WO2024050313A1 - Systèmes et procédés de soins automatisés d'aquaculture marine - Google Patents

Systèmes et procédés de soins automatisés d'aquaculture marine Download PDF

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Publication number
WO2024050313A1
WO2024050313A1 PCT/US2023/073009 US2023073009W WO2024050313A1 WO 2024050313 A1 WO2024050313 A1 WO 2024050313A1 US 2023073009 W US2023073009 W US 2023073009W WO 2024050313 A1 WO2024050313 A1 WO 2024050313A1
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WO
WIPO (PCT)
Prior art keywords
coral
substrate
marine
automated
monitoring device
Prior art date
Application number
PCT/US2023/073009
Other languages
English (en)
Inventor
Scott Macdonald
Daniel HILLS-BUNNELL
Blake CROWE
Nicole GONZALES
Julia Lee
Peter Lowe
Kevin Mori
Serry PARK
Robby TONG
Michael Risse
Original Assignee
Seafoundry Inc.
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 Seafoundry Inc. filed Critical Seafoundry Inc.
Publication of WO2024050313A1 publication Critical patent/WO2024050313A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K61/00—Culture of aquatic animals
    • A01K61/70—Artificial fishing banks or reefs
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

Definitions

  • Individual coral of the same genotype are often planted in clusters to enable the coral to fuse and combine into a larger coral which can help with survival and decrease the time needed for the coral to reach sexual maturity and begin to help repopulate the reef via sexual reproduction.
  • the methods and systems described herein enable these clusters to be planted more quickly. Human-assisted sexual reproduction can also be aided by a grouped growing substrate which simplifies handling of batches of baby coral and enables the coral to be easily interfaced with automated systems which can further reduce labor cost or improve care.
  • Growth in situ helps control many parameters which need to be kept in certain ranges for the wellbeing. For example, the temperature of the tropical ocean where organisms, like coral, grow naturally tends to be in the appropriate and correct range. Optimal conditions aren’t always guaranteed however, which may be a problem. For example, climate change has caused ocean temperatures to rise beyond healthy ranges which has killed many coral and is what motivates efforts to grow coral for restoration purposes. Pollution, predation, and violent storms are also common phenomena with growing in-situ, which can be difficult to control or prevent. Further, growing in-situ (e.g., in the ocean) also makes interacting with the coral in order to observe or correct issues more difficult and/or more costly, since it often requires traveling to the coral by boat and donning scuba gear.
  • Growing organisms like coral ex situ may enable greater control over growing conditions, but also may require operators to continually take measurements and exert active control to maintain an optimal growing environment. For example, because ex situ conditions have much less water than the ocean, hot or cold days can quickly change the water temperature beyond what is suitable for coral, and pollutants can quickly build up in the confined conditions of aquariums or raceways.
  • the ex situ environment doesn’t include the full natural ecosystem to avoid predators of the organisms to be cultivated
  • this environment also doesn’t include all the organisms beneficial to that same organism which exist in the natural environments (e.g., a proper balance of herbivores to remove problematic algae) and this has to be accounted for by operators often by managing populations of herbivorous snails to manage algae or removing problem algae by hand.
  • a marine invertebrate handling substrate comprising: (I) one or more mounting areas configured to couple to one or more marine invertebrates; wherein the one or more mounting areas are made of a first material comprising a first set of properties; and (II) one or more interconnects configured to connect a mounting area of the one or more mounting areas to a second mounting area of the one or more mounting areas, wherein the one or more interconnects are comprised of a second material comprising a second set of properties, wherein the marine invertebrate handling substrate is flexible, and wherein the marine invertebrate handling substrate is configured to be outplanted to a marine environment.
  • the first material or the second material is biocompatible.
  • At least a portion of the marine invertebrate handling substrate is naturally decomposed by the environment. In some embodiments, at most 50 wt% of the marine invertebrate handling substrate is decomposed over a period of 1 year. In some embodiments, at most 30 wt% of the marine invertebrate handling substrate is decomposed over a period of 1 year. In some embodiments, at most 10 wt% of the marine invertebrate handling substrate is decomposed over a period of 1 year.
  • the marine invertebrate handling substrate comprises at least 4 mounting areas. In some embodiments, the marine invertebrate handling substrate comprises at least 10 mounting areas. In some embodiments, the marine invertebrate handling substrate comprises at least 15 mounting areas. In some embodiments, the marine invertebrate handling substrate comprises at least 50 mounting areas.
  • the mounting areas are positioned in 2D array.
  • the one or more mounting areas comprises at least a surface of inorganic material.
  • the inorganic material comprises a cement or a ceramic.
  • the one or more mounting areas comprises a biodegradable polymer.
  • the one or more interconnects comprises a biodegradable polymer.
  • the biodegradable polymer comprises a biodegradable polyester. In some embodiments, the biodegradable polymer comprises polycaprolactone (PCL).
  • PCL polycaprolactone
  • the one or more interconnects comprises a biodegradable polymer and calcium carbonate.
  • the one or more interconnects comprises about 1 wt% to about 40 wt% calcium carbonate. In some embodiments, the one or more interconnects comprises about 1 wt% to about 20 wt% calcium carbonate. In some embodiments, the one or more interconnects comprises about 1 wt% to about 15 wt% calcium carbonate.
  • the first material comprising the first set of properties and the second material comprising the second set of properties are different.
  • the first material comprising the first set of properties and the second material comprising the second set of properties are the same.
  • the marine invertebrate handling substrate is configured to couple to one or more coral fragments.
  • the marine invertebrate handling substrate is used during at least one of coral growth, transport of the coral, and outplanting of the coral.
  • the marine invertebrate handling substrate is recognized by one or more bacteria.
  • the one or more bacteria comprises pseudomonas, streptomyces, alcanivorax, or a combination thereof.
  • At least a portion of the marine invertebrate handling substrate conforms to a topology of a reef.
  • the marine invertebrate handling substrate is configured to be coupled to a natural reef.
  • the marine invertebrate handling substrate is configured to be coupled to an artificial reef.
  • the marine invertebrate handling substrate is configured to be coupled to a non-reef area (e.g., marine rubble).
  • a non-reef area e.g., marine rubble
  • At least a portion of the marine invertebrate handling substrate is formed using a 3D printer.
  • an automated monitoring device for handling or monitoring of a marine based organism comprising one or more cameras and one or more sensors, wherein an end effector comprises the automated monitoring device, wherein the end effector is coupled to a framework, and wherein the end effector is configured to move in at least 2 axes.
  • the marine based organism is a coral.
  • the end effector comprises the one or more cameras and one or more sensors.
  • the end effector is configured to transport a coral handling substrate or a coral fragment.
  • the handling of the marine based organism occurs ex-situ.
  • the handling of the marine based organism occurs in-situ.
  • the end effector is configured to move in 3 axes.
  • the automated monitoring device monitors health of the marine based organism
  • monitoring health comprises detecting fouling.
  • monitoring health comprises observing a color of a marine based organism.
  • monitoring health comprises detecting bleaching.
  • monitoring health comprises detecting tissue recession.
  • monitoring health comprises detecting coral growth.
  • monitoring health comprises detecting polyp extensions.
  • the automated monitoring device monitors growth of the marine based organism in a nursery setting.
  • the automated monitoring device comprises one or more cameras configured to capture and image.
  • the one or more cameras comprises an optical camera.
  • the one or more cameras comprises a UV camera.
  • the one or more cameras comprises an IR sensitive camera.
  • the one or more cameras are configured to capture an image at a specific bandwidth of electromagnetic radiation.
  • the one or more sensors comprise a temperature sensor, a nitrate sensor, a nitrite sensor, an ammonia sensor, a phosphate sensor, a calcium sensor, a magnesium sensor, a dissolved oxygen sensor, a turbidity sensor, an oxidative reduction potential sensor, a pH sensor, an alkalinity sensor, or a combination thereof.
  • the one or more sensors comprise the dissolved oxygen sensor, the nitrate sensor, the nitrite sensor, the ammonia sensor, the turbidity sensor, or a combination thereof.
  • the automated monitoring device comprises a UV radiation source capable of emitting one or more frequencies in the UV spectrum.
  • the automated monitoring device comprises a visible radiation source capable of emitting one or more frequencies in the visible light spectrum.
  • the automated monitoring device is coupled to a computer system comprising a software.
  • the software is configured to track inventory records, collect data, store data, analyze data, or a combination thereof.
  • a system for growing one or more corals comprising: (I) a flexible substrate for coupling the one or more corals; (II) an automated monitoring device configured to detect one or more properties of the one or more corals; and (III) an automated cleaning device configured to clean one or more corals or the flexible substrate, wherein the automated monitoring device or the automated cleaning device is in communication with a computer system configured to collect data from at least the automated monitoring device or the automated cleaning device.
  • the one or more corals are grown in batches
  • the flexible substrate is any substrate of the disclosure.
  • the automated monitoring device moves along a 3-axis
  • the automated monitoring device transports the flexible substrate to the automated cleaning device.
  • the automated cleaning device removes algae, detritus, or a combination thereof from the coral or the flexible substrate.
  • removal comprises thermal removal, ozonated water, or a combination thereof.
  • thermal removal comprises lasers, heat, or a combination thereof.
  • removal comprises subjecting the coral or the flexible substrate to a wavelength of light.
  • removal comprises subjecting the coral or the flexible substrate to ozone.
  • removal comprises subjecting the coral or the flexible substrate to a turbulent flow of water, wherein the turbulent flow of water comprises a Reynolds number of at least 2,000. In some embodiments, the turbulent flow of water comprises a Reynolds number of at least 4,000.
  • the removal comprises subjecting the coral or the flexible substrate to alternating periods of turbulent flow of water and not turbulent flow of water.
  • the not turbulent flow of water comprises calm water flow or still water, wherein the calm flow of water comprises a Reynolds number of at most 2,000.
  • the automated cleaning device is coupled to a reservoir comprising water.
  • a flow of water from the reservoir is adjustable up to about 20 times the volume of the reservoir per hour.
  • a temperature of water from the reservoir is adjustable up to about 30 degrees Celsius.
  • the reservoir is further coupled to an input of nutrients for the coral.
  • the input of nutrients comprises magnesium, calcium, phosphate, nitrate, oyster-roe, or a combination thereof.
  • the tank comprises a sensor for closed loop control
  • the tank is coupled to a computer system configured to manage a schedule, one or more set points, or a combination thereof.
  • the computer system automatically adjusts one or more parameters of the system based on the collected data.
  • the one or more parameters water pressure, temperature, ozonation, etc. cleaning/monitoring.
  • one or more parameters of the marine organism or the tank comprises dirt, algae.
  • a system for growing or monitoring one or more marine organisms comprising: (I) an automated monitoring device configured to detect one or more properties of the one or more marine organisms; and (II) an automated cleaning device configured to clean the one or more marine organisms, wherein the automated monitoring device or the automated cleaning device is in communication with a computer system configured to collect data from the automated monitoring device or the automated cleaning device.
  • the one or more marine organisms comprises coral.
  • the automated monitoring device is configured to move along at least 1-axis.
  • the automated monitoring device is configured to move along at least 2-axes.
  • the automated monitoring device is configured to move along 3 -axes.
  • the automated cleaning device is configured to move along at least 1-axis.
  • the automated cleaning device is configured to move along at least 2-axes.
  • the automated cleaning device is configured to move along 3- axes.
  • the automated monitoring device transports the coral handling substrate to the automated cleaning device.
  • the automated cleaning device removes algae, detritus, or a combination thereof from the one or more marine organisms.
  • the removal comprises thermal removal, ozonated water, or a combination thereof.
  • the thermal removal comprises lasers, heat, or a combination thereof.
  • removal comprises subjecting the one or more marine organisms to a wavelength of light.
  • removal comprises subjecting one or more marine organisms to ozone.
  • removal comprises subjecting the one or more marine organisms to a turbulent flow of water, wherein the turbulent flow of water comprises a Reynolds number of at least 2,000.
  • turbulent flow of water comprises a Reynolds number of at least 4,000.
  • removal comprises subjecting the one or more marine organisms to alternating periods of turbulent flow of water and not turbulent flow of water.
  • not turbulent flow of water comprises calm water flow or still water, wherein the calm flow of water comprises a Reynolds number of at most 2,000.
  • the automated cleaning device is coupled to a reservoir comprising water.
  • a flow of water from the reservoir is adjustable up to about 20 times the volume of the reservoir per hour.
  • a temperature of water from the reservoir is adjustable up to about 30 degrees Celsius.
  • the reservoir is further coupled to an input of nutrients for the one or more marine organisms.
  • the input of nutrients comprises magnesium, calcium, phosphate, nitrate, oyster-roe, plankton, rotifer, or a combination thereof.
  • the tank comprises a sensor for closed loop control.
  • the tank is coupled to a software configured to manage a schedule, one or more set points, or a combination thereof.
  • the computer system automatically adjusts one or more parameters of the system based on the collected data.
  • one or more parameters water pressure, temperature, ozonation, etc. cleaning/monitoring.
  • one or more parameters of the marine organism or the tank comprises dirt, algae.
  • flow of water in the tank is increased when the automatic monitoring device detects algae.
  • the systems described herein further comprise an automated feeder configured to dispense a dose of dry feed or nutrients directly to the one or more marine organisms.
  • an automated feeder configured to dispense a dose of viscous feed or nutrients directly to the one or more marine organisms.
  • an automated feeder comprises (i) a storage compartment comprising dry feed and (ii) a mixing compartment, wherein the mixing compartment is configured to contact the dry feed or nutrients with a liquid prior to dispensing to the one or more marine organisms.
  • the liquid is water.
  • the automated feeder further comprises one or more pumps to configured to transfer at least a portion of the dry feed or nutrients to the one or more marine organisms.
  • a method of growing one or more corals comprising: (a) providing the one or more corals; (b) providing a coral handling substrate comprising: (I) one or more mounting areas configured to couple to one or more corals; wherein the one or more mounting areas are made of a first material comprising a first set of properties; and (II) one or more interconnects configured to connect a mounting area of the one or more mounting areas to a second mounting area of the one or more mounting areas, wherein the one or more interconnects are comprised of a second material comprising a second set of properties, wherein the coral handling substrate is flexible; and (c) contacting the one or more corals with a mounting area of the one or more mounting areas.
  • the first material comprising the first set of properties and the second material comprising the second set of properties are different.
  • the first material comprising the first set of properties and the second material comprising the second set of properties are the same.
  • the method further comprises harvesting the coral from a natural water source prior to the coupling the coral to the coral handling substrate.
  • the method further comprises harvesting the coral from a captively bred coral source prior to the coupling the coral to the coral handling substrate.
  • the method further comprises fragmenting the coral
  • the method further comprises subsequent to the coupling, subjecting the coral to conditions sufficient for growth.
  • a plurality of the coral is coupled with the coral handling substrate
  • the method further comprises positioning the coral handling substrate comprising the coral in a natural water source.
  • the coral continues to grow when positioned in the natural water source. [0102] In some embodiments, the coral is positioned in the natural water source in batches.
  • the method further comprises positioning the coral handling substrate comprising the coral onto a reef.
  • the coral continues to grow when positioned on the reef
  • the coral is positioned on the reef in batches.
  • a time to position the coral is reduced in comparison to an otherwise similar method not comprising a use of the coral handling substrate.
  • a time to outplant the coral is reduced in comparison to an equal number of coral not coupled with the coral handling substrate.
  • step (c) comprises coupling the coral handling substrate to a natural reef or an artificial reef.
  • step (c) subsequent to step (c) at most 30 wt% of the coral handling substrate is degraded over a time period of about 1 year
  • the coral comprises a digital tag for tracking and management.
  • the digital tag comprises a barcode or a QR code.
  • FIG. 1 shows an example of a rope nursery.
  • FIG. 2 shows an example of planting individual branching type coral by hand using nails and zip ties.
  • FIG. 3 shows an example of coral being grown on individual ceramic substrates which are loosely organized on a plastic grid.
  • FIG. 4 shows an example of a batch of bock coral on a 2D substrate.
  • FIG. 5 shows an example of the expansion of a 2D substrate.
  • FIG. 6 shows an example of a stretchable net that is able to contour to the topography of a reef.
  • FIG. 7 shows an example of the expansion of a ID substrate.
  • FIG. 8a shows a scheme for a multiple in-nursery substrate expansion capability.
  • FIG. 8b shows an example of expansion in outplanting while FIG. 8c shows an example of compactness in nursery.
  • FIG. 9 shows an example of selective stretching to enable nets to be expanded for cutting into smaller pieces and making space between reef attachment tabs and corals to make room for hammering or inserting nose of nail gun.
  • FIG 10a shows an illustration of a flexible substrate with two separate materials for the mounting areas and the interconnects.
  • FIG. 10b shows a photograph of a flexible substrate with two separate materials for the mounting areas and the interconnects.
  • FIG. 10c shows a photograph of the flexible substrate bending.
  • FIG Ila shows an illustration of a flexible substrate with same material for the mounting areas and the interconnects.
  • FIG. 11b shows an illustration of the underside of the mounting area with ribbed features to impart rigidity.
  • FIG. 11c shows a photograph of a flexible substrate with the same materials for the mounting areas and the interconnects bending.
  • FIG. 12a shows an example of a pneumatic nail gun for attaching substrates underwater while FIG. 12b shows an example of a pneumatic nail gun being used to attach substrate prototypes (metal) to reef.
  • FIG. 13 shows an example of metal net attached to reef using nails.
  • FIG. 14a and FIG. 14b show examples of conventional grouped coral plantings for branching and massive coral from Mote using conventional ceramic frag plug substrates in drilled holes in reef with epoxy.
  • FIG. 15 shows an example of a polymer net attached to reef with epoxy.
  • FIG. 16a shows an angle of an example of a nursery management system comprising tanks for growing or restoring the marine organisms, a gantry coupled with the automated monitoring device, and a cleaning system.
  • FIG. 16b shows a separate angle of an example of a nursery management system comprising tanks for growing or restoring the marine organisms, a gantry coupled with the automated monitoring device, and a cleaning system.
  • FIG. 17 shows an illustrate of a plurality of tanks with substrates used for restoring or growing marine organisms arranged within the nursery.
  • FIG. 18a shows an illustration of an automated monitoring device.
  • FIG 18b shows a photograph of one embodiment of the automated monitoring device.
  • FIG. 19a shows an example of a normal rack with substrates coupled with coral.
  • FIG. 19b shows an example of a rack with substrates coupled with coral that is fouled.
  • FIG. 19c shows an example of a rack with substrates coupled with coral that has inconsistent lighting.
  • FIG. 19d shows an example of a rack with substrates coupled with coral that is not completely occupied.
  • FIG. 20 shows an illustration of a side-view of a tank with two positions of an automated monitoring device.
  • FIG. 21 shows an illustration of a cleaning system
  • FIG. 22 shows a schematic of the general operation of a nursey
  • FIG. 23 shows an illustration of an end effector with an automated monitoring device.
  • FIG. 24 shows an illustration of a servicing station coupled to a gantry.
  • FIG. 25a shows an illustration of an embodiment of a substrate interface.
  • FIG. 25b shows an illustration of a separate embodiment of a substrate interface.
  • FIG. 26 shows a computer system that is programmed or otherwise configured to implement a method for managing marine aquaculture.
  • the substrates, systems, and methods described herein offer many advantages over rope propagation and planting methods, in which small coral are attached to commercially available ropes or nets which are subsequently attached to reefs after the coral have grown in nurseries.
  • These rope propagation methods take more labor to mount coral to, are only suitable for large pieces of branching coral, and result in living tissue being killed when the rope is attached to reef.
  • current ropes are generally not biodegradable and contribute to microplastics and plastic pollution.
  • These approaches often require significant labor to attach the coral, and the ropes are nets aren’t optimized to save labor during outplanting, which is a significant amount of total cost of restoration.
  • plastic ropes and nets may be used, which contribute to plastic pollution.
  • An example of a rope nursery is shown in FIG. 1.
  • the substrates, systems, and methods described herein offer many advantages over the net patch reef method.
  • the net patch reef method entails attaching coral to existing fishing nets. Fishing nets are inefficient to place coral on, foul easily and are difficult to clean, are not biodegradable, and contribute to pollution.
  • the substrates, systems, and methods described herein offer many advantages over a coral clip, including allowing for easier reef attachment.
  • a coral clip only works for individual corals, resulting in increased labor costs for growth and outplanting. Additionally, a coral clip has to be driven by hand, which may be a slow or physically demanding process for the installer.
  • the substrates, systems, and methods described herein offer many advantages over a coral lok, which uses threaded plugs to enable screwing individual coral to reef.
  • a coral lok only works for individual corals and also requires mounting the screw base on the reef which takes time. Additionally, a coral lok has to be driven by hand, which may be a slow or physically demanding process for the installer.
  • the substrates, systems, and methods described herein offer many advantages over commercially available underwater drills, which enable current methods of drilling holes in reef to insert and epoxy individual ceramic substrates. Drilling large holes takes considerable time- a diver has to swim continuously to keep drill engaged with substrate, and this method may not enable faster batch planting methods. Nails are often used to attach branching coral to reefs (e.g., mote method), but these are generally hammered into the reef manually. Depending on the type of reef rock, this maybe a challenging and slow process. An example of a coral being outplanted manually using nails and a hammer is shown in FIG. 2.
  • the substrates, systems, and methods described herein further improve on the current techniques with special tools to reduce growth and outplanting costs.
  • the substrates described herein are compatible with batch-based operations (e.g., cleaning and imaging) to enable a streamlined and more efficient workflow.
  • a flexible substrate may be referred to as a handling substrate or a substrate herein.
  • a substrate is configured to handle or be coupled to a marine-based organism as described elsewhere herein (e.g., coral).
  • substrates described herein can be utilized with any of the systems or methods described herein.
  • flexible substrates can be manufactured at scale and can be optimized to allow coral, or other marine-based organisms used for active ecosystem restoration such as kelp, seagrass, or mangroves, to be grown and planted in groups.
  • active marine environment e.g., reef
  • the use of the flexible substrates and systems described herein can significantly reduce labor and material costs throughout the growing process which enables active marine environment (e.g., reef) restoration efforts to achieve greater scale by lowering the overall cost of restoring the marine-based organisms (e.g., coral).
  • the systems and methods described herein can be scaled in terms of number of sensors, ability to dose large amounts of chemicals, and integration with the kinds of software needed to run a large scale coral growing facility.
  • the systems and methods described herein may not be manually actuated and may require no human intervention to control.
  • a flexible substrate may be in a condensed form while in a nursery setting to optimize space.
  • a flexible substrate may be in an expanded form for outplanting to conform to an arbitrary marine surface.
  • FIG. 8a illustrates the expansion of a substrate from nursery to outplanting.
  • FIGs. 8b and 8c show an example of a flexible substrate in condensed form and expanded form, respectively.
  • a substrate may be selectively stretched to conform to an arbitrary marine topography.
  • FIG. 9 shows an example of selective stretching to enable nets to be expanded for cutting into smaller pieces and making space between reef attachment tabs and corals to make room for hammering or inserting nose of nail gun.
  • the flexible substrates described herein may require less material, significantly reducing material costs throughout the growing process. Additionally, the flexible substrates described herein can conform to arbitrary marine environment (e.g., reef) topography, unlike rigid substrates like coral domes.
  • FIG. 5 illustrates how a 2D array can be expanded to accommodate massive coral or branching coral.
  • FIG. 6 illustrates how a flexible substrate may be expanded to fit over a specific geometry, in this case, a pyramid. An example of a substrate that may be expanded in 1 dimension is illustrated in FIG. 7.
  • a marine invertebrate handling substrate comprising: (i) one or more mounting areas configured to couple to one or more marine invertebrates; wherein the one or more mounting areas are made of a first material comprising a first set of properties; and (ii) one or more interconnects configured to connect a mounting area of the one or more mounting areas to a second mounting area of the one or more mounting areas, wherein the one or more interconnects are comprised of a second material comprising a second set of properties, where the handling substrate is flexible, and where the handling substrate is configured to be outplanted to a marine environment.
  • the substrate is configured to couple to one or more marine restoration organisms. In some embodiments, the substrate is configured to couple to one or more marine invertebrates. In some embodiments, the substrate is configured to couple to one or more corals. In some embodiments, the substrate is configured to couple to one or more coral fragments. In some embodiments, the substrate is configured to couple to one or more marine plants. In some embodiments, the substrate is configured to couple to one or more kelp. In some embodiments, the substrate is configured to couple to one or more seagrass. In some embodiments, the substrate is configured to couple to one or more mangrove.
  • the substrates consist of a plurality of areas to mount the marine-based organisms (e.g., corals), which are joined together by flexible interconnects.
  • the areas to mount coral are designed to be sufficiently rigid to prevent detachment of corals during handling or transport.
  • Coral used for restoration may have rigid skeletons which cannot bend.
  • the substrate is used during at least one or marine organism (e.g., marine invertebrate or coral) growth, transport, or outplanting.
  • the substrate is utilized during growth and transport.
  • the substrate is utilized during growth, transport, and outplanting.
  • a substrate is positioned in a tank during restoration or growth of an organism. In some embodiments, a substrate is positioned on a rack in a tank during restoration or growth of an organism. In some embodiments, the rack is a 2D structure. In some embodiments, the substrate is physically secured to the rack. In some embodiments, the substrate is loosely placed on the rack.
  • a substrate comprises one or more mounting areas and one or more interconnects.
  • the substrate comprises at least 2 mounting areas (e.g., at least 4 mounting areas, at least 10 mounting areas, at least 15 mounting areas, at least 20 mounting areas, at least 30 mounting areas, at least 40 mounting areas, at least 50 mounting areas, at least 60 mounting areas, at least 70 mounting areas, at least 80 mounting areas, at least 100 mounting areas, or more).
  • the substrate comprises at least 4 mounting areas.
  • the substrate comprises at least 10 mounting areas.
  • the substrate comprises at least 15 mounting areas.
  • the substrate comprises at least 50 mounting areas.
  • one or more interconnects connect two mounting areas.
  • one or more interconnects connect three mounting areas. In some embodiments, one or more interconnects connect four mounting areas. In some embodiments, one or more interconnects connect five mounting areas. In some embodiments, one or more interconnects connect at least six mounting areas.
  • one or more mounting areas of the substrate are made of a first material comprising a first set of properties and the interconnects are made of a second material comprising a second set of properties.
  • the first material and the second material are the same.
  • the first material and the second material are different.
  • at least a portion of the substrate is formed using a 3D printer.
  • the first material and the second material are different.
  • mounting areas are made of a separate material from the interconnects.
  • the mounting areas are made of a separate (e.g., different) material from the interconnects to ensure sufficient rigidity.
  • sufficient rigidity is achieved for the substrate through increased thickness.
  • sufficient rigidity of the substrate is achieved through stiffening features (e.g., ribs).
  • interconnects are configured to be flexible to enable the substrate to bend around irregular marine environment structures (e.g., natural or artificial reef).
  • interconnects are configured to stretch to enable the substrate to mount securely to marine environment structures (e.g., natural, or artificial reef).
  • FIG. 10a illustrates an example of a substrate that is comprised of different materials for the mounting areas and the interconnects.
  • FIGs. 10b and 10c show an example of a substrate made of different materials in a neutral position and a flexed position, respectively.
  • the first material and second material are the same.
  • differences in flexibility and/or rigidity between a mounting area and an interconnect made of the same material is achieved through material thickness or features.
  • a substrate where the mounting areas and the interconnects are the same material may be flexible due to the interconnects being relatively thinner compared to the mounting areas.
  • a substrate where the mounting areas and the interconnects are the same material may impart rigidity on the mounting area through ribs (of the same material) on the underside of the mounting area.
  • FIG. I la illustrates an example of a substrate that is comprised of the same material for the mounting areas and the interconnects.
  • FIG. 1 lb shows an example of ribs on a mount.
  • FIG. 11c show an example of a substrate made of the same material in a flexed position.
  • At least one of the first material (e.g., material of the mounting area) and the second material (e.g., material of the interconnect) is biocompatible.
  • the material of the mounting area is biocompatible.
  • the material of the interconnect is biocompatible.
  • At least a portion of the substrate e.g., at least a portion of the mounting area and/or at least a portion of the interconnect
  • only a portion of the substrate comprising biocompatible material decomposes in a marine environment.
  • a biocompatible material e.g., polycaprolactone, PCL
  • the mounting areas comprise a biocompatible material (e.g., biodegradable polymer).
  • the biocompatible material is a biodegradable polymer.
  • the biodegradable polymer comprises a biodegradable polyester.
  • the biodegradable polymer may be polyhydroxyalkanoate (PHA), poly(3-hydroxybutyrate-co-3 -hydroxy valerate) (PHBV), polybutylene adipate terephthalate (PBAT), polylactic acid (PLA), polyglycolic acid (PGA), polybutylene succinate (PBS), poly caprolactone (PCL), polyvinyl alcohol (PVA), polyhydroxybutyrate (PHB), starch blends, cellulose-based polymers, animal-based polymers, lignin-based polymers, or any combination thereof.
  • the biodegradable polymer comprises polycaprolactone (PCL).
  • the mounting areas comprise at least a surface of inorganic material.
  • the inorganic material comprises a cement or a ceramic material.
  • the interconnects comprise a biocompatible material (e.g., biodegradable polymer).
  • the biocompatible material is a biodegradable polymer.
  • the biodegradable polymer comprises a biodegradable polyester.
  • the biodegradable polymer may be polyhydroxyalkanoate (PHA), poly(3-hydroxybutyrate-co-3 -hydroxy valerate) (PHBV), polybutylene adipate terephthalate (PBAT), polylactic acid (PLA), polyglycolic acid (PGA), polybutylene succinate (PBS), poly caprolactone (PCL), polyvinyl alcohol (PVA), polyhydroxybutyrate (PHB), starch blends, cellulose-based polymers, animal-based polymers, lignin-based polymers, or any combination thereof.
  • the biodegradable polymer comprises polycaprolactone (PCL).
  • the interconnects comprise a biodegradable polymer and calcium carbonate (CaCCL). In some embodiments the interconnects comprise about 1 wt% to about 50 wt% calcium carbonate. In some embodiments the interconnects comprise about 1 wt% to about 40 wt% calcium carbonate. In some embodiments the interconnects comprise about 1 wt% to about 30 wt% calcium carbonate. In some embodiments the interconnects comprise about 1 wt% to about 20 wt% calcium carbonate. In some embodiments the interconnects comprise about 1 wt% to about 10 wt% calcium carbonate. In some embodiments the interconnects comprise about 1 wt% to about 5 wt% calcium carbonate.
  • CaCCL calcium carbonate
  • a rate of degradation of the substrate is affected by the temperature of the water, the pH of the water, the presence of certain bacterial in the water, or a combination thereof.
  • the substrate material is recognized by one or more bacteria.
  • the bacteria comprise pseudomonas, streptomyces, alcanivoraxes, or a combination thereof.
  • At most 50 weight percent (%wt) of the substrate is decomposed over a period of 1 year. In some embodiments, at most 40% wt of the substrate is decomposed over a period of 1 year. In some embodiments, at most 30% wt of the substrate is decomposed over a period of 1 year. In some embodiments, at most 20% wt of the substrate is decomposed over a period of 1 year. In some embodiments, at most 10% wt of the substrate is decomposed over a period of 1 year. In some embodiments, at most 5% wt of the substrate is decomposed over a period of 1 year.
  • one or more of the mounting areas or the interconnects comprise features to facilitate organization in a nursery environment and during attachment to the marine environments (e.g., reef) during outplanting.
  • such features include holes, tabs, or which can interface with other equipment.
  • the mounting areas are positioned in a ID array. In some embodiments, the mounting areas are positioned in a 2D array. In some embodiments, the mounting areas are positioned in a 3D array. In some embodiments, geometry of the substrates is linear. In some embodiments, geometry of the substrates is planar, in which the marine-based organisms are arranged in grids or other 2D arrangements. In some embodiments, geometry of the substrates is three-dimensions, in which the marine-based organisms are arranged in stacks or other 3D arrangements.
  • substrates are made from materials that enable either the interconnects or all of the substrate to break down over time into natural components.
  • the interconnects are made from polyhydroxyalkanoate (PHA) bioplastic, which is able to break down naturally in water.
  • PHA polyhydroxyalkanoate
  • the interconnects are made from polycaprolactone (PCL) bioplastic, which is able to break down naturally in water.
  • PCL polycaprolactone
  • materials like steel e.g., iron and carbon alloy
  • materials like steel e.g., iron and carbon alloy
  • outplanting occurs to a marine environment.
  • outplanting comprises coupling the substrate to the marine environment.
  • the substrate is configured to be coupled to the marine environment.
  • a marine environment is an underwater environment or an underwater surface.
  • a marine environment is a natural reef area (e.g., coral reef).
  • a marine environment is an artificial reef (e.g., man-made reef).
  • a marine environment is non-reef area (e.g., an underwater ship or underwater marine rubble).
  • at least a portion of the substrate conforms to the topology of the marine environment (e.g., reef).
  • methods to use pneumatic construction tools underwater can be utilized during outplanting, allowing substrates to be attached to the marine environment (e.g., reef) faster, with less effort, and reduction in labor costs compared to methods not utilizing pneumatic construction tools.
  • utilizing pneumatic construction tools saves considerable labor cost.
  • air pressure from pressurized tanks commonly used in scuba diving can be employed with the pneumatic construction tools underwater.
  • a power nailer with sufficient power and a sufficient fastener type is used to penetrate reef rock.
  • Reef rock can vary considerably in hardness, therefore, nailers and nails suitable for driving into concrete can be used.
  • the substrates described herein utilize features such as holes or pads which nails can be easily driven into during outplanting.
  • a pneumatic nail gun can be powered from the same tank a diver uses for breathing, a separate air tank carried by the diver, or air compressor on a dive boat.
  • setting up the nail gun to be powered from existing scuba diving air supplies provides a readily available power source.
  • setting up the nail gun to be powered from existing scuba diving air supplies minimizes difficulty in implementing this approach.
  • the appropriate driving force for nails varies with the type of rock, coral skeleton, or substrate the marine based organism (e.g., coral) is being attached to.
  • the driving force for nails is adjusted by altering the pressure the nail gun operates on.
  • the drive depth of a nail gun is adjusted (which can be useful for achieving a secure attachment of the substrate).
  • the nail gun comprises metal parts susceptible to corrosion, and it can be rinsed with fresh water, liberally treated with oil, or submerged in oil, to extend its life.
  • FIGs. 12a and 12b show an example of pneumatic equipment donned on a diver and examples of a diver installing coral using the pneumatic equipment, respectively.
  • the systems and methods described herein include special fixtures to enable coral to be reliably picked up by robots. In some embodiments, the systems and methods described herein facilitate handling of groups by human operators.
  • a substrate interface which can hold the organism (e.g., coral) while growing and provide features to reliably position the organism (e.g., coral) in growing tanks or raceways, and features which make the device and organism (e.g., coral) easy for operators or the robotic system to pick up and move.
  • the substrate interface is akin to a basket and comprises a hook to help position it in a tank, and a handle extending from the water to enable it to be picked up without an operator or robot touching the water (sometimes referred herein as “frybasket”).
  • the substrate interface prevents water from being transferred between tanks, thereby reducing the likelihood of spreading disease. For example, in many facilities, if operators touch the water in one tank, they must disinfect their hands before touching the water of another tank to prevent cross-contamination. In some embodiments, substrate interface enables different organisms (e.g., coral) to be moved around without the need to repeatedly disinfect.
  • different organisms e.g., coral
  • the substrate interface is configured to interface with an end effector and the handling substrates. In some embodiments, the substrate interface is configured to interface with an end effector and a rack. In some embodiments, substrate interface interfaces with the substrate in one or more configurations.
  • FIG. 25a and FIG. 25b show an example of a substrate interface interfacing with a substrate 2510.
  • a set of clips, pins, or ledges enable it to hold grid-like dividers such as plastic “egg crate” fluorescent lighting diffuser grids, commonly used by coral growers to help organize coral. The grids can be used to hold traditional ceramic “frag plug” coral substrates.
  • Frag plugs may have thin stems which can be inserted into a grid and allow the plugs to be organized in rows and columns.
  • An example of frag plugs on a ceramic substrate loosely arranged on a grid-like rack is shown in FIG. 3. Further an illustration of coral on a 2D substrate is depicted in FIG. 4.
  • FIGs. 14a shows an example of frag plug outplanted under whereas FIG. 14b shows an example of coral branching while coupled with the frag plugs.
  • a set of clips can grip a custom substrate which allows multiple coral to be grown and outplanted on the same substrate (such as the expandible net type substrates described elsewhere herein).
  • the device can have spring loaded tabs or other features which can be compressed and then released to securely grip a custom coral substrate such as our net substrates. This can enable adding and removing coral relatively fast and easy and may hold the coral securely,
  • the materials for the substrate interface can be sufficiently durable in the growing conditions.
  • the materials withstand salt water and bright light or UV light.
  • plastics such as PVC tubing (widely available, cheap, and easy to fabricate by hand) can be used.
  • plastics like acetyl may also be used.
  • metal may be used to withstand the corrosion of saltwater exposure.
  • anodized aluminum, stainless steel, and titanium could also be used to fabricate a substrate interface.
  • FIG. 13 shows an example of a metal -based substrate outplanted underwater.
  • FIG. 15 shows an example of a polymer based substrate outplanted underwater using an epoxy.
  • a system for growing or monitoring one or more marine organisms comprising: (I) an automated monitoring device configured to detect one or more properties of the one or more marine organisms; and (II) an automated cleaning device configured to clean the one or more marine organisms, where the automated monitoring device or the automated cleaning device is in communication a computer system configured to collect data from the automated monitoring device or the automated cleaning device.
  • a system for growing or monitoring one or more corals comprising: (I) an automated monitoring device configured to detect one or more properties of the one or more corals; and (II) an automated cleaning device configured to clean the one or more corals, where the automated monitoring device or the automated cleaning device is in communication a computer system configured to collect data from the automated monitoring device or the automated cleaning device.
  • a system for growing or restoring a marinebased organism comprising (I) a flexible substrate for coupling the marine-based organism; (II) an automated monitoring device configured to detect one or more properties of the marine-based organism; and (III) an automated cleaning device configured to clean the marine-based organism or the flexible substrate, where the automated monitoring device or the automated cleaning device is in communication with a computer system configured to collect data from at least one of the automated monitoring device or the automated cleaning device.
  • a system for growing one or more corals comprising (I) a flexible substrate for coupling the one or more coals; (II) an automated monitoring device configured to detect one or more properties of the one or more corals; and (III) an automated cleaning device configured to clean one or more corals or the flexible substrate, where the automated monitoring device or the automated cleaning device is in communication with a computer system configured to collect data from at least one of the automated monitoring device or the automated cleaning device.
  • a method of growing one or more marine-based organisms comprising: (a) providing the one or more marine-based organism; (b) providing a flexible substrate comprising (I) one or more mounting areas configured to couple to one or more marine-based organisms, wherein the one or more mounting areas are made of a first material comprising a first set of properties; and (II) one or more interconnects configured to connect a mounting area of the one or more mounting areas to a second mounting area of the one or more mounting areas, wherein the one or more interconnects are comprised of a second material comprising a second set of properties; and (c) contacting the one or more marine-based organisms with a mounting area of the one or more mounting areas.
  • a method of growing one or more corals comprising: (a) providing the one or more corals; (b) providing a flexible substrate comprising (I) one or more mounting areas configured to couple to one or more corals, wherein the one or more mounting areas are made of a first material comprising a first set of properties; and (II) one or more interconnects configured to connect a mounting area of the one or more mounting areas to a second mounting area of the one or more mounting areas, wherein the one or more interconnects are comprised of a second material comprising a second set of properties; and (c) contacting the one or more corals with a mounting area of the one or more mounting areas.
  • the methods described herein utilize any of the systems described elsewhere herein (e.g., automated monitoring device, automated cleaning device, automated feeder). In some embodiments, the methods described herein utilize any of the substrates described elsewhere herein. In some embodiments, the methods described herein grow or restore a marine-based organism described elsewhere herein.
  • the methods described herein further comprise harvesting a marine-based organism (e.g., coral) from a natural source prior to coupling the marine-based organism to the flexible substrate.
  • a marine-based organism e.g., coral
  • the marine-based organism is fragmented.
  • the methods described herein further comprise harvesting the marine-based organism from a captively bred source. In some embodiments, the marine-based organism is fragmented.
  • the methods described herein further comprise, subsequent to contacting the marine-based organism with the flexible substrate, subjecting the marine-based organism to conditions sufficient for growth.
  • these conditions comprise maintaining an ideal temperature, maintain an ideal pH, maintain an ideal water flow, administration of nutrients, administration of food, cleaning, or a combination thereof.
  • the method further comprises positioning the flexible substrate (coupled with a marine-based organism) in a natural water source.
  • positioning the marine-based organism in a natural water source is also referred to as outplanting herein.
  • the marine-based organism continues to grow when positioned in the natural water source.
  • the marine-based organism e.g., coral
  • outplanting comprises positioning the flexible substrate with the marine-based organism (e.g., coral) onto a reef.
  • the reef is a natural reef.
  • the reef is an artificial reef.
  • handling a marine-based organism (e.g., coral) in batches through using the flexible substrates of the disclosure reduces the time required to outplant the marine-based organisms in comparison to the time required to outplant the marine-based organism not coupled to a flexible substrate.
  • a marine-based organism e.g., coral
  • the flexible substrate is described elsewhere herein.
  • the flexible substrate may comprise one or more mounting areas and one or more interconnects coupled to the mounting areas made of different materials (e.g., cement/ceramic and a biocompatible polymer).
  • the flexible substrate may be comprised of the same material (e.g., biocompatible polymer).
  • the automated monitoring device is described elsewhere herein.
  • the automated monitoring device is configured to move in up to 3-axes (e.g., 1 axis, 2 axes, or 3 axes).
  • the automated monitoring device is configured to move in 1 axis.
  • the automated monitoring device is configured to move in 2 axes.
  • the automated monitoring device is configured to move in 3 axes.
  • the automated monitoring device is configured to transport the substrate between a first location in a nursey (e.g., tank) to a second location in the nursery (e.g., the cleaning station).
  • a nursey e.g., tank
  • the end effector comprising the automated monitoring device comprises a substrate interface as described elsewhere herein to couple with the substrate to lift it from its location in a tank and automatically transport it to the cleaning station for servicing.
  • the automated monitoring device transports the coral from a location in the tank to an area utilized for packing the coral for outplanting.
  • the automated cleaning device is described elsewhere herein.
  • the automated cleaning device is configured to move in up to 3-axes (e.g., 1 axis, 2 axes, or 3 axes).
  • the automated cleaning device is configured to move in 1 axis.
  • the automated cleaning device is configured to move in 2 axes.
  • the automated cleaning device is configured to move in 3 axes.
  • the automated cleaning device is configured to move within a nursery to visit and service a marine-based organism (e.g., cleaning, providing nutrients or food).
  • the automated monitoring device detects one or more parameters of a marine-based organism (e.g., above a pre-determined threshold) and the nursery system triggers the automated cleaning device to move to the marine-based organism for servicing.
  • an automated monitoring device may detect the growth of algae on a coral, and subsequently, the automated cleaning device is sent to that coral for cleaning.
  • an automated monitoring device may detect low levels of magnesium in a tank, and subsequently, the automated cleaning device is sent to that tank for providing additional magnesium.
  • the end-effector comprising the automated monitoring device is configured to transport a marine-based organism to a stationary automated cleaning station for servicing.
  • a coral may require manual servicing or inspecting, so the coral is transported automatically to a station for a user to inspect or service the coral.
  • a portion of the coral may be diseased and requires manual removal.
  • the marine-based organisms e.g., one or more corals
  • a flexible substrate array with a plurality of mounting areas can be used to grow, monitor, and/or transport a batch of coral at a time.
  • the systems and methods described herein use lasers to automate fragmentation by cutting substrate materials and coral tissue.
  • the automation ties into a network of sensors and computer vision capabilities as well as an intelligent nursery management software system, which enables problems or work that needs to take place to be automatically detected, scheduled, and executed without human intervention.
  • the systems and methods described herein clean corals when triggered by sensors or a nursery management software system.
  • a robotic system that performs care on coral may consist of a carriage with various kinds of tools and sensors which moves around on motorized rails in the form of a gantry is referred to herein as an automated monitoring device.
  • the robotic system could be a mobile wheeled robot, robot on cables (e.g., a skycam), robotic arm, or other types of systems
  • the automated monitoring device monitors the health of a marine-based organism.
  • monitoring health occurs in ex-situ (e.g., nursery setting).
  • monitoring health occurs in-situ (e.g., natural body of water).
  • monitoring health comprises detecting fouling, a change in color, bleaching, tissue recession, growth, development of polyp extensions, or a combination thereof.
  • monitoring health comprises detecting fouling. Fouling may occur on the marine-based organism itself or on the substrate for coupling to the marine-based organism.
  • monitoring health comprises detecting a (change in) color of marinebased organism.
  • monitoring health comprises detecting bleaching.
  • coral may become stressed and expel symbiotic zooxanthellae algae it normally coexists with, leading to a paling of the coral over time.
  • monitoring health comprises detecting tissue recession.
  • tissue recession For example, a disease or parasitic consumption of the marine-based organism may present itself as path of discoloration, indicative of tissue recession.
  • monitoring health comprising monitoring growth of the marine-based organism.
  • growth is indicative of calcification and overall health.
  • monitoring health comprises detecting polyp extensions.
  • polyp extensions indicate health coral that actively feed on nutrients in the water.
  • the systems and methods described herein can move coral around a facility. In some aspects, this may reduce human labor needed to load coral into the nursery, move coral over its time in the nursery, and pack coral out for outplanting. In some aspects, this system may reduce the cognitive burden and errors associated with keeping track of specific coral genotypes.
  • a movement system is able to scale beyond a single raceway to cover a large area or an entire facility. This may allow less hardware to grow more coral.
  • a movement system of this scale mounted above head height can be almost entirely out of the way of operators, and only enter human space in a small area when the system reaches down to interact with coral. This may enable a high degree of automation with a minimal impact on human accessibility of the raceways.
  • the automated monitoring device of the disclosure is coupled to an end effector.
  • an automated monitoring device for handling or monitoring of a marine based organism comprising one or more cameras and one or more sensors, wherein an end effector comprises the automated monitoring device, and wherein the end effector is configured to move in at least 1 axis.
  • the end effector is configured to move throughout the nursery (e.g., laterally over tanks, longitudinally into and out of tanks).
  • the end effector is coupled to a gantry.
  • the end effector is configured to handle or transport the substrates described elsewhere herein. In some embodiments, the end effector is interfaced with a substrate interfaced described elsewhere herein. In some embodiments, the substrates are coupled with a marine-based organism (e.g., coral) during handling or transportation. In some embodiments, the substrates are not coupled with a marine-based organism during handling or transport (for example, for cleaning only the substrates). In some embodiments, the handling or transport of the substrate or marine-based organism occurs ex-situ (e.g., in nursery or in tank).
  • a marine-based organism e.g., coral
  • the substrates are not coupled with a marine-based organism during handling or transport (for example, for cleaning only the substrates). In some embodiments, the handling or transport of the substrate or marine-based organism occurs ex-situ (e.g., in nursery or in tank).
  • the handling or transport of the substrate or marine-based organism occurs in-situ (e.g., in a marine environment, like the ocean).
  • the end effector is configured to move in 1 axis. In some embodiments, the end effector is configured to move in 2 axes. In some embodiments the end effector is configured to move in 3 axes.
  • operation of the robotic system in a marine environment comprises protection against corrosion.
  • the systems and methods described herein use sacrificial anode techniques typically used for boats and pools to protect against galvanic corrosion on the robot.
  • the systems and methods described herein employ specific materials like stainless steel, aluminum alloys, and/or fully sealed bearings to enable continuous operation.
  • the systems and methods described herein utilize a system (e.g., automated monitoring device, automated cleaning device, automated feeder) to measure parameters of coral and other marine-based organisms using different types of sensors.
  • a system e.g., automated monitoring device, automated cleaning device, automated feeder
  • the system collects various kinds of data, which can be used alone, or integrated together to give a more complete understanding of the organisms being grown to improve care and yields.
  • the systems and methods utilize cameras that are connected to an image processing system, enabling data to be extracted.
  • the systems and methods described herein use automation that ties into a network of sensors and computer vision capabilities as well as an intelligent nursery management software system, which enables problems or work that needs to take place to be automatically detected, scheduled, and executed without human intervention.
  • the automated monitoring device comprises one or more cameras and one or more sensors. In some embodiments, the device comprises a plurality of cameras and one sensor. In some embodiments, the device comprises one camera and a plurality of sensors. In some embodiments, the device comprises a plurality of sensors and a plurality of cameras.
  • the one or more cameras or one or more sensors are mounted on the automated monitoring device on a pan and/or tilt mechanism.
  • mounting a camera as such enables the camera to collect a plurality of images of the same marine-based organism from different angles.
  • collecting a plurality of images at different angles enables generation of an orthomosaic or 3D model through photoprogrammetry or post-processing.
  • mounting a camera as such enables the camera to collect images from a top-down perspective using a 2D estimation of surface area, enabling volumetric analysis of large and/or high rugosity organisms (e.g., coral).
  • the automated monitoring device comprises one or more cameras configures to capture an image.
  • the one or more cameras comprises an optical camera, a UV camera, an IR camera, or a combination thereof.
  • the camera is an optical camera.
  • the camera is an ultraviolet (UV) camera.
  • the camera is an infrared (IR) sensitive camera.
  • the camera is configured to capture an image at a specific bandwidth of electromagnetic radiation.
  • the camera is configured to capture an image at a bandwidth between 100 nanometer (nm) and Imillimeter (mm).
  • the camera is configured to capture an image at a bandwidth between 100 nm and 400 nm.
  • the camera is configured to capture an image at a bandwidth between 400 nm and 800 nm. In some embodiments, the camera is configured to capture an image at a bandwidth between 800 nm and 1mm. In some embodiments, the camera is configured to capture an image at a bandwidth between 800 nm and 1,400 nm. In some embodiments, the camera is configured to capture an image at a bandwidth between 1,400 nm and 3 micrometers. In some embodiments, the camera is configured to capture an image at a bandwidth between 3 micrometers and 1mm.
  • a camera has any suitable focal ratio (e.g., aperture, or f- stop).
  • the focal ratio is from 1.2 to 22. In some embodiments, the focal ratio is from 1.2 to 10. In some embodiments, the focal ratio is from 1.2 to 4. In some embodiments, the focal ratio is 1.4.
  • the automated monitoring device comprises one or more radiation sources configured to emit one more frequencies in the ultraviolet or visible spectrum.
  • the automated monitoring device comprises a UV radiation source capable of emitting one or more frequencies within the UV spectrum (e.g., lOOnm to 400nm wavelength).
  • the automated monitoring device comprises a visible light radiation source capable of emitting one or more frequencies within the visible spectrum (e.g., 400nm to 800nm wavelength).
  • the one or more cameras comprise the radiation source.
  • the automated monitoring device comprises two cameras, where one camera is configured for visible light analysis (e.g., optical camera) and the second camera that is configured for multispectral analysis when utilizing an excitation source (e.g., UV radiation (UVA, UVB, UVC) or visible light radiation (violet, cyan, green, etc.)).
  • an excitation source e.g., UV radiation (UVA, UVB, UVC) or visible light radiation (violet, cyan, green, etc.
  • the analysis at specific frequencies show biofluorescence on the marine-based organisms (e.g., coral polyps or algae).
  • the frequency is from about 300 nm to about 600 nm.
  • the frequency is from about 350 nm to about 550 nm.
  • the one or more cameras can be any camera or radiation source described herein.
  • the automated monitoring device comprises one or more sensors.
  • the one or more sensors comprise a temperature sensor, a nitrate sensor, a nitrite sensor, an ammonia sensor, a phosphate sensor, a calcium sensor, a magnesium sensor, a dissolved oxygen sensor, a turbidity sensor, an oxidative reduction potential sensor, a pH sensor, an alkalinity sensor, or a combination thereof.
  • one or more sensors comprise a dissolved oxygen sensor, a nitrate sensor, a nitrite sensor, an ammonia sensor, a turbidity sensor, or a combination thereof.
  • a sensor is a temperature sensor.
  • a sensor is a nitrate sensor. In some embodiments, a sensor is a nitrite sensor. In some embodiments, a sensor is an ammonia sensor. In some embodiments, a sensor is a phosphate sensor. In some embodiments, a sensor is a calcium sensor. In some embodiments, a sensor is a magnesium sensor. In some embodiments, a sensor is a dissolved oxygen sensor. In some embodiments, a sensor is a turbidity sensor. In some embodiments, a sensor is an oxidative reduction potential sensor. In some embodiments, a sensor is a pH sensor. In some embodiments, a sensor is an alkalinity sensor.
  • FIG. 18a shows an illustration of an automated monitoring device
  • FIG. 18b shows a photographic example of an automated monitoring device
  • the automated monitoring device comprises an UV camera 1830, an optical camera 1810, and an IR sensitive camera 1820.
  • the cameras are coupled to a pan/tilt mechanism 1840 and housed within an optically clear compartment 1860.
  • the clear compartment 1860 is configured to provide protection to the electronics of the system and cameras. The visibility through the material of the clear compartment enables the cameras and sensors to accurately image and sense parameters of the marine-based organisms with minimal optical artifacts.
  • the optically clear compartment comprises a convex surface.
  • the convexity of the compartment may increase focal length of the cameras housed within the compartment.
  • the convexity of the compartment may minimize distortion of the images captures while the compartment is submerged underwater.
  • the optically clear compartment may allow actuation of a pan-tilt mechanism without requirement of additional volume.
  • the optically clear compartment comprises one or more flat surfaces.
  • the optically clear compartment comprises a concave surface.
  • the automated monitoring device comprises one or more sources of electromagnetic radiation 1850.
  • the source of electromagnetic radiation may be LED lights.
  • the sources are configured to emit white light (about 400K), cyan light (about 490 to about 515nm), royal blue light (about 460 nm), violet light (about 415 nm), UV-B radiation (about 405 nm), UV-A radiation (about 370 nm), or a combination thereof.
  • the one or more sources of electromagnetic radiation are configured to emit the radiation in a repeating sequence.
  • the one or more sources of electromagnetic radiation are positioned outside of the optically clear compartment to minimize internal reflections and optical artifacts.
  • the intensity of the electromagnetic radiation can be varied to provide a plurality of excitation spectra.
  • the systems and methods described herein are designed for larger aquariums and are able to scale in terms of number of sensors, ability to dose large amounts of chemicals, and integrate with the type of software needed to run a large-scale facility.
  • the methods described herein use sensor technology.
  • the use of sensor(s) includes improving methods of using existing sensors, such as mounting sensors on a moveable system such as a robot to enable a single sensor to monitor a large number of aquariums. This could be desirable for expensive sensors, those needing regular calibration, or situations where a large number of tanks makes individual sensors for each impractical to manage.
  • the use of sensors includes application of the sensors and methods to gather data which isn’t already being collected by pre-existing sensors or data being collecting manually.
  • this includes cameras and computer vision algorithms, which can improve detection of attributes which are currently only measured manually by operators (e.g., size or color of coral) or attributes not currently possible to measure (e.g., using cameras with hyperspectral lighting to uncover problems before they become visible).
  • sensors are used alone or integrated into the facility (e.g., a single thermometer in a water tank).
  • sensors are networked to enable data from each to be collected into a more digestible (e.g., relatively easy analysis) format and improve operators’ understanding of growing conditions (e.g., a centralized dashboard with information on environmental conditions, inventory, or data visualizations such as graphs of temperatures and light levels in each tank).
  • sensors are integrated with software to trigger alerts or prompt operators for care, or to trigger care routines performed by automated systems.
  • sensors mounted to a moveable robotic system have a variety of implements, tools, and sensors to enable it to gather useful information or perform specific tasks.
  • a sensor may be a camera.
  • the camera is of a different focal length depending on the requirements of the application.
  • a fisheye-type lens allows a camera to see a wide area.
  • the camera module includes lighting to ensure consistent illumination of the coral, which can make problems easier to spot for humans or computer vision algorithms, and to enable observations in low lighting (e.g., darkness).
  • the automated monitoring device comprises one or more features to capture clear images of coral while avoiding water reflections. In some cases, reflections on the contours of the coral, can appear in an image as light-colored spots or highlights and make the health of the coral more difficult to assess. To remedy this, for example, the coral could be lifted out of water to take pictures without ripples above the coral.
  • a transparent camera housing (also referred to as an optically clear compartment herein) may be partially submerged in the water to avoid ripples and reflections distorting the view of the organisms (e.g., coral_.
  • the presences of bubbles may be mitigated by having the surface of the housing be curved or tilted, using waterjets, housing movement to disrupt any bubbles that get trapped against the surface, or a combination thereof.
  • turning off a pumps or a device which disturbs the surface of the water before taking the photo such that a light source don’t cause a reflection is implemented to capture a clear image of the organism.
  • using multiple cameras or camera positions to take different photos and combine them to create an image without any reflections or other distortions is implemented to capture clear images of the organisms.
  • moving the organism e.g., coral
  • a special lighting box which the organism could be placed in (in or out of water) with strategically-positioned lighting sources which avoid any reflections is implemented to capture clear images of the organisms.
  • camera, and lighting capabilities incorporate hyperspectral capabilities or filters in order to spot characteristics that may not be as apparent using visible light. For example, some pathogens may be more visible under different frequencies of light.
  • coral fluorescence of both the coral and the algae that exist symbiotically with them can vary with the health of the coral before readily apparent symptoms like discoloration or tissue recession appear, so a hyperspectral observation may enable easier or earlier sighting of problems than currently possible.
  • the camera’s images may enable observation by remote operators as a way to simplify observations of coral, which are typically performed by walking around the tanks.
  • Remote imaging may reduce the time needed to check coral health.
  • well-lit images which are captured close up without reflections and can be quickly perused on large monitors in air-conditioned offices could increase visible detail and reduce operator fatigue.
  • Remote observation could be particularly valuable in the case of vet checks, in which a veterinarian must personally review each coral before it can be placed in the ocean for restoration.
  • an automated system for capturing images regularly may eliminate the need for a vet to visit the facility, or for an operator to photograph the coral manually.
  • regular (e.g., consistent frequency) imaging of the coral enables issues regarding growth or health to be identified sooner in comparison to infrequently imaging.
  • health problems such as infectious diseases
  • can quickly spread e.g., rapid tissue necrosis
  • a system which automatically reviews every single organism (e.g., coral) one or more times per day significantly increases the chance to identify a problem quickly.
  • regular coral imaging enables operators or computer programs to understand the health of coral over time and enable capabilities, like automated detailed measurements of growth, which could be used to provide care feedback for operators and enable more experiments aimed at increasing coral growth or facility yield.
  • common measurements that could be automated with image processing include total linear extension of branching corals, or the surface area of bouldering corals.
  • UI user interface
  • computer vision algorithms enable common problems to be automatically flagged to increase the number of problems caught or reduce the number of organisms (e.g., coral) which operators need to manually review.
  • computer vision algorithms are paired with various automation functions and a nursery management software system to fully automate identifying and addressing problems.
  • common health problems for marine organisms include algae overgrowth (which can look like strings or blobs around the coral, for example) and bleaching (which looks like a lightening of the color of the coral, for example).
  • a camera could make common health problems easier for operators to observe, or to automatically detect. Identifying may be used to either trigger a care routine such as a general cleaning with waterjets, or a precision cleaning approach enabled computer vision such as lasers killing only problem algae around the perimeter of a coral while accounting for the unique contours of that individual coral, for example.
  • the camera integrates with other inventory systems (e.g., RFID tags or QR codes) to enable automatic association of images to known inventory of corals.
  • other inventory systems e.g., RFID tags or QR codes
  • the camera surveys the conditions of tanks (to notify operators or trigger tank maintenance routines), the facility (wet floors or other hazards), the robot or sensors themselves (a sensor which is malfunctioning, or a mechanical breakage), or a combination thereof.
  • one or more sensors are mounted on a system described elsewhere herein.
  • the sensor enables a greater number of measurements to be taken to give a fuller picture of the organism (e.g., coral) health and nursery conditions.
  • the sensors reduce time needed to perform regular or detailed measurements in comparison to a manual operator.
  • sensors mounted on an automated device reduce costs for the nursery in comparison to sensors positioned in each induvial tank in the nursey.
  • sensor mounted on automated device reduce the cost and effort of calibration for sensors, compared with having sensors installed in each tank.
  • a sensor is a light sensor used to measure overall light levels or PAR (photosynthetic active radiation).
  • PAR photosynthetic active radiation
  • a light sensor enables operators to better understand how light correlates with growth rate or health for particular species or genotypes, and to optimize light levels.
  • a light sensor is utilized conjunction with a tool which allows the robot or facility automation to adjust shade on corals
  • a sensor is a thermometer, which could measure temperature in each tank, or even take multiple measurements per tank in different locations.
  • large scale facilities may be limited in their ability to measure individual tank temperatures frequently due to the sheer number of tanks in a facility and may often passively regulate temperature (such as the intake of cold water) with minimal to no temperature feedback control.
  • the systems and methods described herein are integrated with facility automation to enable closed loop temperature control for each tank
  • a sensor is a dissolved oxygen sensor.
  • a sensor is a chemical parameter sensor.
  • a dissolved oxygen or chemical parameter sensor reveals problems on a more granular level. For example, dissolved oxygen decreasing in a tank can reveal health problems earlier compared to other manual methods, which could enable the health problems to be mitigated before the health problem becomes serious.
  • data collected from a sensor or a camera enables various kinds of automated care routines to be triggered, which could be coordinated through a nursery management software described elsewhere herein.
  • a cleaning sequence might be started when a camera detects too many algae around a coral.
  • the system may check water temperature because the nursery management system identifies that the weather forecast indicates daytime temperatures will exceed 90 degrees, and when a temperature above the desired set point is detected, the system could increase the inflow of cold water.
  • a plurality of sensors are integrated into the facility to enable automation and control over growing conditions which may otherwise not be optimal to control with a general-purpose robot.
  • temperature sensors integrated into the facility are integrated with fans to automatically regulate temperature of the tanks.
  • the system could turn fans on when coral need to be cooled and sensors detect that the exterior air temperature is lower than the air temperature inside the facility.
  • water level sensors installed on tanks are used in conjunction with networked solenoid valves to automate draining or changing water in tanks.
  • the systems and methods described herein may include a robotic system that performs physical care actions on marine organisms.
  • physical care actions includes physical movement or cleaning of the organism, cleaning of growth or storage tanks, or administration of various kinds of medicines, nutrients/food, or care, or a combination thereof.
  • another part of the systems and methods described herein includes various kinds of actuation built into the facility infrastructure to enable automation of tasks not suitable for a mobile robot system: draining or cleaning of tanks, general or localized water quality or temperature control, among other features.
  • tasks can be manually prompted by operators or automatically by a larger coral care computer system based on programmed routines or data gathered from sensors, cameras, etc.
  • the systems and methods described herein may utilize a number of components which can take care of marine organisms, including robotic capabilities to observe, move, provide nutrition, and provide pest management, and automation capabilities built into the facility to enable automation of tasks not suitable for a general purpose robotic system.
  • this system is referred to as an automated cleaning device herein.
  • the systems and methods described herein are tasked to care for coral. In some embodiments, the systems and methods described herein are used to care for other marine-based organisms described elsewhere herein.
  • the robotic system can be triggered manually, or algorithmically.
  • the system could take a measurement or move coral from one place to another at the request of an operator or be commanded by a larger nursery management software (for example, checking water temperature or moving coral because the light levels are too high in the area the coral is currently in).
  • the system could operate using complex inventory software and robots to enable a high degree of warehouse automation.
  • described herein is the ability (of the system) to administer individually or group targeted specific substances or interventions for the benefit of the organisms being cultivated.
  • the ability comprises water blasts or other cleaning interventions, chemical or particulate nutrients to nourish coral and enhance their growth rate, medicines, or a combination thereof.
  • the substances can be administered to the water of the system, or individually to coral.
  • spot feeding when a substance is given to individual coral (in the case of food, this is termed “spot feeding”), it has the advantage that more of the substance administered actually reaches the coral with less fouling of the system and wasted cost from the substance not reaching the coral.
  • a disadvantage may include the labor-intensive nature of individually delivering substances to each organism (e.g., coral).
  • spot feeding can be practical at large scale due to the consistency, reliability, and low cost operation. This targeted individual approach can apply to food, as well as other interventions like the application of known water treatments, like UV sterilized or ozonated water, and medicines including KoralMD and Lugol’s iodine.
  • the systems described herein may benefit from the sensors and automatic care routines enabled by the specific features described herein.
  • the systems described herein may bypass the need for a caretaker to spot a need and follow up by automatically sensing needs and acting on them to provide more consistent and timely care.
  • an automated cleaning device configured to remove a pest from a marine-based organism or a substrate.
  • the automated cleaning device is configured to remove a pest from the marine organism or the substrate.
  • a pest comprises algae, detritus, hydroids, sea lice, or some species of bacteria and/or protozoa.
  • the automated cleaning device is configured to remove algae, detritus, or a combination thereof from a marine-based organism or a substrate.
  • the automated cleaning device is configured to remove algae.
  • the automated cleaning device is configured to remove detritus.
  • the automated cleaning device is configured to remove algae and detritus.
  • removal comprises heat (e.g., thermal removal), ozonated water, or a combination thereof.
  • removal comprises heat (e.g., thermal removal).
  • removal comprises the use of ozonated water.
  • removal comprises heat (e.g., thermal removal) and the use of ozonated water.
  • heat removal comprises the use of a laser to generate thermal energy.
  • removal comprising subjecting the marine-based organism or the substrate to wavelength of electromagnetic radiation (e.g., wavelength of light).
  • removal comprises subjecting the marine-based organism or the substrate to ozone.
  • thermal removal may be more precise in removing a pest from a marine-based organism in comparison to a manual method (e.g., removing the pest with a brush).
  • thermal removal may be less harmful to a fragile marine-organism (e.g., young coral) in comparison to a manual method (e.g., removing the pest with a brush.
  • the use of ozonated water for removing a pest may manipulate one or more properties of the water-based environment surrounding the marinebased organism, thereby cleaning any surface of the organism exposed to the water.
  • ozonated water comprises an elevated oxidative reduction potential in comparison to water not comprising ozone.
  • ozonated water oxidizes organic matter on the surface of an organism exposed to water and may remove a pest.
  • the automated cleaning device is coupled to a reservoir comprising water.
  • the reservoir comprising water is a tank, however, this tank is not the same as the tank(s) for culturing (e.g., restoring or growing) the marine-based organisms.
  • one or both of the automated cleaning device and the reservoir is mobile.
  • the automated cleaning device is configured to move within the nursey and visit (and service) the marine-based organisms at their respective locations in the tanks.
  • the automated cleaning device is configured to move with a reservoir comprising water throughout the nursery to visit (and service) the marine-based organisms at their respective locations in the tanks.
  • FIG. 21 shows an illustration of a two compartment system that uses remote actuated valves 2110a, , and 2110c controlled via a Local Area Network (LAN) connected control Prince Circuit Board (PCB) 2110b in order to programmatically control water composition and distribution from a reservoir 2130 to two cone-bottom compartments 2120 designed to facilitate detritus removal by leveraging the density of the detritus in combination with differential pressure generated by the in-rush (e.g., surge) of fluid and additional remote actuated valves at the outlet to create an outgoing current at the bottom of the compartment.
  • Each of the valves 2110a, 2110b, and 2110c are configured to fill the cone bottom compartments with water of varying temperatures and/or nutrient content.
  • the two-compartment system may be used to culture a marinebased organism.
  • FIG. 24 shows an illustration of an automated cleaning device 2410 configured to move within the nursery (i.e., coupled with a gantry 2420) and visit/service the marine-based organisms 2430 at their respective locations within the tanks.
  • the device is equipped with a biosecurity spray station for the gantry (2440), equipment for water quality testing and maintenance (e.g., spectroscope, reagents, chemical additives, filtration) (not shown), equipment for chemically cleaning tanks (not shown), equipment for physically cleaning tanks (not shown), and equipment for treating or cleaning organisms (e.g., thermally, mechanically, chemically) (not shown).
  • a biosecurity spray station for the gantry 2440
  • equipment for water quality testing and maintenance e.g., spectroscope, reagents, chemical additives, filtration
  • equipment for chemically cleaning tanks not shown
  • equipment for physically cleaning tanks not shown
  • equipment for treating or cleaning organisms e.g., thermally, mechanically, chemically
  • removal comprises subjecting the marine-based organism or the substrate to a turbulent flow of water.
  • the turbulent flow of water comprises a Reynold’s number of at least at least 10, at least 50, at least 100, at least 150, 400, at least 800, at least 1000, at least 1200, at least 1500, at least 1800, at least 2000, at least 2500, at least 3000, at least 3500, at least 4000, at least 4500, at least 5000, or more.
  • the turbulent flow of water comprises a Reynold’s number of at least 2,000.
  • the turbulent flow of water comprises a Reynold’s number of at least 4,000.
  • removal comprises subjecting the marine-based organism or the substrate to alternating periods of turbulent flow of water and periods of not turbulent flow of water.
  • not turbulent water comprises still water or calm water (e.g., water with a Reynolds number of less than 3000, less than 2000, or less than 1000).
  • calm water e.g., water with a Reynolds number of less than 3000, less than 2000, or less than 1000.
  • coral is subjected to water with a Reynolds number from about 0 to about 500 for about 1 hour and subsequently is subjected to water with a Reynolds number from about 3000 to about 4500 for about 1 hour.
  • the flow of water from a reservoir is adjustable up to about 50 times (e.g., about 40 times, about 30 times, about 20 times, about 10 times, about 5 times, about 2 times) the volume of the reservoir per hour. In some embodiments, the flow of water from a reservoir is adjustable up to about 20 times the volume of the reservoir per hour. In some embodiments, the flow of water from a reservoir is adjustable up from about 2 to about 50 times the volume of the reservoir per hour.
  • a temperature of the water expelled from a reservoir comprising water is adjustable up to 40 degrees Celsius (e.g., up to 30°C, up to 20°C, up to 10°C, up to 5°C). In some embodiments, a temperature of the water expelled from a reservoir comprising water is adjustable up to 30 degrees Celsius. In some embodiments, a temperature of the water expelled from a reservoir comprising water is adjustable from about 1°C to about 50°C. In some embodiments, the reservoir comprises at least 2 inlets configured to flow water at least two different temperatures into the reservoir to adjust the temperature of the water. In some embodiments, the reservoir comprises three inlets configured to flow water at different temperatures into the reservoir to adjust the temperature of the water.
  • the temperature of water in a reservoir is about 17°C and is adjusted to about 25°C when expelling the water from the reservoir (and into the tank) through combining the water that is 17°C in the reservoir with a sufficient amount of water from an inlet that is coupled to a source of water at a higher temperature (e.g., 50°C).
  • the flow of water and/or temperature of water expelled from a reservoir to a tank is adjusted based on the genotype of specie of the marine-based organism.
  • the combination of water temperature and water flow affects the rate of sediment build up and tissue health for a marine-based organism.
  • water expelled from a reservoir to a tank comprising small polyp stony (SPS) corals is adjusted to between 24°C and 28°C and the flow of water is adjusted to between 5 and 20 times the volume of the reservoir to stimulate growth, prevent sediment buildup and maintain healthy tissue
  • a tank comprising large polyp stony (LPS) corals is adjusted to between 26°C and 30°C and the flow of water is adjusted to between 2 and 10 times the volume of the reservoir to enable optimal nutrient absorption and metabolism from filter feeding that is typical of LPS species.
  • pH of the water expelled from a reservoir to a tank is adjusted based on the needs of the marine organism in the tank.
  • a certain marine organism thrives at a pH of about 8.0, however the automated monitoring device detects a pH of about 7.8 of the water- the pH of the water expelled from the reservoir to the tank is increased such that upon mixing with the water in the tank, the water will reach the ideal pH of about 8.0.
  • the system is configured to automatically expel an acid or base, as needed, to adjust the pH of the water in the tank to an ideal range.
  • the reservoir comprising water further comprises one or more feed or nutrients to be delivered to the marine-based organism.
  • the reservoir is further coupled to an input of feed and/or nutrients for the marine-based organism.
  • feed or nutrients comprise magnesium, calcium, phosphate, nitrate, and oyster-roe.
  • feed or nutrients comprise magnesium.
  • feed or nutrients comprise calcium.
  • feed or nutrients comprise phosphate.
  • feed or nutrients comprise nitrate.
  • feed or nutrients comprise oyster-roe.
  • a tank comprising more than ideal amount of a nutrient is treated with a material to reduce the elevated levels of the nutrient.
  • the ideal nitrate level for stony polyp coral is usually between 2 and 5 ppm, so a tank that has a concentration of nitrate greater than 5 ppm can be treated by diverting the drainage or recirculation flow to a secondary filtration chamber where nitrates can be converted to freely available nitrate by nitrifying bacteria in a bioreactor or nitrifying aquatic flora in a refugia.
  • the ideal phosphate levels for stony corals is usually between 0.02 and 0.05 ppm, so a tank that has a concentration of phosphate greater than 0.05 ppm can be treated with calcium hydroxide (e.g., kalkwasser) to reduce the phosphate levels in the water.
  • calcium hydroxide e.g., kalkwasser
  • magnesium promotes the formation of calcium carbonate skeleton for a marine-based organism (e.g., coral).
  • the reservoir comprises magnesium sufficient to adjust the magnesium concentration of the water in the tank to an optimal level for the marine-based organism.
  • stony polyp coral requires magnesium levels between 1200 and 1400 parts per million (ppm), therefore the automated cleaning device is configured to provide enough magnesium to the tank to raise or adjust the concentration of magnesium accordingly.
  • calcium is a component of the skeleton for a marine-based organism (e.g., coral).
  • the reservoir comprises calcium sufficient to adjust the calcium concentration of the water in the tank to an optimal level for the marinebased organism.
  • stony polyp coral requires calcium levels between 400 and 450 parts per million (ppm), therefore the automated cleaning device is configured to provide enough calcium to the tank to raise or adjust the concentration of calcium accordingly.
  • one or more systems provided herein comprise one or more biosecurity features to prevent the spread of pathogens between tanks or between substrates.
  • the automated feeder comprises one or more biosecurity features.
  • the automated cleaning device comprises one or more biosecurity features.
  • the automated feeder comprises one or more biosecurity features.
  • the nursery comprises one or more biosecurity features.
  • the nursey may comprise a stationary feature (e.g., wash station) comprising one or more biosecurity features for one or more of the automated monitoring device, automated cleaning device, or automated feeder to visit before moving to a tank or moving in between tanks.
  • a biosecurity feature comprises contacting a system with fresh water.
  • a biosecurity feature comprises flushing the system with fresh water one or more times.
  • a biosecurity feature comprises pumping fresh water through a pump or tube.
  • a biosecurity feature comprises mixing fresh water in a compartment or reservoir of a system described herein.
  • one or more systems described herein are enclosed in waterproof casing.
  • the systems described herein are coated with a waterproof (e.g., hydrophobic) material.
  • waterproofing a system prevents corrosion from salt water.
  • waterproofing a system protects an electronic system housed within the system.
  • the systems and methods described herein may have the ability use high pressure waterjets to remove algae and other pests.
  • high pressure is beneficial over a low pressure flow of water to “irrigate” coral, which may not indicate removal of algae or pests.
  • the systems and methods described herein use lasers to remove algae and other pests.
  • an automated feeder for delivering one or more nutrients or food to the marine-based organisms.
  • the automated feeder administers one or more food or one or more nutrients to a marine-based organism.
  • the automated feeder enables control overdosing nutrients, provides individualized food/nutrients combinations between organism to organism based on its needs, adapts a consistent schedule, or a combination thereof.
  • the automated feeder may reduce manual labor required to feed a marine-based organism.
  • controlled administration of food and/nutrients to a marine-based organism is prevents water in which the marine organism is residing in becoming polluted.
  • the systems and methods described herein have the ability to administer chemicals and medicines to coral to automate treatment of diseases and other problems.
  • the automated feed is coupled to the automated cleaning device.
  • the automated feeder comprises a compartment for holding dry food and/or nutrients, a system (e.g., mixer) to optionally combine the dry food and/or nutrients with water, and a mechanism for dispensing dry food and/or nutrient mix or for dispensing a viscous mixture of the food and/or nutrients in water.
  • a mechanism for dispensing the food and/or nutrients comprises one or more pumps, one or more tubes, one or more nozzles, or a combination thereof.
  • the automated feeder comprises an electrical system configured to sense, control, or monitor the food dispensation.
  • the automated feed is configured to dispense a dose of dry feed or nutrients directly to marine-based organism.
  • a compartment comprising dry food and/or nutrients enables storage of shelf-stable food to be stored for up to 6 months without any manual intervention.
  • a dry food compartment may hold shelfstable provisions for up to 6 months whereas typical wet (e.g., pre-mixed) food mixes for marine-organisms spoil within 3 weeks if not refrigerated. In such cases, manual intervention is required more frequently to replenish the food source for the marine organisms.
  • the automated feeder is configured to dispense a dose of liquid feed or nutrients to the marine-based organism. In some embodiments, the automated feeder is configured to dispense a dose of viscous (e.g., semi-solid) feed or nutrients to the marine-based organism. In some embodiments, the automated feed comprises a reservoir to mix and hold a dose of food and/or nutrients. In some embodiments, the reservoir comprises an inlet for the dry food and/or nutrients and an inlet for a source of liquid (e.g., water). In some embodiments, the inlet is a pump or a tube. In some embodiments, the reservoir comprises a mechanism for mixing.
  • wet food e.g., pre-mixed food or naturally wet food
  • wet food is directly added to the reservoir for administering to a marine-organism in controlled amounts.
  • wet food is directly administered to the marine organism from the reservoir without mixing or the use of pumps.
  • the automated feeder mixes dry food with a liquid (e.g., water) to prevent the dry food from staying afloat in the water in a tank (and prevent the food from reaching the marine organism in some cases).
  • a liquid e.g., water
  • the mixing mechanism e.g., mixer, shaker
  • continuously mixing the food enables a consistent composition to be administered to the marine organisms.
  • the automated feeder comprises one or more pumps or one or more tubes to dispense food and/or nutrients to the marine-based organisms.
  • the pumps are peristaltic pumps, a diaphragm pump, or any other suitable pump.
  • one or more pumps is a peristaltic pump.
  • a peristaltic pump moves consistent volume of liquid, and therefore a consistent volume of food, to be administered to the marine organisms.
  • consistent administration of food requires minimal additional sensing, monitoring, or control of the system.
  • the automated feeder is configured to move within the nursery to administer food and/or nutrients to the marine-based organisms.
  • the automated feeder is a separate system configured to move in up to 3 axes.
  • the automated feeder is coupled with the automated cleaning device.
  • the automated feeder is coupled with the monitoring device.
  • FIG. 23 illustrates an example of an automated feeder coupled with an automated monitoring device 2320.
  • the automated feeder comprises a dry food compartment 2320 connected to a reservoir 2330 for mixing.
  • the reservoir 2330 is coupled with a motor 2370 for stirring the dry food and water from an inlet 2360 prior to utilizing a pump 2340 to direct the food mixture through a food line 2350 into the tank.
  • application of specific substances can be accomplished with a hose or pump supplying the substance to the robot from a source off the robot, or a reservoir in the robot with a dispenser such as a nozzle.
  • a waterjet is utilized, where a stream of water or water mixed with additives described above can be applied to individual coral or groups of coral to remove detritus, unwanted algae, or pests.
  • the waterjet system consists of a single nozzle or multiple nozzles.
  • the jets spray under water, which may lessen the force on coral and reduce the potential for them to become irritated by the process of cleaning.
  • spraying coral with jets while out of water may decrease the effect of distance on force.
  • force of waterjets decreases in a relatively shorter distance underwater, which may prove as a challenge to position coral in the optimal zone for cleaning where algae or pests are successfully removed but the coral isn’t irritated by an intolerable force.
  • a system comprising a plurality of nozzles is able to clean more coral simultaneously.
  • nozzles facing up and down with a coral passed between them are able to clean both top and bottom sides of the coral simultaneously.
  • the waterjet system selectively control nozzles so that spray streams don’t interfere with each other. For example, firing opposing top and bottom nozzles may not result in a coherent spray pattern which may be effective at removing algae or pests.
  • the nozzles spray fresh water, water with bubbles if desired, water infused with substances such as medicines, chemicals, or nutrients, or a combination thereof.
  • the nozzles are mounted on an automated cleaning device, or on a stationary cleaning station which marine-based organism (e.g., coral) are brought to.
  • marine-based organism e.g., coral
  • the use of lasers enables unwanted organisms to be suppressed or killed by application of focused light. In some cases, the use of lasers may generate sufficient heat to kill the targeted organism (depending on the intensity and duration).
  • the systems and methods described herein utilize lasers which can be applied to marine-based organisms (e.g., coral), or substrates.
  • the systems and methods described herein suppress or kill organisms (e.g., algae) which are competing with or otherwise harming the marine-based organism (e.g., coral) being grown or restored.
  • organisms e.g., algae
  • the marine-based organism e.g., coral
  • pests e.g., algae
  • a laser is used to kill algae in a small ring or large area around the coral. This may enable the coral to have a larger space to growing some embodiments, not all algae is removed. For example, some algae prevents other, less desirable algae from attaching and growing to the marine-based organism.
  • the systems and methods described herein are used to remove algae from substrates and other surfaces around growing coral.
  • other pests could also be targeted by the system.
  • hydroids are a common pest in some areas which can sting and irritate coral, which a laser could be used to kill.
  • a laser is used to fragment organisms to be propagated asexually (such as coral broodstock). For coral, this may be achieved by growing coral broodstock on a laser cuttable material, such as plastic. Once the broodstock is a suitable size, the laser can then cut the coral tissue and substrate into smaller pieces to be grown out.
  • the coral skeleton could be cut with a suitable laser (e.g., suitable power or wavelength). If both the coral tissue and substrate have been cut, then a sufficiently thin skeleton could easily be broken by hand or other manual methods as the coral are being partitioned to grow.
  • a laser is used to clean surfaces (e.g., equipment or aquariums).
  • the laser beam passes through a focusing lens which bends the beam inward to a point right above the area to be cut.
  • the beam is focused at a specific distance from the lens to enable intense and focused application of heat to cut or engrave, but diffuse further away from the lens, resulting in a general spot which can be heated with the laser radiation. For example, this property could be exploited to heat clean sensitive surfaces which the focused beam would damage, but which the diffuse beam may only cause to heat up and remove grime or fouling and kill pests.
  • the laser is operated blindly or by utilizing sensing. For example, a laser executes preprogrammed routines without incorporating information about the specific object being targeted. For example, it could strike areas and kill pests where coral are known not to be, based on the design of known substrates.
  • sensing comprises techniques like computer vision, where a camera identifies coral and pests, and sends the laser a custom program to achieve a particular objective. For example, sensing may result in eradicating all the competing algae around the perimeter of a coral while accounting for the unique contours of that individual coral. In some embodiments, sensing comprises lidar, sound, or touch.
  • the laser system is mounted on the robotic part of the system which could allow it to be moved around the facility to reach different needs, or part of a fixed station which workpieces and coral are brought to.
  • the laser is controlled via any number of methods.
  • a method comprises a cartesian coordinate system such as a gantry, or a galvanometer mirror system.
  • the laser is any type suitable for the desired application (e.g., CO2 or fiber type).
  • a cleaning method comprises the use of electricity or other forms of energy to heat substrates to kill pests.
  • this comprises an electrically conductive net or string substrate which the coral grow on.
  • electrical current is applied to the substrate (such as by direct electrical contact with an applied voltage, or electromagnetic induction similar to an induction cooktop), and electrical resistance causes it to heat up. In some embodiments, this is controlled with timers, or active feedback to measure the current temperature of the substrate and only heat it as much as needed to remove pests.
  • the robotic system could have a variety of implements, tools, and sensors to enable it to gather useful information or perform specific tasks.
  • the robotic system comprises sensors such as cameras, light level sensors, and others.
  • the automatic system comprises a geometry which enables the system (e.g., automated monitoring device) to pick up coral.
  • picking up and moving coral reduces time and operators who keep track of the marine-based organisms (e.g., coral).
  • using a primarily automated movement system reduces human labor needed to load the marine-based organism (e.g., coral) into the nursery, move the organism over its time in the nursery, and pack the organism out for outplanting.
  • cognitive burden and errors associated with keeping track of specific marine- based organism (e.g., coral) genotypes is reduced.
  • the marine-based organisms are moved using hooks or other geometry designed to interface with substrates such as frag plugs or our grouped substrates.
  • the end effector may comprise the hook or geometry to interface with a substrate.
  • a geometry may be a frybasket configuration described elsewhere herein.
  • a grabber can be used, which allows the system to pick up individual corals.
  • his can take the form of a conventional robotic gripper with fingers, grippers involving suction, soft robotic grippers such as ones utilizing pressure or jamming, or other.
  • the automated monitoring device, the automated cleaning device, and/or an automated feeder comprises water nozzles or dispensers for chemicals, food or nutrients, or medicines, a siphon or water intake which can be used to suck up waste and detritus in order to automate this basic cleaning task, a system capable of spraying chemicals (such as acid or bleach) or treated water (such as ozonated water) in order to automate cleaning of raceways, a feature which interfaces with shade cloths or panels, which may enable the robot to adjust shade on corals as needed, or a combination thereof.
  • a siphon or water intake which can be used to suck up waste and detritus in order to automate this basic cleaning task
  • a system capable of spraying chemicals such as acid or bleach
  • treated water such as ozonated water
  • a marine organism is referred to as a marine-based organism herein.
  • a marine organism is a marine restoration organism.
  • a marine organism is a marine invertebrate.
  • a marine organism is a marine plant.
  • a marine organism is an herbivorous fish.
  • a marine invertebrate is a coral, an annelid, an arthropod, a crustacean, an echinoderm, a starfish, a crinoid, an urchin, a mollusk, a gastropod, a cephalopod, a sea anemone, a sponge, or a tunicate.
  • a marine invertebrate is a coral.
  • a coral is a corallimorph, a hydrocoral, a large- polyp stony, a small-polyp stony, a soft coral, or a zoanthid.
  • a marine invertebrate is a crustacean (e.g., a crab, a lobster, a shrimp).
  • a marine invertebrate is a mollusk (e.g., an oyster, a clam, a scallop).
  • a marine invertebrate is a gastropod (e.g., a snail, a conch).
  • a marine organism is a coral.
  • a marine plant is seagrass. In some embodiments, a marine plant is a mangrove. In some embodiments, a marine plant is kelp.
  • a marine-based organism e.g., coral
  • a marine-based organism is harvested from a natural water source.
  • a marine-based organism is captively bred.
  • a marine-based organism e.g., coral
  • the handling substrate described elsewhere herein is coupled with any marine restoration organism.
  • the systems and methods described herein can be adapted to provide care for any marine restoration organism.
  • an automated monitoring or handling device described elsewhere herein can be used to provide its functions to any of the marine-based organisms described herein (e.g., coral).
  • a marine restoration organism is a marine invertebrate or a marine plant.
  • a marine-based organism is an herbivorous fish.
  • various sensors and actuators are used to enable automation and control various aspects of growing conditions.
  • some aspects of growing conditions are challenging to optimize and control with a general purpose robot.
  • features include control of heaters or chillers to correct tank temperatures.
  • networked solenoid valves are used to automate draining or changing water in tanks during tank rotation (where a tank is fully drained and cleaned to reduce buildup of algae or other organisms) or to pull water of different temperatures to change intrinsic or extrinsic properties needed for growth optimization or experiments in individual tanks. In some embodiments, this is in conjunction with a facility automation or robot-mounted system to spray chemicals used to clean a tank, which may all be triggered manually or by a larger nursery control software system.
  • the tank comprises one or more sensors for closed loop control.
  • temperature control can be integrated with various sensors (such as a thermometer mounted to the gantry) to enable closed loop control of individual tanks. In some embodiments, control of each tank temperature enables greater optimization of growing conditions.
  • the tank is coupled to a computer system configured to manage a schedule, manage one or more set points, or a combination thereof.
  • the computer system is configured to automatically adjust one or more parameters of the nursery system based on analysis of collected data. For example, some coral prefer warmer or cooler water than other coral, which may even vary by genotype. By enabling nursery operators to easily measure and control or change temperature, the systems and methods described herein can reduce the difficulty of identifying and catering to these individual differences. This may also allow for more specific temperature manipulation such as deliberately high or low temperatures to strengthen coral or achieve other specific objectives.
  • parameters that may be adjusted by the computer system comprise water pressure, water temperature, ozonation levels, cleaning method, monitoring, or a combination thereof. For example, a level of dirt and/or algae is detected in a tank than a set threshold, and this triggers the automated cleaning device to implement removal of the dirt and/or algae.
  • the systems and methods described herein utilize a flow nozzles and other interventions to create specific flow patterns in raceways to funnel pests (e.g., detritus such as waste from herbivores) into drains.
  • pests e.g., detritus such as waste from herbivores
  • Such features may eliminate the need for workers to remove this waste.
  • networked facility fans and temperature sensors automatically regulate temperature in the growing facility.
  • the system turns fans on when coral needs to be cooled and exterior temperature is lower than temperature inside facility.
  • the facility comprises moveable sunshades which are automatically moved in response to temperature or photosynthetic active radiation (PAR) levels on a facility level or smaller scale (e.g., a portion of a raceway containing coral which are lighter sensitive).
  • PAR photosynthetic active radiation
  • tools and sensors which are described elsewhere herein mounted on the robot as compared to integrated into the facility can be exchanged with one another.
  • a waterjet coral cleaning system or coral feeder could be mounted on the robot itself, or in a dedicated station not affixed to the robot.
  • a light level sensor or device for changing the amount of shade on corals could be mounted to the robot or integrated into the facility.
  • any of the automated systems described herein can be integrated a software or with a sensing system and/or a nursery management system to make sensing the need for various activities automatic as well as triggering and performing the activities themselves.
  • sensors, and actuators for various tanks within a system are connected via standard data and power protocols (e.g., Power Over Ethernet, or POE) for enabling centrally controlled systems
  • a system to enable superior production of organisms using software to manage operations and data facilitates capture and visualization of data, tracks variance across species and specific genotypes of different organisms, and coordinates human or automated activities to help a growing facility or multi-facility operation improve its performance.
  • the system enables data collection coupled with automated environmental manipulation to assist in conducting experiments designed to systematically characterize phenotypic responses of a given genotype to various controllable parameters (e.g., temperature, flow rate, feed, light exposure).
  • an automated monitoring device described elsewhere herein is coupled to a computer system comprising a software.
  • the software is configured to track inventory records, collect data, store data, analyze data, or a combination thereof.
  • coupled data is used to inform propagation within the facility.
  • propagation within the facility is informed according to genetic traits (e.g., thermal tolerance, disease tolerance, or environmental suitability as it relates to conditions like flow, depth, or temperature), the need for species or genetic diversity at a particular site which is being monitored, or a combination thereof.
  • the software provides a database manipulation tool for tracking inventory.
  • the software further provides life-support-system integration (e.g., collecting data at the nursery level), automated imaging and sensing modules, closed-loop control of measured parameters (e.g., coral health), or a combination thereof.
  • systems and methods described herein utilize automation to tie into a network of sensors and computer vision capabilities as well as an intelligent nursery management software system, which enables problems or work that needs to take place to be automatically detected, scheduled, and executed with minimal or without human intervention.
  • systems, and methods utilize cameras that are connected to an image processing system, enabling data to be extracted.
  • software that streamlines the planning, coordination, and communication of results from all the measurements and actions yielded by the automated devices described herein can improve care and management of growing operations.
  • the systems described herein enables improved tracking and management of family, species, and genotype level performance by enabling a digitized nursery inventory management system and coupling it with an electronic medical record of care for the organisms in the nursery.
  • a software is used to enable improved operation and data management of a facility growing organisms that require or are benefitted by data driven record keeping.
  • this includes methods of visualizing data collected from sensors or operators.
  • this enables aggregation of various kinds of data collected from staff or sensors to facilitate operators to understand various trends.
  • the systems described herein can be used to calculate the effect of water temperature on the growth rate of an organism.
  • a camera used to photograph coral is be tied in with other inventory systems (e.g., RFID tags or QR codes) to enable automatic association of images to a known inventory of corals.
  • the systems and methods described herein can manage and highlight biodiversity and genetic performance differences by creating a centralized database, accessible via locally hosted network or internet connection, to store and record the total population counts, genetic sequencing, relatedness to other genotypes on site or in the wild, growth rates, disease susceptibility, environmental preferences for light and temperature, response to treatments, harvest location or region of origin and targeted outplant location. In some embodiments, this aids restoration by ensuring adequate amount of broodstock coral are kept on site, providing practitioners with suggested outplanting amounts to ensure continuation of the genotype.
  • this aids in selectively cross breeding resilient organisms by tracking historical nursery data and highlighting compatible genotypes for propagation (i.e., a genotype that exhibits disease resistance should be sexually bred with a genotype that exhibits higher temperature tolerance). In some embodiments, this aids in coordinating between facilities within the same organization, or different organizations that operate in the same restoration region, to ensure that a single genotype is not dominant in an outplanting region, raising the risk of susceptibility to a mass mortality event
  • the systems and methods described herein can identify genotypes that are best suited for particular environments either in situ or ex situ (e.g., low light, or high flow) and optimize placement and growth locale.
  • the system supplements genetic data management with inputs such as sensor data to be processed and communicated to make information and trends more apparent to operators, or to determine courses of action automatically.
  • this system incorporates user input, sensor data, or care programs to prompt operators to perform various tasks, or to trigger robots or automation to automatically provide care.
  • this system includes calculations and sophisticated analysis of data captured manually by operators or automatically by sensors.
  • the system can bring problems or trends evident in data to the attention of operators, track which coral will be ready to outplant next, track the optimal date to plant based on weather forecasts or other data, analyze images of coral to detect a parasite or overgrowth of algae, display the health of all the coral in the facility on a centralized dashboard, and/or analyze a series of images of the same coral over time to automatically measure its growth rate.
  • algorithms are used to analyze images from a camera to survey various attributes. These attributes include the conditions of tanks (to notify operators or trigger tank maintenance routines), the facility (to identify wet floors or other hazards), or an automated movement system (to identify a sensor which is malfunctioning, or a mechanical breakage).
  • software is integrated with other systems to trigger automatic collection of data or automated care routines.
  • controlling robots or nursery automation can be used to move a camera and take a picture of each coral in the facility, which can then be displayed on a dashboard before human staff arrive for the workday.
  • coordinating sensor data, actuators or robots can create sensor or algorithm-driven care routines. Such care routines can be used to move a coral to a freshly cleaned tank, for example.
  • a camera may detect too many algae growing near a coral, and the system can then command a robot to move the coral to a cleaning station where a jet of water removes the algae.
  • the care system may determine that coral measurements and health determined from image analysis indicates that a batch of coral are ready to outplant, so the system can then move them to a loading area.
  • coordinating sensors with various kinds of automation enables relatively high quality care with relatively low labor costs.
  • the system and methods described herein enable automation of experiments.
  • the system could perform planning and coordination of automated systems to perform an experiment without the need for human support, where one batch of coral may be singled out and subjected to one treatment, with the results then analyzed and communicated to operators.
  • an experiment can be performed where the system increases water temperature by 1 degree for a batch of coral and measures a 10% increase in growth rate over 1 month, which it then communicates to nursery operators.
  • the systems and methods described herein improve tracking of coral, such as by QR codes attached to coral substrates or other surfaces to keep track of individual coral and tell different species or genotypes apart.
  • the substrates comprise a digital tag for tracking and management.
  • a digital tag comprises a barcode or a QR code.
  • a device can be used for helping to simplify handling of coral which can also hold an identifier for the coral such as a QR code, which a camera can read and the software system can register to keep track of where the coral is in the facility, and what care routines have been provided.
  • a digital application which can enable straightforward capture of data by operators via a device (e.g., a smartphone) into the system. This is in contrast to methods like writing in notebooks which have to be transcribed later.
  • the digital application is used for recording measurements which can’t readily be captured digitally, or longform data (e.g., detailed written observations). For example, a facility may want to track how compounds released from decomposing sargassum seaweed in the area are affecting water quality and coral health, but only have chemical test kits. An operator could perform the test and then enter the data to enable comparison of how an attribute like coral growth or bleaching changes in response to this compound in the water.
  • the digital application could allow facilities to benefit from the software, systems, and methods described herein independent of the sensors or other aspects (e.g., automated care device) of the systems.
  • Enabling genetic experimentation and inventory management at scale may increase knowledge in optimizing growth in the target organisms.
  • human caretakers and automated systems can be prompted to provide more timely, genetically specific care, or an automatic care routine that can immediately respond and adapt care.
  • automatically sensing needs and acting on them could provide more precise and specific care.
  • FIG. 26 shows a computer system 101 that is programmed or otherwise configured to implement a method for automating a nursery.
  • the computer system 101 may be configured to, for example, control the temperature of a water tank or to trigger cleaning of a coral as discussed elsewhere herein.
  • the computer system 101 can be an electronic device of a user or a computer system that is remotely located with respect to the electronic device.
  • the electronic device can be a mobile electronic device.
  • the computer system 101 may include a central processing unit (CPU, also "processor” and “computer processor” herein) 105, which can be a single core or multi core processor, or a plurality of processors for parallel processing.
  • the computer system 101 also includes memory or memory location 110 (e.g., random-access memory, read-only memory, flash memory), electronic storage unit 115 (e.g., hard disk), communication interface 120 (e.g., network adapter) for communicating with one or more other systems, and peripheral devices 125, such as cache, other memory, data storage and/or electronic display adapters.
  • the memory 110, storage unit 115, interface 120 and peripheral devices 125 are in communication with the CPU 105 through a communication bus (solid lines), such as a motherboard.
  • the storage unit 115 can be a data storage unit (or data repository) for storing data.
  • the computer system 101 can be operatively coupled to a computer network ("network") 130 with the aid of the communication interface 120.
  • the network 130 can be the Internet, an internet and/or extranet, or an intranet and/or extranet that is in communication with the Internet.
  • the network 130 in some cases is a telecommunication and/or data network.
  • the network 130 can include one or more computer servers, which can enable distributed computing, such as cloud computing.
  • the network 130 in some cases with the aid of the computer system 101, can implement a peer-to- peer network, which may enable devices coupled to the computer system 101 to behave as a client or a server.
  • the CPU 105 can execute a sequence of machine-readable instructions, which can be embodied in a program or software.
  • the instructions may be stored in a memory location, such as the memory 110.
  • the instructions can be directed to the CPU 105, which can subsequently program or otherwise configure the CPU 105 to implement methods of the present disclosure. Examples of operations performed by the CPU 105 can include fetch, decode, execute, and writeback.
  • the CPU 105 can be part of a circuit, such as an integrated circuit.
  • a circuit such as an integrated circuit.
  • One or more other components of the system 101 can be included in the circuit.
  • the circuit is an application specific integrated circuit (ASIC).
  • ASIC application specific integrated circuit
  • the storage unit 115 can store files, such as drivers, libraries and saved programs.
  • the storage unit 115 can store user data, e.g., user preferences and user programs.
  • the computer system 101 in some cases can include one or more additional data storage units that are located external to the computer system 101 (e.g., on a remote server that is in communication with the computer system 101 through an intranet or the Internet).
  • the computer system 101 can communicate with one or more remote computer systems through the network 130.
  • the computer system 101 can communicate with a remote computer system of a user (e.g., an operator overseeing or monitoring the fabrication of various film materials from waste cooking oil, etc.).
  • remote computer systems include personal computers (e.g., portable PC), slate or tablet PC's (e.g., Apple® iPad, Samsung® Galaxy Tab), telephones, Smart phones (e.g., Apple® iPhone, Android-enabled device, Blackberry®), or personal digital assistants.
  • the user can access the computer system 101 via the network 130.
  • Methods as described herein can be implemented by way of machine (e.g., computer processor) executable code stored on an electronic storage location of the computer system 101, such as, for example, on the memory 110 or electronic storage unit 115.
  • the machine executable or machine-readable code can be provided in the form of software.
  • the code can be executed by the processor 105.
  • the code can be retrieved from the storage unit 115 and stored on the memory 110 for ready access by the processor 105.
  • the electronic storage unit 115 can be precluded, and machine-executable instructions are stored on memory 110.
  • the code can be pre-compiled and configured for use with a machine having a processor adapted to execute the code or can be compiled during runtime.
  • the code can be supplied in a programming language that can be selected to enable the code to execute in a precompiled or as-compiled fashion.
  • aspects of the systems and methods provided herein can be embodied in programming.
  • Various aspects of the technology may be thought of as “products” or “articles of manufacture” typically in the form of machine (or processor) executable code and/or associated data that is carried on or embodied in a type of machine readable medium.
  • Machine-executable code can be stored on an electronic storage unit, such as memory (e.g., read-only memory, random-access memory, flash memory) or a hard disk.
  • Storage type media can include any or all of the tangible memory of the computers, processors or the like, or associated modules thereof, such as various semiconductor memories, tape drives, disk drives and the like, which may provide non-transitory storage at any time for the software programming. All or portions of the software may at times be communicated through the Internet or various other telecommunication networks. Such communications, for example, may enable loading of the software from one computer or processor into another, for example, from a management server or host computer into the computer platform of an application server.
  • another type of media that may bear the software elements includes optical, electrical, and electromagnetic waves, such as used across physical interfaces between local devices, through wired and optical landline networks and over various air-links.
  • a machine readable medium such as computer-executable code
  • a tangible storage medium such as computer-executable code
  • Non-volatile storage media including, for example, optical or magnetic disks, or any storage devices in any computer(s) or the like, may be used to implement the databases, etc. shown in the drawings.
  • Volatile storage media include dynamic memory, such as main memory of such a computer platform.
  • Tangible transmission media include coaxial cables; copper wire and fiber optics, including the wires that comprise a bus within a computer system.
  • Carrier-wave transmission media may take the form of electric or electromagnetic signals, or acoustic or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications.
  • RF radio frequency
  • IR infrared
  • Common forms of computer-readable media therefore include for example: a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD or DVD-ROM, any other optical medium, punch cards paper tape, any other physical storage medium with patterns of holes, a RAM, a ROM, a PROM and EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave transporting data or instructions, cables or links transporting such a carrier wave, or any other medium from which a computer may read programming code and/or data (e.g., cloud).
  • Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution.
  • the computer system 101 can include or be in communication with an electronic display 135 that comprises a user interface (UI) 140 for providing, for example, a portal for a user to monitor or track one or more processes for fabricating flexible film materials from waste cooking oil and compounds derived therefrom.
  • UI user interface
  • the portal may be provided through an application programming interface (API).
  • API application programming interface
  • a user or entity can also interact with various elements in the portal via the UI.
  • Examples of UI's include, without limitation, a graphical user interface (GUI) and web-based user interface.
  • Methods and systems of the present disclosure can be implemented by way of one or more algorithms.
  • An algorithm can be implemented by way of software upon execution by the central processing unit 105.
  • the algorithm may be configured to adjust or trigger operation of a pump upon sensing of a specified parameter, like flow of water is increased upon detecting a pest on a coral.
  • a nursery system for restoring or growing marine-based organisms comprises the systems described elsewhere herein.
  • the nursery system comprises an automated monitoring device 1620 as an endeffector.
  • the automated monitoring device is coupled to a gantry 1670 that enables the automated monitoring device to move in one dimension (e.g., automated monitoring device is stationary on gantry and the gantry moves in one dimension along the siderails 1680 or the gantry is stationary, and the automated monitoring device moves along the gantry).
  • the automated monitoring device is configured to move in 2 dimensions (e.g., automated monitoring device moves along the gantry while the gantry moves along the siderails).
  • the automated monitoring device moves in a 3 rd dimension (e.g., by lowering or raising itself while stationary on the gantry).
  • the nursery system comprises an automated cleaning device.
  • a stationary cleaning area is shown 1635.
  • the automated monitoring device 1620 behaving as an end effector is enabled to couple to a substrate 1610 comprising the marine-organism(s) and transport it to the cleaning area 1635.
  • the nursery system may comprise a system for packing and transporting the marinebased organisms 1660.
  • the packing and transporting system may be enabled with digital tracking feature (e.g., barcode or QR code).
  • digital tracking feature e.g., barcode or QR code.
  • the marine-based organisms can be stored and transported in this device for outplanting.
  • FIG. 20 provides a schematic of an automated monitoring device 2020 coupled to a mechanism 2030 for lifting and moving a substrate 2010.
  • the mechanism can lift or move a substrate from or to a tank without submerging the entirety of the automated monitoring device underwater.
  • FIG. 22 depicts a schematic of a nursery system. Additives, calcium, acid/base, nutrients, among other components can be added to water adjusted a certain temperature and flow.
  • the nursery system comprises a tagging area outside of the tanks area and further comprises tags on baskets, nets, or coral on substrates within the tank.
  • the tanks may further comprise one or more of snails, crabs, urchins, or fish and additional mechanisms for circulating water within the tank.
  • the water that exits the tank area comprises a certain flow, and materials like algae and detritus upon implantation of a cleaning method.
  • the gantry comprises the features necessary for monitoring, cleaning, and handling the marine-based organisms.
  • FIG. 17 shows an example of a scaled nursery system comprising over 50 separate tanks 1740 with substrates 1710 for growing or restoring the marine-organisms.
  • a scaled system may comprise only a single gantry 1740 for moving about one or more automated monitoring device 1720.
  • Such a scaled system may comprise a plurality of compartments and reservoirs with water to provide water, nutrients, food, or a combination thereof to the marinebased organisms.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Farming Of Fish And Shellfish (AREA)

Abstract

L'invention concerne des systèmes et des procédés d'automatisation et de gestion de séries d'organismes marins. Selon un aspect, l'invention concerne un substrat de manipulation comprenant une ou plusieurs zones de montage configurées pour coupler un ou plusieurs organismes marins et une ou plusieurs interconnexions configurées pour connecter des zones de montage, le substrat étant flexible et configuré pour être planté dans un environnement marin. Selon un autre aspect, l'invention concerne un système de culture d'organismes marins comprenant un substat flexible, un dispositif de surveillance automatisé et un dispositif de nettoyage automatisé, le dispositif de surveillance automatisé et/ou le dispositif de nettoyage automatisé étant en communication avec un système informatique configuré pour collecter des données à partir du ou des dispositifs.
PCT/US2023/073009 2022-08-29 2023-08-28 Systèmes et procédés de soins automatisés d'aquaculture marine WO2024050313A1 (fr)

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