view of the first boat, in a sailing mode according to the invention in cross-wind,
Fig. 5b is a side view of another boat, in a sailing mode in cross-wind,
Fig. 5c is a side view of yet another boat, in a sailing mode In cross-wind,
Fig. 6 shows an alternative embodiment similar in principle to the first embodiment of fig. 2a,
Fig. 7 shows highly schematically a mechanism for moving the floating bodies,
Fig. 8a and 8b show alternative configurations of the boat’s hull,
Fig. 9 shows boat allowing for variations of the upthrust along the length of the flotation body,
Figs. 10a-10c show different configurations of the flotation bodies, and
Fig. 10d shows a variation with a movable mass inside a flotation body
Fig. 1 shows schematically an end view of a first boat 10 , floating in a body of water 1. The boat 1 0 has a hull 20 with a bottom 25 and a deck 22. A mast 40 configured to carry a sail (not shown) extends upwardly from the deck 22. in fig.
1 the boat 10 is in a non-sailing mode in a fairly calm body of water.
Attached to the hull 20 is an elongated body 60 extending along the length of the boat 1 0 below the bottom 25 and a longitudinal line of symmetry of the boat 10. A connecting structure in the form of an arm 55 connects the body 60 to the hull 20 at pivot point 50. The body 60 is hollow and is filled with water such that stability of the boat 10 is by the hull 20 being submerged into the water 1 to a relatively high degree. A sensor S, preferably on-board, communicates with a controller C and may, inter alia, detect one or more of the following parameters: angle of heeling of the bull 20, vertical acceleration of the hull 20, wind strength and wind direction, roll and/or pitch angular acceleration.
Fig. 2a shows schematically the boat 10 in a sailing mode and with sail 42; propulsion may be by the boat’s engine or by wind; in the shown configuration there is little cross-wind such that the boat does not lean to port or starboard, in this configuration water has been discharged from the aforementioned hollow body 60, such as by suitable pumps incorporated into the flotation body 60, to provide for an upthrust by the body 60 being filled with air or any fluid having a specific gravity less than that of the water in which the boat is sailing, it will be understood that in this mode the body 60 acts as a flotation body 60 lifting part of the hull 20 out of the body of water to reduce draft and, hence, the wet surface of the hull 20. In fig. 2a all wafer has been discharged from the body 60, such as by a suitable pump; however, depending on the situation at hand some water may remain in the body 60.
Fig. 2b shows the boat of fig. 2a seen from the side in the same configuration with water discharged from the body 60. As shown, the body 60 is shaped to reduce resistance to movement in the water and may be provided with a rudder 62 for steering the boat 10, as well as with fins 64, such as stabilizing fins. The body 60 may also include an engine for propulsion of the boat 10 and coupled with a propeller (not shown) mounted to the body 60. Operation of the fins 64 will not be discussed here; however, the fins 64 may be used for similar purposes and used in the same manner as described in US patent 6 789 490.
Shown in fig. 3 is an alternative example ot a boat wherein the boat 10 has two elongated and parallel bodies 60’, 60” mounted to depend from the bottom 25 of the hull 20 by a connecting structure comprising respective arms 55, 55’. One or more further arms 56 may be arranged to connect the two bodies 60’, 60” with each other. Again, the boat 10 is in a sailing mode with the bodies 60’, 60" acting a flotation bodies. Fig. 4 shows a similar but alternative boat comprising three bodies 60’, 60”, 60’” acting as flotation bodies in sailing mode of the boat 10.
Fig. 5a shows the first boat 10 shown in fig. 2a and 2b, in a sailing mode and with a relatively strong cross-wind applying a heeling moment to the sail 42. As shown, the arm 55 carrying the flotation body 60 has been turned or tilted about the pivot point 50 upon instructions being given by a controller C, so as to provide an increased upthrust closer to the leeward side of the boat, i.e. to the starboard side of the boat 10, thus providing an oppositely directed moment tending to return the boat 10 to the upright position shown in fig. 2a. In a further example as shown in fig. 5b the flotation body 60 may additionally be configured to be slidable along the length of fhe arm 55 of fig. 5a.
Fig. 5c shows another example similar to fig. 5a but where the arm 55 is slidably connected to the hull 20 via a guideway 58 extending in the cross-wise direction of fhe boat 10, to allow for the increased upthrust closer to one of the sides of the boat 10.
As will be understood, the invention generally provides the possibility of reconfiguring the upthrust acting on the boat 10 as such, by actively repositioning or reconfiguring one or more flotation bodies depending from the bottom of fhe boat 10. Obviously, when lateral forces acting on the boat are no longer there, or decrease, the flotation bodies are moved back towards their neutral start position, such as shown in figs. 1, 3 and 4.
In figs, 5a, 5b and 5c the flotation body 60 is moved laterally with respect to the hull 20; however, fhe same or similar effect may be achieved in case of the embodiments of figs. 3 and 4 by selectively flooding the flotation body closest to the windward side of the boat, such that a relatively higher upthrust is provided near the leeward side of the boat 10, providing thereby a correcting moment on the hull.
Fig, 6 shows how the flotation body 60 may be provided with a separate hollow for receiving machinery or devices reievant to the propulsion of the boat 10, such as a battery or the engine driving the aforementioned propeller, or pumps for discharging water from the flotation body 60.
As the skilled person will realize a transverse movement inducing mechanism M may comprises hydraulic or electric assemblies 100 for tilting or displacing the connecting structure 55, 55’ carrying the at least one flotation body 60, a hydraulic motor being connected to position the flotation body 60 through the arm 55 of the connecting structure, which is variable in effective length below the water level to vary the angular relationship of fhe flotation body 60 to the hull 20. Also, a watertight bearing may disposed in the hull 60 around the pivotal attachment 50 for the flotation body 60 tor providing a watertight sea! thereabout. Fig 7 shows highly schematic the outline of such a mechanism M for tilting the connecting structure 55, 55’ about point 50.
Figs. 8a and 8b show alternative configurations of the bottom 25 of the boat 10, both of which are suitable for reducing the wet area of the boat 10; as seen, the bottom 25 of fhe boat’s 10 hull 20 may be flat, or essentially flat.
Fig. 9 shows how variations in the upthrust along the length of fhe flotation body 60 may be used to vary the position of the boat’s hull 20 in relation to the surface of the water, by tilting the flotation body 60 about a transverse axis,
Figs. 10a-10c show alternative cross-sectional shapes of the flotation bodies 60; a preferred shape may depend on the resistance to flow through the water induced by the flotation body 60.
Fig. I0d shows how the flotation body may have a compartment with a further stabilizing mass 160 arranged as a pendulum or otherwise movable cross-wise to the boat.
While for many applications it may be preferred to configure the hull 20 with a fiat or near fiat bottom 25, which may be practical where planning of the hull 20 on the surface of the water 1 is desired, if may in some cases be preferred to provide the boat with a small keel which would normally not be comparable In dimensions with a conventional keel as used for a similar boat when sailing in open waters. Such a small keel could be desired for providing high stability and damping of roiling in particular cases where there is a relatively long response time between a relevant signal is detected by sensor S and the mechanism M has shifted the one or more flotation bodies into a correct position.

Claims (3)

1. Fremgangsmåde til betjening af en båd (10) som har en flad eller i alt væsentligt flad bund (25) henholdsvis i en sejletilstand og i en ikke-sejletilstand, hvilken båd har et skrog (20) med en bund (25) nedsænket i en vandmasse (1), hvor skroget (20) har et flydelegeme (60) hængende nedad fra den nedsænkede bund (25) og som kan positioneres under en symmetrilinje af båden (10) og på hver side af symmetrilinjen, hvor flyde-legemet (60) har et antal hulninger (H) og er konfigureret til at tillade mindst delvis oversvømmelse af mindst en del af hulningerne (H), hvor i) i sejletilstanden, til stabilisering af og/eller oprejsning af båden, udtømmes vand fra flydelegemet (60), og flydelegemet (60) positioneres således at den deraf resulterende opdrift genereret af flydelegemet (60) slår om i en læretning når skroget (20) hælder i læretningen, kendetegnet ved at ii) i ikke-sejletilstanden fyldes flydelegemet (60) med vand og er under symmetrilinjen.A method of operating a boat (10) having a flat or substantially flat bottom (25), respectively, in a sailing mode and in a non-sailing condition, said boat having a hull (20) with a bottom (25) submerged in a body of water (1), the hull (20) having a float body (60) hanging downward from the submerged bottom (25) and which can be positioned below a line of symmetry of the boat (10) and on each side of the line of symmetry where the float body (60) has a plurality of hollows (H) and is configured to allow at least partial flooding of at least a portion of the hollows (H), where (i) in the sailing condition, to stabilize and / or raise the boat, water is discharged from the float body ( 60) and the float body (60) is positioned so that the resulting buoyancy generated by the float body (60) turns into a bearing when the hull (20) is inclined in the bearing, characterized in that ii) in the non-sailing condition, the float body (60) is filled with water and is below the line of symmetry. 2. Fremgangsmåde ifølge krav 1, hvor båden (10) har en sejlstøttende mast (40).The method of claim 1, wherein the boat (10) has a sail-supporting mast (40). 3. Fremgangsmåde ifølge et hvilket som helst af de foregående krav, hvor båden (10) omfatter en forbindelseskonstruktion (55) som bærer flydelegemet (60) og er forbundet til skroget (20) for at tillade den variable positionering ved at dreje forbindelseskonstruktionen (55) til bevægelse af flydelegemet (60) mellem bagbord og styrbord af båden (10).A method according to any one of the preceding claims, wherein the boat (10) comprises a connecting structure (55) which carries the floating body (60) and is connected to the hull (20) to allow the variable positioning by rotating the connecting structure (55). ) for moving the float body (60) between the stern and starboard of the boat (10).
DKPA201470079A 2014-02-17 2014-02-17 A method of operating a boat DK178218B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DKPA201470079A DK178218B1 (en) 2014-02-17 2014-02-17 A method of operating a boat
PCT/DK2015/050034 WO2015120862A1 (en) 2014-02-17 2015-02-17 A boat heel compensation method and system, and a boat with said system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201470079A DK178218B1 (en) 2014-02-17 2014-02-17 A method of operating a boat
DK201470079 2014-02-17

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DK201470079A1 DK201470079A1 (en) 2015-08-24
DK178218B1 true DK178218B1 (en) 2015-08-31

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WO (1) WO2015120862A1 (en)

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CN109421900A (en) * 2017-08-30 2019-03-05 武汉理工大学 A kind of control method and system for solving the problems, such as to topple in unmanned boat navigation

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ITUA20162003A1 (en) * 2016-03-24 2017-09-24 Curto Roberto Ditta Individuale CONTROL METHOD FOR A TILTING DRIFT MODULE AND TILTING DRIFT FORM
ITUA20162002A1 (en) * 2016-03-24 2017-09-24 Curto Roberto Ditta Individuale MOTORIZED BULB FOR DRIVE, PREFERABLY FOR ADJUSTABLE DRIFT
CN105882911A (en) * 2016-04-29 2016-08-24 河南丹江大观苑旅游有限公司 Scenic sightseeing boat anti-swing device and anti-swing method
CN105947137B (en) * 2016-05-18 2017-12-01 南阳理工学院 A kind of device and method of computer control mooring stability navigation
CN108045525A (en) * 2016-05-18 2018-05-18 南阳理工学院 A kind of ship computer control system and method
CN105947138B (en) * 2016-05-20 2018-08-24 河南丹江大观苑旅游有限公司 A kind of Scene Tourist ship
CN111216847B (en) * 2020-01-31 2021-01-12 邓新华 Positioning buoy for ocean monitoring
EP3984878A1 (en) * 2020-10-19 2022-04-20 Dacoma ApS A system for maintaining a predetermined roll angle of a marine vessel
CN113217262B (en) * 2021-05-24 2022-10-28 浙江舟山海洋输电研究院有限公司 Ocean removes observation platform actuating mechanism based on wave energy
EP4269228A1 (en) * 2022-04-25 2023-11-01 Dacoma ApS Stabilisation system

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GB2108452A (en) * 1981-04-03 1983-05-18 Raymond White Upthrust stabiliser for a craft
DE3337107A1 (en) * 1983-10-12 1985-04-25 Ernst-W. Dipl.-Ing.(FH) 4400 Münster Zühlke Universal keel for all sailing vessels with pivotable, asymmetric keel fins
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DE202007000654U1 (en) * 2007-01-16 2007-03-29 Rps Beteiligungs-, Finanzierungs- Und Handels-Gmbh Sailing boat e.g. hull boat, has hull and pivotable keel adjusted from central longitudinal axis of boat, and floater designed to work against heeling of boat, where floater is moved transverse to longitudinal axis of boat
WO2010098726A2 (en) * 2009-02-25 2010-09-02 Grom Tomaz Keel and sailing vessel incorporating same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109421900A (en) * 2017-08-30 2019-03-05 武汉理工大学 A kind of control method and system for solving the problems, such as to topple in unmanned boat navigation

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