| CPC F03D 13/25 (2016.05) [B66C 23/52 (2013.01); E02B 17/021 (2013.01); E02B 2017/0039 (2013.01); E02B 2017/0065 (2013.01); E02B 2017/0091 (2013.01); F05B 2240/95 (2013.01)] | 20 Claims |

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1. An offshore wind turbine installation vessel, comprising:
a hull having a storage deck; and
a crane comprising:
a crane base secured to the hull;
a slewable superstructure mounted on the crane base and slewable about a vertical slew axis relative to the crane base;
a slew drive configured to cause slew motion of the superstructure about the slew axis;
a boom structure comprising a boom that is pivotally connected to the superstructure about an inner pivot axis;
a luffing mechanism comprising a luffing drive and configured to cause luffing motion of the boom structure;
a hoisting assembly comprising a hoisting winch and a hoisting winch driven cable;
a load connector, wherein the winch driven cable extends between a sheave on the boom structure and a sheave on the load connector;
a computerized crane control system linked to the slew drive, the luffing drive, and the hoisting winch; and
a pile gripper that is configured to maintain a wind turbine foundation pile in a vertical orientation during a pile driving operation wherein the foundation pile is driven into the seabed,
wherein the computerised crane control system is configured to track the position of the pile gripper.
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