Days after Israel's deadly flotilla raid, there has been another confrontation between the Israeli Navy and a humanitarian aid ship off the coast of the Palestinian-ruled Gaza Strip.

The Israeli navy intercepted another ship carrying a group of pro-Palestinian activists who tried to break the blockade on Gaza. The crew received a radio warning from the Israeli military.

The ship ignored the message and was seized by naval commandos. But this time, no one was hurt.

"We completed compliance boarding on the ship," said army spokeswoman Avital Liebovich. "There was no violence, no resistance whatsoever."

It was a much different outcome than on Monday, when 9 activists were killed during an Israeli raid on a flotilla of six ships carrying humanitarian aid. Israel says it was self-defense. Video shows that Israeli commandos were beaten by activists wielding clubs, and the army displayed dozens of knives confiscated from the ships.

"I'm happy to say that the result today shows us clearly that we are talking about peace activists, human rights activists, unlike the other flotilla which turned out to be a group of terrorists," she said.

Monday's deadly flotilla raid sparked outrage around the world and Turkey condemned Israel for the action and has threatened to cut ties. But Israel has rejected international demands to lift the blockade, saying it cannot allow the Palestinian militant group Hamas that rules Gaza to rearm with rockets and missiles.

The latest ship to arrive was sponsored by an Irish aid group, which described Israel's capture of the vessel as "piracy on the high seas."

Israel has rejected a proposal from United Nations Secretary-general Ban Ki-moon to establish a multinational commission to investigate a deadly Israeli raid on a Gaza-bound aid ship.

Prime Minister Benjamin Netanyahu told cabinet ministers Sunday that he had informed Mr. Ban of his decision. He said he told the U.N. chief an investigation of facts needed to be carried out "responsibly and objectively."

Israel's U.S. ambassador, Michael Oren, told "Fox News Sunday" Israel had the ability and right to conduct its own investigation.

Mr. Ban proposed establishing a panel led by former New Zealand Prime Minister Geoffrey Palmer to investigate last Monday's Israeli commando raid that killed nine international activists.

The raid outraged Turkey and many other nations. Eight Turkish citizens and one American of Turkish origin were killed in the Israeli raid.

The Mavi Marmara ship was part of an aid convoy that was trying to break a three-year-old Israeli blockade and deliver aid directly to Gaza.

On Saturday, Israeli forces peacefully seized control of the Rachel Corrie, another aid ship trying to reach Gaza.

Israel continues the process of deporting international activists from the Rachel Corrie. Israeli forces escorted the ship to the port of Ashdod Saturday after intercepting the vessel as it approached Gaza.

The Irish aid ship was named after Rachel Corrie, an activist with the pro-Palestinian International Solidarity Movement. The 23-year-old Corrie was killed by an Israeli bulldozer in the Gaza Strip while trying to keep Israeli soldiers from bulldozing a Palestinian home in 2003.

During Israel's Sunday cabinet meeting, Prime Minister Benjamin Netanyahu said a group of activists boarded the Mavi Marmara in a way that allowed them to avoid a security check. He said they had the sole intention of initiating a violent confrontation with Israeli soldiers.

Israel has reiterated that a ship carrying aid and international activists will not be allowed to break its blockade of the Gaza Strip.

The MV Rachel Corrie is on schedule to reach the territory early on Saturday.

The confrontation comes days after Israeli commandos stormed a flotilla of aid ships approaching Gaza, leaving nine people dead and many more injured.

The raid brought strong condemnation of Israel, especially from Turkey where most of the victims were from.

"We will stop the ship, and also any other ship that will try to harm Israeli sovereignty," Israeli Foreign Minister Avigdor Lieberman told Israeli television.

"There is no chance the Rachel Corrie will reach the coast of Gaza."

Israeli Prime Minister Benjamin Netanyahu told his cabinet on Thursday that the boat would not be allowed to reach the territory.

Aid pledge

The ship is named after a US college student who was crushed to death by an Israeli army bulldozer as she protested over house demolitions in Gaza.

Israel has told the ship to dock at the Israeli port of Ashdod and promised that the aid will be taken by road to Gaza, after officials have examined it.

In a statement, the White House reiterated its belief that the blockade of Gaza was "unsustainable", but urged activists on the Rachel Corrie to do as the Israelis asked and take the aid to Ashdod.

Irish Nobel peace laureate Mairead Maguire, who is aboard the ship, has insisted it will not be diverted.

"We are not afraid," she told Irish broadcaster RTE by satellite telephone.

"We started out to deliver this cargo to the people of Gaza and to break the siege of Gaza, that is what we want to do," the 66-year-old human rights campaigner said.

The Irish foreign ministry said the ship should be allowed to proceed to Gaza.

"Those on board the Rachel Corrie have made clear their peaceful intentions and have stated that they will offer no resistance to Israeli forces," it said.

Activists told the BBC that they aimed to arrive just outside Israel's 20-mile (32km) exclusion zone off Gaza by Saturday morning.

They said there were 20 people on board, including five Irish nationals, six Malaysians and nine crew members.

Accounts differ as to what happened when Israeli soldiers abseiled from helicopters on to the Turkish passenger ship Mavi Marmara in the early hours of last Monday.

Israel says the commandos were attacked with sticks and knives and used their weapons in self-defence. Activists say troops opened fire without provocation.

Israeli soldiers were among those injured in the incident.

Protests against the raid have taken place in cities around the world.

In Lebanon on Friday, Hassan Nasrallah, the leader of the radical group Hezbollah, addressed thousands of his supporters via a video link in Beirut saying another flotilla should be organised as soon as possible.

Threats over trade

Turkey has warned it might reduce economic and defence ties with Israel following Monday's raid, which took place in international waters.

Deputy Prime Minister Bulent Arinc said Ankara was "assessing deals with Israel", until now a close ally.

Prime Minister Recep Tayyip Erdogan ratcheted up the pressure on Friday, saying he did not view Hamas, which controls Gaza, as a terrorist organisation.

In a televised speech Mr Erdogan described Hamas as "resistance fighters who are struggling to defend their land".

Hamas is designated a terrorist organisation by Israel, the US and the EU.

Israel and Egypt imposed the blockade after Hamas came to power. Egypt has occasionally opened its Rafah crossing with Gaza on humanitarian grounds, and opened it again following the Israeli sea-borne raid.

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