Abstract: A cleaning system includes a chassis supporting a propulsion system for propelling the cleaning system across a surface. At least one sensor of a first type is coupled to the chassis, and a surface engagement mechanism is configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface. A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface, and a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor. The controller is configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal.

Abstract: A cleaning system includes a chassis supporting a propulsion system for propelling the cleaning system across a surface. At least one sensor of a first type is coupled to the chassis, and a surface engagement mechanism is configured to maintain the cleaning system coupled to the surface as the propulsion system propels the cleaning system across the surface. A cleaning device is coupled to the chassis and configured to abrade the fouling from the surface, and a controller coupled to the chassis and in signal communication with the propulsion system and the first sensor. The controller is configured to receive a signal from the at least one sensor of the first type and control the propulsion system in response to the signal.

Abstract: A method and apparatus for the cleaning of an underwater surface, such as a hull. The method and apparatus enables cleaning to be conducted while mitigating the release of removed material into surrounding waters. The integrated apparatus includes a cleaning deck for removing fouling from the underwater hull surface, and a pre-processing deck with integrated components for the processing of cleaning effluents. According to the method and apparatus, materials removed by the shroud are sucked into the pre-processing deck, crushed, and separated into a separator effluent that may be recycled to the shroud, and a concentrate, which is discharged to a land treatment unit for further processing.

Abstract: A method and apparatus for the cleaning of an underwater surface, such as a ship hull. The method and apparatus enables cleaning to be conducted while mitigating the release of removed material into surrounding waters. The integrated apparatus includes a cleaning vehicle for removing fouling from the underwater hull surface, and a land treatment unit for treating liquid waste that is conveyed to the land treatment unit from the cleaning vehicle. The cleaning vehicle may include a pre-processing unit that pre-treats substances removed during the cleaning process.