Abstract: A system for servicing watercraft includes one or more waterborne platforms. Each waterborne platform includes an electric power supply, a driving system for moving the waterborne platform in a body of water, a watercraft interfacing system configured to at least supply electric power to an electrically-powered watercraft, and a control interface configured to exchange data with a controller. The controller is configured to: receive input data, determine respective destination locations for the waterborne platforms to supply electric power to the electrically-powered watercraft, and send control data that includes data indicating the destination locations to the waterborne platforms.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for self-calibrating ultrasonic removal of sea lice. In some implementations, a method includes generating, by transducers distributed in a sea lice treatment station, a first set of ultrasonic signals, detecting a second set of ultrasonic signals in response to propagation of the first set of ultrasonic signals through water, determining propagation parameters of the sea lice treatment station based on the second set of ultrasonic signals that were detected, obtaining an image of a sea louse on a fish in the sea lice treatment station, determining, from the image, a location of the sea louse in the sea lice treatment station, and generating a third set of ultrasonic signals that focuses energy at the sea louse.

Abstract: Certain embodiments of an indoor unit (e.g., an indoor unit for a heat pump system) include: a housing comprising an exit-point on a wall-side of the housing, the exit point comprising a refrigerant line and the housing having a height of less than 11 inches; a heat-exchanger connected to the refrigerant line, wherein a portion of the refrigerant line that is external to the heat exchanger, and that runs internal to the housing and between the heat exchanger and an outdoor unit, runs substantially within a height-depth plane of the housing prior to exiting the housing and traverses less than 25% of a width of the housing; and a fan, wherein the indoor unit is configured to exchange at least 8000 BTUs/hour with a room and wherein the indoor unit produces a noise of 48 dBA or less.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for underwater feed movement detection. In one aspect, the method may include the actions of obtaining images captured at different time points, where the images are captured by a camera and indicate feed that has been dispersed by a feeder for aquatic livestock inside an enclosure; determining, for each image, respective locations of the feed indicated by the image; determining, from the respective locations of the feed, a respective movement of the feed over the different time points; determining, based on the respective feed movement of the feed over the different time points, water current movement within the enclosure for the aquatic livestock; and outputting an indication of the water current movement.

Abstract: Methods, systems, and computer-readable media that implement an autonomous modular breakwater system. An example system includes a plurality of autonomous submersible structures, each configured to mechanically link to any other of the plurality of autonomous submersible structures to form a breakwater.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for self-calibrating ultrasonic removal of sea lice. In some implementations, a method includes generating, by transducers distributed in a sea lice treatment station, a first set of ultrasonic signals, detecting a second set of ultrasonic signals in response to propagation of the first set of ultrasonic signals through water, determining propagation parameters of the sea lice treatment station based on the second set of ultrasonic signals that were detected, obtaining an image of a sea louse on a fish in the sea lice treatment station, determining, from the image, a location of the sea louse in the sea lice treatment station, and generating a third set of ultrasonic signals that focuses energy at the sea louse.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for self-calibrating ultrasonic removal of sea lice. In some implementations, a method includes generating, by transducers distributed in a sea lice treatment station, a first set of ultrasonic signals, detecting a second set of ultrasonic signals in response to propagation of the first set of ultrasonic signals through water, determining propagation parameters of the sea lice treatment station based on the second set of ultrasonic signals that were detected, obtaining an image of a sea louse on a fish in the sea lice treatment station, determining, from the image, a location of the sea louse in the sea lice treatment station, and generating a third set of ultrasonic signals that focuses energy at the sea louse.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for controlling a remotely operated vehicle (ROV) for performing an underwater task. One apparatus includes a watertight housing; a mounting hardware that attaches the watertight housing to the ROV; one or more sensors in the watertight housing, the one or more sensors configured to generate sensor data that is associated with an underwater task; and one or more processors in the watertight housing, the one or more processors configured to: receive the sensor data from the one or more sensors; generate a navigation plan for the ROV using the sensor data; determine, using the navigation plan, control instructions configured to control the ROV to perform the underwater task; and provide the control instructions to an interface of the ROV configured to communicate with the apparatus.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for a calibration target for ultrasonic removal of ectoparasites from fish. In some implementations, the calibration target includes a fish-shaped structure, sensors positioned at different locations of the fish-shaped structure, a processor that receives sensor values from the sensors, and a transmitter that outputs sensor data from the calibration target based on the sensor values.

Abstract: Methods and systems, including computer programs encoded on computer-storage media, for controlling a system for growing seaweed are described. Some implementations of a method include forming a substrate loop inoculated with seaweed spores; arranging the substrate loop about a pulley; submerging the substrate loop to grow the seaweed; determining, using a seaweed farm controller, that the seaweed has grown to a pre-determined size; and based on the determination that the seaweed has grown to a pre-determined size: providing instructions to the pulley to feed a section of the substrate loop to a harvesting unit; providing instructions to the harvesting unit to separate the seaweed attached to the section of the substrate loop; providing instructions to a cleaning unit to clean the section of the substrate loop that is freed from seaweed; and providing instructions to a seeding unit to inoculate the cleaned section of substrate loop with seaweed spores.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for obtaining initial parameters for ultrasonic transducers around a calibration target. The calibration target can include a fish-shaped structure, sensors placed at different locations of the fish-shaped structure, a processor that receives sensor values from the sensors, and a transmitter that outputs sensor data from the calibration target based on the sensor values. The calibration target can be fixed at a particular position relative to the ultrasonic transducers by a filament coupled to both the calibration target and a support structure. Sensor data can be obtained from the calibration target at the particular position relative to the ultrasonic transducers, and relative locations of the sensors can be determined. Parameters for the ultrasonic transducers around the calibration target can be adjusted based on the sensor data and the respective locations of the sensors.

Abstract: Methods, systems, and computer-readable media that implement an autonomous modular breakwater system. An example system includes a plurality of autonomous submersible structures, each configured to mechanically link to any other of the plurality of autonomous submersible structures to form a breakwater.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for a calibration target for ultrasonic removal of ectoparasites from fish. In some implementations, the calibration target includes a fish-shaped structure, sensors positioned at different locations of the fish-shaped structure, a processor that receives sensor values from the sensors, and a transmitter that outputs sensor data from the calibration target based on the sensor values.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for self-calibrating ultrasonic removal of sea lice. In some implementations, a method includes generating, by transducers distributed in a sea lice treatment station, a first set of ultrasonic signals, detecting a second set of ultrasonic signals in response to propagation of the first set of ultrasonic signals through water, determining propagation parameters of the sea lice treatment station based on the second set of ultrasonic signals that were detected, obtaining an image of a sea louse on a fish in the sea lice treatment station, determining, from the image, a location of the sea louse in the sea lice treatment station, and generating a third set of ultrasonic signals that focuses energy at the sea louse.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for obtaining initial parameters for ultrasonic transducers around a calibration target. The calibration target can include a fish-shaped structure, sensors placed at different locations of the fish-shaped structure, a processor that receives sensor values from the sensors, and a transmitter that outputs sensor data from the calibration target based on the sensor values. The calibration target can be fixed at a particular position relative to the ultrasonic transducers by a filament coupled to both the calibration target and a support structure. Sensor data can be obtained from the calibration target at the particular position relative to the ultrasonic transducers, and relative locations of the sensors can be determined. Parameters for the ultrasonic transducers around the calibration target can be adjusted based on the sensor data and the respective locations of the sensors.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for underwater feed movement detection. In one aspect, the method may include the actions of obtaining images captured at different time points, where the images are captured by a camera and indicate feed that has been dispersed by a feeder for aquatic livestock inside an enclosure; determining, for each image, respective locations of the feed indicated by the image; determining, from the respective locations of the feed, a respective movement of the feed over the different time points; determining, based on the respective feed movement of the feed over the different time points, water current movement within the enclosure for the aquatic livestock; and outputting an indication of the water current movement.

Abstract: Methods and systems, including computer programs encoded on computer-storage media, for controlling a system for growing seaweed are described. Some implementations of a method include forming a substrate loop inoculated with seaweed spores; arranging the substrate loop about a pulley; submerging the substrate loop to grow the seaweed; determining, using a seaweed farm controller, that the seaweed has grown to a pre-determined size; and based on the determination that the seaweed has grown to a pre-determined size: providing instructions to the pulley to feed a section of the substrate loop to a harvesting unit; providing instructions to the harvesting unit to separate the seaweed attached to the section of the substrate loop; providing instructions to a cleaning unit to clean the section of the substrate loop that is freed from seaweed; and providing instructions to a seeding unit to inoculate the cleaned section of substrate loop with seaweed spores.

Abstract: Methods, systems, and computer-readable media that implement autonomous seagoing power replenishment watercraft. An example system includes a plurality of marine vessels; a plurality of watercraft, each watercraft of the plurality of watercraft including a rechargeable electrical power supply and being configured to operate in: a first mode in which the watercraft awaits an assignment to provide electrical energy to a marine vessel of the plurality of marine vessels; a second mode in which the watercraft performs operations including keeping station with an assigned marine vessel and providing electrical energy to the assigned marine vessel from the power supply; and a third mode in which the watercraft recharges the power supply from a charging station. The system includes a controller configured to perform operations comprising: transmitting, to a first watercraft, an instruction indicating an assignment of the first watercraft to provide electrical energy to a first marine vessel.

Abstract: Methods, systems, and computer-readable media that implement autonomous seagoing power replenishment watercraft. An example system includes a plurality of marine vessels; a plurality of watercraft, each watercraft of the plurality of watercraft including a rechargeable electrical power supply and being configured to operate in: a first mode in which the watercraft awaits an assignment to provide electrical energy to a marine vessel of the plurality of marine vessels; a second mode in which the watercraft performs operations including keeping station with an assigned marine vessel and providing electrical energy to the assigned marine vessel from the power supply; and a third mode in which the watercraft recharges the power supply from a charging station. The system includes a controller configured to perform operations comprising: transmitting, to a first watercraft, an instruction indicating an assignment of the first watercraft to provide electrical energy to a first marine vessel.