FSM-based model for spatio-temporal event recognition for HCS

A marine fender having high energy absorption capacity, low reaction force, a smooth exterior surface and no extensive exterior support structure to preclude snagging and reduce maintenance is provided. The fender comprises a resilient core having a cylindrical central portion tapering at each end to a truncated cone-shaped end portion, a fitting at each end of the core disposed coaxially with an axial bore in the core, flexible strength member in the axial bore interconnecting the fittings and providing means for adjustably biasing the fittings toward each other, and a flexible elastomeric skin enclosing the core and substantial portions of each fitting to protect the core from wear and abrasion and to distribute impact loads evenly over the core and fittings.