Abstract: The present disclosure relates to an aquatic power harvesting system. The system comprises an anchor line configured for coupling to a floatable structure at a water surface and anchoring the floatable structure to a floor. A power harvesting generator is coupled to the anchor line and is configured for generating power for the floatable structure by converting a movement in the anchor line to an output while the generator is submerged under the water surface. The generator comprises a housing having a first end coupled to the anchor line, a core disposed inside the housing and movable relative to the housing in response to a tension or an absence of tension in the anchor line, and a controller coupled to the housing and configured for converting an input to the output.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for fishery net management. One of the methods includes transmitting, by an emitter, a signal; receiving, by each of multiple sensors located at different, predetermined positions on a semi-rigid structure, the signal; determining, by each of the multiple sensors, timing information for the signal; determining, using the timing information for each sensor, a current shape of the semi-rigid structure; and controlling an item of equipment based on the current shape of the semi-rigid structure.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for automated underwater camera system control for aquaculture systems. An underwater camera system includes (i) a line on which the underwater camera system is mounted, the line detachably affixed to a feeder that provides feed for aquatic livestock, (ii) a sensor manager, (iii) one or more sensors that are managed by the sensor manager, (iv) a line navigation controller, and (v) a first actuator for controlling a distance between the feeder and the underwater camera system. The one or more sensors obtain sensor data and the line navigation controller of the underwater camera system determines a distance to position the underwater camera system beneath the feeder to obtain additional sensor data. The line navigation controller transmits a first message to the first actuator to position the underwater camera system at the determined distance beneath the feeder.

Abstract: A net monitoring system, including: a plurality of net monitoring devices, each net monitoring device including: a housing; a plurality of tensioning arms, each tensioning arm reversibly extendable through the housing and configured to reversibly secure to a net, each tensioning arm including a force sensor configured to generate a tension signal indicative of a tension applied to the corresponding tensioning arm; a tensioning mechanism configured concurrently retract the plurality of tensioning arms into the housing; an impulse generating device, configured to generate an impulse responsive to a command; and a communications device configured to receive the tension signals from the plurality of force sensors, and transmit the tension signals through water; and a controller, configured to: command at least one of the plurality of net monitoring devices to generate the impulse; receive the tension signals responsive to the command to generate the impulse; and determine, based on the received tension signals, a

Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for adjusting an aquaculture camera mounting system. A current combined field of view of two or more cameras that are mounted on an adjustable camera mounting structure in an environment can be determined based upon a current configuration of the adjustable camera mounting structure. A target field of view for the two or more cameras that are mounted on the adjustable camera mounting structure can be determined. Based at least on the field of view target and the current combined field of view, an adjustment parameter for the adjustable camera mounting structure can be determined. The adjustable camera mounting structure can be adjusted according to the adjustment parameter to provide a field of view in accordance with the field of view target.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for obtaining drone-based water measurements. One of the methods includes receiving, by a drone management system that controls a drone that is configured to collect water samples, data from a simulator that generates simulation data associated with a body of water; receiving, by the drone management system, an indication that the drone is available to collect one or more water samples from the body of water; determining, by the drone management system and based on the data from the simulator, one or more locations associated with the body of water at which the drone is to collect one or more respective water samples; and; transmitting, by the drone management system, the one or more locations associated with the body of water to the drone.

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 apparatus, including computer programs encoded on a computer storage medium that provides an enhanced synchronization framework. One of the methods includes a primary and a second device that receive configuration information which identifies one or more actions to be performed by the secondary device when it receives specified pulses of a sequence of pulses from the primary device. The primary device transmits a sequence of pulses. The primary and the secondary device receive a particular pulse from the sequence of pulses. The secondary device determines whether the particular pulse satisfies one or more predetermined criteria and generates an instruction based on the determination.

Abstract: A net monitoring system, including: a plurality of net monitoring devices, each net monitoring device including: a housing; a plurality of tensioning arms, each tensioning arm reversibly extendable through the housing and configured to reversibly secure to a net, each tensioning arm including a force sensor configured to generate a tension signal indicative of a tension applied to the corresponding tensioning arm; a tensioning mechanism configured concurrently retract the plurality of tensioning arms into the housing; an impulse generating device, configured to generate an impulse responsive to a command; and a communications device configured to receive the tension signals from the plurality of force sensors, and transmit the tension signals through water; and a controller, configured to: command at least one of the plurality of net monitoring devices to generate the impulse; receive the tension signals responsive to the command to generate the impulse; and determine, based on the received tension signals, a

Abstract: A method for monitoring an aquaculture net, including: transmitting, from a sensor coupled to a net, a signal including information indicative of one or more net state parameters through water; receiving the signal from a sensor coupled to a net, the signal including information indicative of one or more net state parameters; extracting the information from the signal; applying the extracted information as input to a machine learning model trained to determine a net state from the extracted information; determining the presence of a defect in the net.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that provides an enhanced synchronization framework. One of the methods includes a primary and a second device that receive configuration information which identifies one or more actions to be performed by the secondary device when it receives specified pulses of a sequence of pulses from the primary device. The primary device transmits a sequence of pulses. The primary and the secondary device receive a particular pulse from the sequence of pulses. The secondary device determines whether the particular pulse satisfies one or more predetermined criteria and generates an instruction based on the determination.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for real-time monitoring of an aquaculture feeding system using Time Domain Reflectometry (TDR). In one aspect, an aquaculture feeding system comprises: a feed pipe arranged between a dosing system and a fish pen; a feed pipe monitoring subsystem comprising one or more controlled impedance cables arranged along the feed pipe, and a pulse generator configured to generate a series of pulses at a predetermined pulse rate to be transmitted through the controlled impedance cables; and a controller subsystem connected to the feed pipe monitoring subsystem, the controller subsystem configured to: monitor pulse responses along the controlled impedance cables; and detect, from the pulse responses, a condition of the feed pipe.

Abstract: A net monitoring system, including: a plurality of net monitoring devices, each net monitoring device including: a housing; a plurality of tensioning arms, each tensioning arm reversibly extendable through the housing and configured to reversibly secure to a net, each tensioning arm including a force sensor configured to generate a tension signal indicative of a tension applied to the corresponding tensioning arm; a tensioning mechanism configured concurrently retract the plurality of tensioning arms into the housing; an impulse generating device, configured to generate an impulse responsive to a command; and a communications device configured to receive the tension signals from the plurality of force sensors, and transmit the tension signals through water; and a controller, configured to: command at least one of the plurality of net monitoring devices to generate the impulse; receive the tension signals responsive to the command to generate the impulse; and determine, based on the received tension signals, a

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for automated underwater camera system control for aquaculture systems. An underwater camera system includes (i) a line on which the underwater camera system is mounted, the line detachably affixed to a feeder that provides feed for aquatic livestock, (ii) a sensor manager, (iii) one or more sensors that are managed by the sensor manager, (iv) a line navigation controller, and (v) a first actuator for controlling a distance between the feeder and the underwater camera system. The one or more sensors obtain sensor data and the line navigation controller of the underwater camera system determines a distance to position the underwater camera system beneath the feeder to obtain additional sensor data. The line navigation controller transmits a first message to the first actuator to position the underwater camera system at the determined distance beneath the feeder.

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 a computer storage medium, for obtaining drone-based water measurements. One of the methods includes receiving, by a drone management system that controls a drone that is configured to collect water samples, data from a simulator that generates simulation data associated with a body of water; receiving, by the drone management system, an indication that the drone is available to collect one or more water samples from the body of water; determining, by the drone management system and based on the data from the simulator, one or more locations associated with the body of water at which the drone is to collect one or more respective water samples; and; transmitting, by the drone management system, the one or more locations associated with the body of water to the drone.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for microplastic removal. In some implementations, a method can include controlling a camera to capture one or more images of plastic in water; providing the one or more images to a machine learning model trained to detect plastic; obtaining output from the machine learning model indicating one or more items of plastic; and controlling one or more acoustic transducers to move the one or more items of plastic.

Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for adjusting an aquaculture camera mounting system. A current combined field of view of two or more cameras that are mounted on an adjustable camera mounting structure in an environment can be determined based upon a current configuration of the adjustable camera mounting structure. A target field of view for the two or more cameras that are mounted on the adjustable camera mounting structure can be determined. Based at least on the field of view target and the current combined field of view, an adjustment parameter for the adjustable camera mounting structure can be determined. The adjustable camera mounting structure can be adjusted according to the adjustment parameter to provide a field of view in accordance with the field of view target.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining turbidity of water using machine learning. One of the methods includes obtaining, by a camera, an image of water; detecting, using a blob detector, a plurality of blobs in the image that represent particles suspended in the water; determining a distribution of the plurality of blobs; determining, from the distribution of the plurality of blobs, a measurement associated with turbidity of the water; and providing a signal associated with the measurement.

Abstract: In one aspect, there is provided a moisture detection system that includes: a moisture detection unit including: a moisture sensor configured to obtain a measurement that indicates an amount of moisture, and a Radio Frequency Identification (RFID) module coupled to the moisture sensor through multiple wires, where the RFID module includes an antenna and is configured to wirelessly transmit a telemetry message based on the measurement from the moisture sensor through the antenna and is further configured to wirelessly receive energy for powering the moisture detection unit through the antenna; and a control unit communicatively coupled to the moisture detection unit, where the control unit is configured to wirelessly receive the telemetry message from the RFID module and process the telemetry message to determine the amount of moisture measured by the moisture sensor.