WO2024050313A1

WO2024050313A1 - Systems and methods for automated care of marine aquaculture

Info

Publication number: WO2024050313A1
Application number: PCT/US2023/073009
Authority: WO
Inventors: 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: 2022-08-29
Filing date: 2023-08-28
Publication date: 2024-03-07

Abstract

Provided herein are systems and methods for automating and managing marine-based organisms nurseries. In one aspect, described herein is a handling substrate comprising one or more mounting areas configured to couple one or more marine-based organisms and one or more interconnects configured to connect mounting areas, where the substrate is flexible and configured to be outplanted to a marine environment. In another aspect, described herein is a system for growing marine-based organisms comprising a flexible substate, an automated monitoring device, and an automated cleaning device, where the automated monitoring device and/or the automated cleaning device is in communication with a computer system configured to collect data from the device(s).

Description

SYSTEMS AND METHODS FOR AUTOMATED CARE OF MARINE AQUACULTURE

CROSS-REFERENCE

[0001] This application claims the benefit of U.S. Provisional Application No. 63/402,015, filed August 29, 2022, which is entirely incorporated herein by reference.

BACKGROUND

[0002] Coral or ecosystem restoration efforts often rely on approaches to grow coral via growing and planting individually asexually reproduced coral. Current techniques for growing and planting individual coral are often labor-intensive, so this approach results in high costs and is difficult to scale to the numbers of coral needed to replace large sections of reefs lost to mortality events such as coral bleaching or mangrove deforestation. Enabling coral to be grown and planted in groups can reduce handling time per coral, and such a system can be designed to enable other innovations such as automated monitoring and care to further reduce cost.

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.

[0003] Aquacultural and restoration efforts typically rely on approaches to grow organisms via both sexual and asexual propagation. In both cases, genetic traits, such as susceptibility to disease, or tolerance to a wider range of environmental conditions, is key. As a result, in both aquaculture and restoration, selective breeding for organisms that display desirable characteristics is widely practiced and may be seen as a key driver for optimal efficiency.

However, because the current techniques for growing organisms are often manual, data is rarely kept because the process(es) has a high degree of variance and is labor-intensive. This approach may result in poor understanding of genetic performance, and high costs associated with loss or mishandling of organisms. Cultivation of aquatic organisms can require considerable care to ensure they thrive and grow vigorously as opposed to languishing from unfavorable growing conditions or disease. Additionally, variance between families, species, and specific genotypes can be dramatic, with slight variations in temperature, lighting, or PH equating to significant changes in growth rate or even survivability.

[0004] Growth in situ (e.g., in the ocean) 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.

[0005] Growing organisms like coral ex situ (e.g., in aquariums) 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. For example, because 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.

[0006] The amount of time needed to track key parameters and physical work needed to correct them to maintain optimal growing conditions may be formidable, which means the cost of human labor in growing coral may be considerable. Additionally, there is a considerable opportunity cost from operators simply not finding time to measure parameters they should, or not maintaining a given parameter properly while concentrating on another. By implementing a highly automated care system, much of the labor expense of growing coral can be eliminated while creating more optimal growing conditions with higher yields. This can enable a much lower overall cost to grow marine organisms and greater scale of operations.

[0007] Current explorations into planting coral in clusters have primarily revolved around large ceramic or concrete structures in the shape of domes, to which individual coral are attached and grown in a nursery, and then the structure is planted on a reef. This approach requires a large amount of material to form the rigid structure, which can increase costs and makes the structure heavy and difficult to transport. The rigidity of these structures also means that they cannot easily conform to irregularly shaped topography typical of reefs, which means these often require significant amounts of adhesive or epoxy which adds cost and labor and is a pollutant.

SUMMARY

[0008] In one aspect, provided herein is 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.

[0009] In some embodiments, the first material or the second material is biocompatible.

[0010] In some embodiments, 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.

[0011] In some embodiments, 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.

[0012] In some embodiments, the mounting areas are positioned in 2D array.

[0013] In some embodiments, the one or more mounting areas comprises at least a surface of inorganic material.

[0014] In some embodiments, the inorganic material comprises a cement or a ceramic.

[0015] In some embodiments, the one or more mounting areas comprises a biodegradable polymer.

[0016] In some embodiments, the one or more interconnects comprises a biodegradable polymer.

[0017] In some embodiments, the biodegradable polymer comprises a biodegradable polyester. In some embodiments, the biodegradable polymer comprises polycaprolactone (PCL).

[0018] In some embodiments, the one or more interconnects comprises a biodegradable polymer and calcium carbonate.

[0019] In some embodiments, 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.

[0020] In some embodiments, the first material comprising the first set of properties and the second material comprising the second set of properties are different.

[0021] In some embodiments, the first material comprising the first set of properties and the second material comprising the second set of properties are the same.

[0022] In some embodiments, the marine invertebrate handling substrate is configured to couple to one or more coral fragments.

[0023] In some embodiments, the marine invertebrate handling substrate is used during at least one of coral growth, transport of the coral, and outplanting of the coral.

[0024] In some embodiments, the marine invertebrate handling substrate is recognized by one or more bacteria. In some embodiments, the one or more bacteria comprises pseudomonas, streptomyces, alcanivorax, or a combination thereof.

[0025] In some embodiments, at least a portion of the marine invertebrate handling substrate conforms to a topology of a reef.

[0026] In some embodiments, the marine invertebrate handling substrate is configured to be coupled to a natural reef.

[0027] In some embodiments, the marine invertebrate handling substrate is configured to be coupled to an artificial reef.

[0028] In some embodiments, the marine invertebrate handling substrate is configured to be coupled to a non-reef area (e.g., marine rubble).

[0029] In some embodiments, at least a portion of the marine invertebrate handling substrate is formed using a 3D printer.

[0030] In another aspect, provided herein is 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.

[0031] In some embodiments, the marine based organism is a coral. [0032] In some embodiments, the end effector comprises the one or more cameras and one or more sensors.

[0033] In some embodiments, the end effector is configured to transport a coral handling substrate or a coral fragment.

[0034] In some embodiments, the handling of the marine based organism occurs ex-situ.

[0035] In some embodiments, the handling of the marine based organism occurs in-situ.

[0036] In some embodiments, the end effector is configured to move in 3 axes.

[0037] In some embodiments, the automated monitoring device monitors health of the marine based organism

[0038] In some embodiments, monitoring health comprises detecting fouling.

[0039] In some embodiments, monitoring health comprises observing a color of a marine based organism.

[0040] In some embodiments, monitoring health comprises detecting bleaching.

[0041] In some embodiments, monitoring health comprises detecting tissue recession.

[0042] In some embodiments, monitoring health comprises detecting coral growth.

[0043] In some embodiments, monitoring health comprises detecting polyp extensions.

[0044] In some embodiments, the automated monitoring device monitors growth of the marine based organism in a nursery setting.

[0045] In some embodiments, the automated monitoring device comprises one or more cameras configured to capture and image. In some embodiments, the one or more cameras comprises an optical camera. In some embodiments, the one or more cameras comprises a UV camera. In some embodiments, the one or more cameras comprises an IR sensitive camera.

[0046] In some embodiments, the one or more cameras are configured to capture an image at a specific bandwidth of electromagnetic radiation.

[0047] In some embodiments, 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. In some embodiments, 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.

[0048] In some embodiments, the automated monitoring device comprises a UV radiation source capable of emitting one or more frequencies in the UV spectrum.

[0049] In some embodiments, the automated monitoring device comprises a visible radiation source capable of emitting one or more frequencies in the visible light spectrum. [0050] In some embodiments, the automated monitoring device is coupled to a computer system comprising a software. In some embodiments, the software is configured to track inventory records, collect data, store data, analyze data, or a combination thereof.

[0051] In another aspect, provided herein is 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.

[0052] In some embodiments, the one or more corals are grown in batches

[0053] In some embodiments, the flexible substrate is any substrate of the disclosure.

[0054] In some embodiments, the automated monitoring device moves along a 3-axis

[0055] In some embodiments, the automated monitoring device transports the flexible substrate to the automated cleaning device.

[0056] In some embodiments, the automated cleaning device removes algae, detritus, or a combination thereof from the coral or the flexible substrate.

[0057] In some embodiments, removal comprises thermal removal, ozonated water, or a combination thereof.

[0058] In some embodiments, thermal removal comprises lasers, heat, or a combination thereof.

[0059] In some embodiments, removal comprises subjecting the coral or the flexible substrate to a wavelength of light.

[0060] In some embodiments, removal comprises subjecting the coral or the flexible substrate to ozone.

[0061] In some embodiments, 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.

[0062] In some embodiments, the removal comprises subjecting the coral or the flexible substrate to alternating periods of turbulent flow of water and not turbulent flow of water. In some embodiments, 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.

[0063] In some embodiments, the automated cleaning device is coupled to a reservoir comprising water.

[0064] In some embodiments, a flow of water from the reservoir is adjustable up to about 20 times the volume of the reservoir per hour.

[0065] In some embodiments, a temperature of water from the reservoir is adjustable up to about 30 degrees Celsius.

[0066] In some embodiments, the reservoir is further coupled to an input of nutrients for the coral.

[0067] In some embodiments, the input of nutrients comprises magnesium, calcium, phosphate, nitrate, oyster-roe, or a combination thereof.

[0068] In some embodiments, the tank comprises a sensor for closed loop control

[0069] In some embodiments, the tank is coupled to a computer system configured to manage a schedule, one or more set points, or a combination thereof.

[0070] In some embodiments, the computer system automatically adjusts one or more parameters of the system based on the collected data. In some embodiments, the one or more parameters (water pressure, temperature, ozonation, etc. cleaning/monitoring. In some embodiments, one or more parameters of the marine organism or the tank comprises dirt, algae. [0071] In another aspect, provided herein is 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.

[0072] In some embodiments, the one or more marine organisms comprises coral.

[0073] In some embodiments, the automated monitoring device is configured to move along at least 1-axis.

[0074] In some embodiments, the automated monitoring device is configured to move along at least 2-axes.

[0075] In some embodiments, the automated monitoring device is configured to move along 3 -axes.

[0076] In some embodiments, the automated cleaning device is configured to move along at least 1-axis.

[0077] In some embodiments, the automated cleaning device is configured to move along at least 2-axes.

[0078] In some embodiments, the automated cleaning device is configured to move along 3- axes.

[0079] In some embodiments, the automated monitoring device transports the coral handling substrate to the automated cleaning device.

[0080] In some embodiments, the automated cleaning device removes algae, detritus, or a combination thereof from the one or more marine organisms. In some embodiments, the removal comprises thermal removal, ozonated water, or a combination thereof. In some embodiments, the thermal removal comprises lasers, heat, or a combination thereof. In some embodiments, removal comprises subjecting the one or more marine organisms to a wavelength of light. In some embodiments, removal comprises subjecting one or more marine organisms to ozone. In some embodiments, 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. In some embodiments, turbulent flow of water comprises a Reynolds number of at least 4,000. In some embodiments, removal comprises subjecting the one or more marine organisms to alternating periods of turbulent flow of water and not turbulent flow of water. In some embodiments, 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.

[0081] In some embodiments, the automated cleaning device is coupled to a reservoir comprising water.

[0082] In some embodiments, a flow of water from the reservoir is adjustable up to about 20 times the volume of the reservoir per hour.

[0083] In some embodiments, a temperature of water from the reservoir is adjustable up to about 30 degrees Celsius.

[0084] In some embodiments, the reservoir is further coupled to an input of nutrients for the one or more marine organisms. In some embodiments, the input of nutrients comprises magnesium, calcium, phosphate, nitrate, oyster-roe, plankton, rotifer, or a combination thereof. [0085] In some embodiments, the tank comprises a sensor for closed loop control.

[0086] In some embodiments, the tank is coupled to a software configured to manage a schedule, one or more set points, or a combination thereof. In some embodiments, the computer system automatically adjusts one or more parameters of the system based on the collected data. In some embodiments, one or more parameters (water pressure, temperature, ozonation, etc. cleaning/monitoring. In some embodiments, one or more parameters of the marine organism or the tank comprises dirt, algae.

[0087] In some embodiments, flow of water in the tank is increased when the automatic monitoring device detects algae.

[0088] In some embodiments, 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. [0089] In some embodiments, an automated feeder configured to dispense a dose of viscous feed or nutrients directly to the one or more marine organisms.

[0090] In some embodiments, 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. In some embodiments, the liquid is water.

[0091] In some embodiments, 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.

[0092] In another aspect, provided herein is 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.

[0093] In some embodiments, the first material comprising the first set of properties and the second material comprising the second set of properties are different.

[0094] In some embodiments, the first material comprising the first set of properties and the second material comprising the second set of properties are the same.

[0095] In some embodiments, the method further comprises harvesting the coral from a natural water source prior to the coupling the coral to the coral handling substrate.

[0096] In some embodiments, the method further comprises harvesting the coral from a captively bred coral source prior to the coupling the coral to the coral handling substrate.

[0097] In some embodiments, the method further comprises fragmenting the coral

[0098] In some embodiments, the method further comprises subsequent to the coupling, subjecting the coral to conditions sufficient for growth.

[0099] In some embodiments, a plurality of the coral is coupled with the coral handling substrate

[0100] In some embodiments, the method further comprises positioning the coral handling substrate comprising the coral in a natural water source.

[0101] In some embodiments, 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.

[0103] In some embodiments, the method further comprises positioning the coral handling substrate comprising the coral onto a reef.

[0104] In some embodiments, the coral continues to grow when positioned on the reef

[0105] In some embodiments, the coral is positioned on the reef in batches.

[0106] In some embodiments, a time to position the coral is reduced in comparison to an otherwise similar method not comprising a use of the coral handling substrate.

[0107] In some embodiments, a time to outplant the coral is reduced in comparison to an equal number of coral not coupled with the coral handling substrate.

[0108] In some embodiments, step (c) comprises coupling the coral handling substrate to a natural reef or an artificial reef.

[0109] In some embodiments, subsequent to step (c) at most 30 wt% of the coral handling substrate is degraded over a time period of about 1 year

[0110] In some embodiments, the coral comprises a digital tag for tracking and management.

In some embodiments, the digital tag comprises a barcode or a QR code.

INCORPORATION BY REFERENCE

[oni] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or the extent publications and patents or patent applications incorporated by reference contradict the disclosure contained in the specification, the specification is intended to supersede and/or take precedence over any such contradictory material.

BRIEF DESCRIPTION OF THE DRAWINGS

[0112] The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings (also “Figure” and “FIG.” herein) of which:

[0113] FIG. 1 shows an example of a rope nursery.

[0114] FIG. 2 shows an example of planting individual branching type coral by hand using nails and zip ties.

[0115] FIG. 3 shows an example of coral being grown on individual ceramic substrates which are loosely organized on a plastic grid. [0116] FIG. 4 shows an example of a batch of bock coral on a 2D substrate.

[0117] FIG. 5 shows an example of the expansion of a 2D substrate.

[0118] FIG. 6 shows an example of a stretchable net that is able to contour to the topography of a reef.

[0119] FIG. 7 shows an example of the expansion of a ID substrate.

[0120] FIG. 8a shows a scheme for a multiple in-nursery substrate expansion capability.

[0121] FIG. 8b shows an example of expansion in outplanting while FIG. 8c shows an example of compactness in nursery.

[0122] 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.

[0123] 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.

[0124] 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. [0125] 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.

[0126] FIG. 13 shows an example of metal net attached to reef using nails.

[0127] 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.

[0128] FIG. 15 shows an example of a polymer net attached to reef with epoxy.

[0129] 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.

[0130] FIG. 17 shows an illustrate of a plurality of tanks with substrates used for restoring or growing marine organisms arranged within the nursery.

[0131] FIG. 18a shows an illustration of an automated monitoring device. FIG 18b shows a photograph of one embodiment of the automated monitoring device.

[0132] 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.

[0133] FIG. 20 shows an illustration of a side-view of a tank with two positions of an automated monitoring device.

[0134] FIG. 21 shows an illustration of a cleaning system

[0135] FIG. 22 shows a schematic of the general operation of a nursey

[0136] FIG. 23 shows an illustration of an end effector with an automated monitoring device.

[0137] FIG. 24 shows an illustration of a servicing station coupled to a gantry.

[0138] 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.

[0139] FIG. 26 shows a computer system that is programmed or otherwise configured to implement a method for managing marine aquaculture.

DETAILED DESCRIPTION

[0140] Certain specific details of this description are set forth in order to provide a thorough understanding of various embodiments. However, one skilled in the art will understand that the present disclosure may be practiced without these details. In other instances, well-known structures and/or methods have not been shown or described in detail to avoid unnecessarily obscuring descriptions of the embodiments. Unless the context requires otherwise, throughout the specification and claims which follow, the word “comprise” and variations thereof, such as, “comprises” and “comprising” are to be construed in an open, inclusive sense, that is, as “including, but not limited to.” Further, headings provided herein are for convenience only and do not interpret the scope or meaning of the claimed disclosure. The section headings used herein are for organizational purposes only and are not to be construed as limiting the subject matter described.

[0141] As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the content clearly dictates otherwise. It should also be noted that the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise.

[0142] The term “optional” or “optionally” denotes that a subsequently described event or circumstance can but need not occur, and that the description includes instances where the event or circumstance occurs and instances in which it does not.

[0143] The term “about” means within ±10% of a value. For example, if it is stated, “a length of about 100 inches”, it is implied that the length may be from 90 inches to 110 inches. [0144] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present disclosure, suitable methods and materials are described below. All references cited herein are incorporated by reference in their entirety as though fully set forth.

Handling Substrates

[0145] In some embodiments, 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. Additionally, 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. In order to prevent premature disintegration of the substrates, plastic ropes and nets may be used, which contribute to plastic pollution. An example of a rope nursery is shown in FIG. 1.

[0146] In some embodiments, 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.

[0147] In some embodiments, 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.

[0148] In some embodiments, 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.

[0149] In some embodiments, 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.

[0150] In some embodiments, the substrates, systems, and methods described herein further improve on the current techniques with special tools to reduce growth and outplanting costs. In some embodiments, the substrates described herein are compatible with batch-based operations (e.g., cleaning and imaging) to enable a streamlined and more efficient workflow.

[0151] In one aspect, described herein is a flexible substrate. In some embodiments, a flexible substrate may be referred to as a handling substrate or a substrate herein. In some embodiments, a substrate is configured to handle or be coupled to a marine-based organism as described elsewhere herein (e.g., coral).

[0152] The substrates described herein can be utilized with any of the systems or methods described herein.

[0153] In some embodiments, 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. In some embodiments, 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).

[0154] In some embodiments, 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. In some embodiments, the systems and methods described herein may not be manually actuated and may require no human intervention to control.

[0155] In some embodiments, a flexible substrate may be in a condensed form while in a nursery setting to optimize space. In some embodiments, 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.

[0156] In some embodiments, 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.

[0157] As compared to coral domes, which use a large amount of material, which increases costs and makes them bulky and heavy to transport, 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. Further, 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.

[0158] In one aspect, described herein is 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.

[0159] In some embodiments, 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.

[0160] In some embodiments, the substrates consist of a plurality of areas to mount the marine-based organisms (e.g., corals), which are joined together by flexible interconnects. In some embodiments, 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. In some embodiments, the substrate is used during at least one or marine organism (e.g., marine invertebrate or coral) growth, transport, or outplanting. In some embodiments, the substrate is utilized during growth and transport. In some embodiments, the substrate is utilized during growth, transport, and outplanting.

[0161] In some embodiments, 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.

[0162] In some embodiments, a substrate comprises one or more mounting areas and one or more interconnects. In some embodiments, 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). In some embodiments, the substrate comprises at least 4 mounting areas. In some embodiments, the substrate comprises at least 10 mounting areas. In some embodiments, the substrate comprises at least 15 mounting areas. In some embodiments, the substrate comprises at least 50 mounting areas. In some embodiments, one or more interconnects connect two mounting areas. In some embodiments, 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.

[0163] In some embodiments, 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. In some embodiments, the first material and the second material are the same. In some embodiments, the first material and the second material are different. In some embodiments, at least a portion of the substrate is formed using a 3D printer.

[0164] In some embodiments, the first material and the second material are different. In some embodiments, mounting areas are made of a separate material from the interconnects. In some embodiments, the mounting areas are made of a separate (e.g., different) material from the interconnects to ensure sufficient rigidity. In some embodiments, sufficient rigidity is achieved for the substrate through increased thickness. In some embodiments, sufficient rigidity of the substrate is achieved through stiffening features (e.g., ribs). In some embodiments, interconnects are configured to be flexible to enable the substrate to bend around irregular marine environment structures (e.g., natural or artificial reef). In some embodiments, 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.

[0165] In some embodiments, the first material and second material are the same. In some embodiments, 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. For example, 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. In another example, 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.

[0166] In some embodiments, 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. In some embodiments the material of the mounting area is biocompatible. In some embodiments, the material of the interconnect is biocompatible.

[0167] In some embodiments, 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) naturally decomposes by the environment. In some embodiments, only a portion of the substrate comprising biocompatible material decomposes in a marine environment. For example, in a mounting area comprising cement and/or ceramic bound with a biocompatible material (e.g., polycaprolactone, PCL) will only decompose where there is the biocompatible material.

[0168] In some embodiments, the mounting areas comprise a biocompatible material (e.g., biodegradable polymer). In some embodiments, the biocompatible material is a biodegradable polymer. In some embodiments, the biodegradable polymer comprises a biodegradable polyester. In some embodiments, 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. In some embodiments, the biodegradable polymer comprises polycaprolactone (PCL). In some embodiments, the mounting areas comprise at least a surface of inorganic material. In some embodiments, the inorganic material comprises a cement or a ceramic material.

[0169] In some embodiments, the interconnects comprise a biocompatible material (e.g., biodegradable polymer). In some embodiments, the biocompatible material is a biodegradable polymer. In some embodiments, the biodegradable polymer comprises a biodegradable polyester. In some embodiments, 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. In some embodiments, the biodegradable polymer comprises polycaprolactone (PCL).

[0170] In some embodiments, 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.

[0171] In some embodiments, 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. In some embodiments, the substrate material is recognized by one or more bacteria. In some embodiments, the bacteria comprise pseudomonas, streptomyces, alcanivoraxes, or a combination thereof.

[0172] In some embodiments, 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.

[0173] In some embodiments, 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. In some embodiments, such features include holes, tabs, or which can interface with other equipment.

[0174] In some embodiments, 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.

[0175] In some embodiments, substrates are made from materials that enable either the interconnects or all of the substrate to break down over time into natural components. For example, in some cases, the interconnects are made from polyhydroxyalkanoate (PHA) bioplastic, which is able to break down naturally in water. For example, in some cases, the interconnects are made from polycaprolactone (PCL) bioplastic, which is able to break down naturally in water. In some cases, materials like steel (e.g., iron and carbon alloy) are used, which can chemically break down into corrosion products naturally present in water.

[0176] In some embodiments, outplanting occurs to a marine environment. In some embodiments, outplanting comprises coupling the substrate to the marine environment. In some embodiments, the substrate is configured to be coupled to the marine environment. In some embodiments, a marine environment is an underwater environment or an underwater surface. In some embodiments, a marine environment is a natural reef area (e.g., coral reef). In some embodiments, a marine environment is an artificial reef (e.g., man-made reef). In some embodiments, a marine environment is non-reef area (e.g., an underwater ship or underwater marine rubble). In some embodiments, at least a portion of the substrate conforms to the topology of the marine environment (e.g., reef).

[0177] In some embodiments, 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. In some embodiments, utilizing pneumatic construction tools saves considerable labor cost. In some embodiments, air pressure from pressurized tanks commonly used in scuba diving can be employed with the pneumatic construction tools underwater.

[0178] In some embodiments, 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. In some embodiments, the substrates described herein utilize features such as holes or pads which nails can be easily driven into during outplanting.

[0179] In some embodiments, 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. In some embodiments, setting up the nail gun to be powered from existing scuba diving air supplies provides a readily available power source. In some embodiments, setting up the nail gun to be powered from existing scuba diving air supplies minimizes difficulty in implementing this approach.

[0180] In some embodiments, 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. In some embodiments, the driving force for nails is adjusted by altering the pressure the nail gun operates on. In some embodiments, the drive depth of a nail gun is adjusted (which can be useful for achieving a secure attachment of the substrate). In some embodiments, 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.

[0181] 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.

Substrate Interface

[0182] In some embodiments, 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.

[0183] In order to enable reliable manipulation and movement of a marine-based organism which can be amorphously shaped and difficult to grasp for an automated system, a substrate interface is described herein 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. In some cases, 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”). In some embodiments, 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.

[0184] In some embodiments, 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. In some cases, 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.

[0185] In some cases, 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).

[0186] In some cases, 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,

[0187] The materials for the substrate interface can be sufficiently durable in the growing conditions. In some embodiments, the materials withstand salt water and bright light or UV light. In some embodiments, plastics such as PVC tubing (widely available, cheap, and easy to fabricate by hand) can be used. In some embodiments, plastics like acetyl may also be used. In some embodiments, metal may be used to withstand the corrosion of saltwater exposure. In some embodiments, anodized aluminum, stainless steel, and titanium could also be used to fabricate a substrate interface.

[0188] 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.

Systems and Methods

[0189] In another aspect, provided herein is 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.

[0190] In some embodiments, provided herein is 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.

[0191] In another aspect, provided herein is a system for growing or restoring a marinebased organism (as described elsewhere herein) 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.

[0192] In some embodiments, provided herein is 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.

[0193] In one aspect, described herein is 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.

[0194] In some embodiments, provided herein is 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. [0195] In some embodiments, 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.

[0196] In some embodiments, 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. In some embodiments, the marine-based organism is fragmented.

[0197] In some embodiments, 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.

[0198] In some embodiments, 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. In some embodiments, 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.

[0199] In some embodiments, the method further comprises positioning the flexible substrate (coupled with a marine-based organism) in a natural water source. In some embodiments, positioning the marine-based organism in a natural water source is also referred to as outplanting herein. In some embodiments, the marine-based organism continues to grow when positioned in the natural water source. In some embodiments, the marine-based organism (e.g., coral) is positioned into a natural water in batches. In some embodiments, outplanting comprises positioning the flexible substrate with the marine-based organism (e.g., coral) onto a reef. In some embodiments the reef is a natural reef. In some embodiments, the reef is an artificial reef.

[0200] In some embodiments, 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.

[0201] In some embodiments, the flexible substrate is described elsewhere herein. For example, 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). For example, the flexible substrate may be comprised of the same material (e.g., biocompatible polymer).

[0202] In some embodiments, the automated monitoring device is described elsewhere herein. In some embodiments, the automated monitoring device is configured to move in up to 3-axes (e.g., 1 axis, 2 axes, or 3 axes). In some embodiments, the automated monitoring device is configured to move in 1 axis. In some embodiments, the automated monitoring device is configured to move in 2 axes. In some embodiments, the automated monitoring device is configured to move in 3 axes.

[0203] In some embodiments, 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). For example, 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. In another example, the automated monitoring device transports the coral from a location in the tank to an area utilized for packing the coral for outplanting.

[0204] In some embodiments, the automated cleaning device is described elsewhere herein. In some embodiments, the automated cleaning device is configured to move in up to 3-axes (e.g., 1 axis, 2 axes, or 3 axes). In some embodiments, the automated cleaning device is configured to move in 1 axis. In some embodiments, the automated cleaning device is configured to move in 2 axes. In some embodiments, the automated cleaning device is configured to move in 3 axes. In some embodiments, 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).

[0205] In some embodiments, 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. For example, 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. For example, 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.

[0206] In some embodiments, the end-effector comprising the automated monitoring device is configured to transport a marine-based organism to a stationary automated cleaning station for servicing. For example, 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. For example, a portion of the coral may be diseased and requires manual removal.

[0207] In some embodiments, the marine-based organisms (e.g., one or more corals) are grown in batches. For example, 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.

[0208] In some embodiments, the systems and methods described herein use lasers to automate fragmentation by cutting substrate materials and coral tissue. In some embodiments, 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. In some embodiments, the systems and methods described herein clean corals when triggered by sensors or a nursery management software system.

Automated Monitoring Devices

[0209] Provided herein are automated monitoring devices.

[0210] In some cases, 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. In some cases, the robotic system could be a mobile wheeled robot, robot on cables (e.g., a skycam), robotic arm, or other types of systems

[0211] In some embodiments, the automated monitoring device monitors the health of a marine-based organism. In some embodiments, monitoring health occurs in ex-situ (e.g., nursery setting). In some embodiments, monitoring health occurs in-situ (e.g., natural body of water). In some embodiments, monitoring health comprises detecting fouling, a change in color, bleaching, tissue recession, growth, development of polyp extensions, or a combination thereof. In some embodiments, 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. In some embodiments, monitoring health comprises detecting a (change in) color of marinebased organism. In some embodiments, color of the marine-based organism is a function of algae density, which can serve as a proxy for overall health. In some embodiments, monitoring health comprises detecting bleaching. For example, coral may become stressed and expel symbiotic zooxanthellae algae it normally coexists with, leading to a paling of the coral over time. In some embodiments, monitoring health comprises detecting 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. In some embodiments monitoring health comprising monitoring growth of the marine-based organism. In some embodiments, growth is indicative of calcification and overall health. In some embodiments, monitoring health comprises detecting polyp extensions. In some embodiments, polyp extensions indicate health coral that actively feed on nutrients in the water.

End Effector

[0212] In some embodiments, 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.

[0213] In some embodiments, 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. In some embodiments, 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.

[0214] In some embodiments, the automated monitoring device of the disclosure is coupled to an end effector. In some embodiments, 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. In some embodiments, the end effector is configured to move throughout the nursery (e.g., laterally over tanks, longitudinally into and out of tanks). In some embodiments, the end effector is coupled to a gantry.

[0215] In some embodiments, 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).

In some embodiments, the handling or transport of the substrate or marine-based organism occurs in-situ (e.g., in a marine environment, like the ocean).

[0216] In some embodiments, 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.

[0217] In some embodiments, operation of the robotic system in a marine environment comprises protection against corrosion. In some embodiments, the systems and methods described herein use sacrificial anode techniques typically used for boats and pools to protect against galvanic corrosion on the robot. In some embodiments, the systems and methods described herein employ specific materials like stainless steel, aluminum alloys, and/or fully sealed bearings to enable continuous operation.

Sensors, Cameras, and Computer Vision

[0218] In some embodiments, 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. In some embodiments, 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.

[0219] In some embodiments, the systems and methods utilize cameras that are connected to an image processing system, enabling data to be extracted. In some embodiments, 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.

[0220] In some embodiments, 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.

[0221] In some embodiments, the one or more cameras or one or more sensors are mounted on the automated monitoring device on a pan and/or tilt mechanism. In some embodiments, mounting a camera as such enables the camera to collect a plurality of images of the same marine-based organism from different angles. In some embodiments, collecting a plurality of images at different angles enables generation of an orthomosaic or 3D model through photoprogrammetry or post-processing. In some embodiments, 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). [0222] In some embodiments, the automated monitoring device comprises one or more cameras configures to capture an image. In some embodiments, the one or more cameras comprises an optical camera, a UV camera, an IR camera, or a combination thereof. In some embodiments, the camera is an optical camera. In some embodiments, the camera is an ultraviolet (UV) camera. In some embodiments, the camera is an infrared (IR) sensitive camera. [0223] In some embodiments, the camera is configured to capture an image at a specific bandwidth of electromagnetic radiation. In some embodiments, the camera is configured to capture an image at a bandwidth between 100 nanometer (nm) and Imillimeter (mm). In some embodiments, the camera is configured to capture an image at a bandwidth between 100 nm and 400 nm. In some embodiments, 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.

[0224] In some embodiments, a camera has any suitable focal ratio (e.g., aperture, or f- stop). In some embodiments, 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.

[0225] In some embodiments, the automated monitoring device comprises one or more radiation sources configured to emit one more frequencies in the ultraviolet or visible spectrum. In some embodiments, 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). In some embodiments, 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). In some embodiments, the one or more cameras comprise the radiation source.

[0226] In some embodiments, 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.)). In such embodiments, the analysis at specific frequencies show biofluorescence on the marine-based organisms (e.g., coral polyps or algae). In some embodiments, the frequency is from about 300 nm to about 600 nm. In some embodiments, the frequency is from about 350 nm to about 550 nm. In some embodiments, the one or more cameras can be any camera or radiation source described herein.

[0227] In some embodiments, the automated monitoring device comprises one or more sensors. In some embodiments, 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. In some embodiments, 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. In some embodiments, a sensor is a temperature sensor. In some embodiments, 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.

[0228] FIG. 18a shows an illustration of an automated monitoring device, whereas 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. In some embodiments, 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. In some embodiments, the optically clear compartment may allow actuation of a pan-tilt mechanism without requirement of additional volume. In some embodiments, the optically clear compartment comprises one or more flat surfaces. In some embodiments, 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. In some embodiments, 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. In some embodiments, the one or more sources of electromagnetic radiation are configured to emit the radiation in a repeating sequence. In some embodiments, the one or more sources of electromagnetic radiation are positioned outside of the optically clear compartment to minimize internal reflections and optical artifacts. In some embodiments, the intensity of the electromagnetic radiation can be varied to provide a plurality of excitation spectra.

[0229] In some embodiments, 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.

[0230] In some embodiments, the methods described herein use sensor technology. In some embodiments, 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.

[0231] In some embodiments, 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. In some embodiments, 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). In some embodiments, sensors are used alone or integrated into the facility (e.g., a single thermometer in a water tank). In some embodiments, 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). In some embodiments, sensors are integrated with software to trigger alerts or prompt operators for care, or to trigger care routines performed by automated systems.

[0232] In some embodiments, 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. In some embodiments, a sensor may be a camera.

[0233] In some embodiments, the camera is of a different focal length depending on the requirements of the application. For example, a fisheye-type lens allows a camera to see a wide area. In some embodiments, 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). In some embodiments, 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. For example, 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.

[0234] In some embodiments, 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.

[0235] In some embodiments, 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.

[0236] In some embodiments, moving the organism (e.g., coral) to 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. [0237] In some embodiments, 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. Additionally, for example, 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.

[0238] In some embodiments, 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. For example, 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. In some embodiments, 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.

[0239] In some embodiments, regular (e.g., consistent frequency) imaging of the coral enables issues regarding growth or health to be identified sooner in comparison to infrequently imaging. For example, health problems, such as infectious diseases, can quickly spread (e.g., rapid tissue necrosis) and kill all the coral in a system over a short period of time if not identified on time. In some embodiments, 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.

[0240] In some embodiments, 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. For example, common measurements that could be automated with image processing include total linear extension of branching corals, or the surface area of bouldering corals. For example, a user interface (UI) that displays the current growth rate of the coral in a facility compared against their optimal growth rate to help them assess if they are achieving maximum yield.

[0241] In some embodiments, 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. In some embodiments, computer vision algorithms are paired with various automation functions and a nursery management software system to fully automate identifying and addressing problems.

[0242] In some embodiments, 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). In some embodiments, 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.

[0243] In some embodiments, 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.

[0244] In some embodiments, 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.

[0245] In some embodiments, one or more sensors are mounted on a system described elsewhere herein. In some embodiments, 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. In some embodiments, the sensors reduce time needed to perform regular or detailed measurements in comparison to a manual operator. In some embodiments, sensors mounted on an automated device reduce costs for the nursery in comparison to sensors positioned in each induvial tank in the nursey. In some embodiments, sensor mounted on automated device reduce the cost and effort of calibration for sensors, compared with having sensors installed in each tank.

[0246] In some embodiments, a sensor is a light sensor used to measure overall light levels or PAR (photosynthetic active radiation). In some embodiments, 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. In some embodiments, a light sensor is utilized conjunction with a tool which allows the robot or facility automation to adjust shade on corals

[0247] In some embodiments, a sensor is a thermometer, which could measure temperature in each tank, or even take multiple measurements per tank in different locations. For example, 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. In some embodiments, the systems and methods described herein are integrated with facility automation to enable closed loop temperature control for each tank

[0248] In some embodiments, a sensor is a dissolved oxygen sensor. In some embodiments, a sensor is a chemical parameter sensor. In some embodiments, 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.

[0249] In some embodiments, 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. For example, a cleaning sequence might be started when a camera detects too many algae around a coral. For example, 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.

[0250] In some embodiments, 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.

[0251] In some embodiments, temperature sensors integrated into the facility are integrated with fans to automatically regulate temperature of the tanks. For example, 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.

[0252] In some embodiments, water level sensors installed on tanks are used in conjunction with networked solenoid valves to automate draining or changing water in tanks.

Automated Care Systems

[0253] In some embodiments, the systems and methods described herein may include a robotic system that performs physical care actions on marine organisms. In some embodiments, 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.

[0254] In some embodiments, 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.

[0255] In some embodiments, 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.

[0256] In some embodiments, 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. In some embodiments, this system is referred to as an automated cleaning device herein.

[0257] In some embodiments, 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.

[0258] In some embodiments, the robotic system can be triggered manually, or algorithmically. For example, 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). In some embodiments, the system could operate using complex inventory software and robots to enable a high degree of warehouse automation. [0259] In another aspect, 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. In some embodiments, 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. In some embodiments, the substances can be administered to the water of the system, or individually to coral. For example, 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. On the contrary, a disadvantage may include the labor-intensive nature of individually delivering substances to each organism (e.g., coral). In some embodiments, the system described herein, 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.

[0260] The systems described herein may benefit from the sensors and automatic care routines enabled by the specific features described herein. In some embodiments, 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. Automated Cleaning Device

[0261] In one aspect, provided herein is an automated cleaning device configured to remove a pest from a marine-based organism or a substrate.

[0262] In some embodiments, the automated cleaning device is configured to remove a pest from the marine organism or the substrate. In some embodiments, a pest comprises algae, detritus, hydroids, sea lice, or some species of bacteria and/or protozoa. In some embodiments, the automated cleaning device is configured to remove algae, detritus, or a combination thereof from a marine-based organism or a substrate. In some embodiments, the automated cleaning device is configured to remove algae. In some embodiments, the automated cleaning device is configured to remove detritus. In some embodiments, the automated cleaning device is configured to remove algae and detritus.

[0263] In some embodiments, removal comprises heat (e.g., thermal removal), ozonated water, or a combination thereof. In some embodiments, removal comprises heat (e.g., thermal removal). In some embodiments, removal comprises the use of ozonated water. In some embodiments, removal comprises heat (e.g., thermal removal) and the use of ozonated water. In some embodiments, heat removal comprises the use of a laser to generate thermal energy. In some embodiments, removal comprising subjecting the marine-based organism or the substrate to wavelength of electromagnetic radiation (e.g., wavelength of light). In some embodiments, removal comprises subjecting the marine-based organism or the substrate to ozone.

[0264] In some embodiments, thermal removal (e.g., with a laser) 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). In some embodiments, 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.

[0265] In some embodiments, 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. In some embodiments, ozonated water comprises an elevated oxidative reduction potential in comparison to water not comprising ozone. In some embodiments, ozonated water oxidizes organic matter on the surface of an organism exposed to water and may remove a pest.

[0266] In some embodiments, the automated cleaning device is coupled to a reservoir comprising water. In some embodiments, 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. In some embodiments, one or both of the automated cleaning device and the reservoir is mobile. In some embodiments, 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. In some embodiments, 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. In some embodiments, the two-compartment system may be used to culture a marinebased organism.

[0267] 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).

[0268] In some embodiments, removal comprises subjecting the marine-based organism or the substrate to a turbulent flow of water. In some embodiments, 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. In some embodiments, the turbulent flow of water comprises a Reynold’s number of at least 2,000. In some embodiments, the turbulent flow of water comprises a Reynold’s number of at least 4,000. [0269] In some embodiments 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. In some embodiments, 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). For example, 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.

[0270] In some embodiments, 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.

[0271] In some embodiments, 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. For example, 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).

[0272] In some embodiments, 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. In some embodiments, the combination of water temperature and water flow affects the rate of sediment build up and tissue health for a marine-based organism. For example, 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, whereas 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. [0273] In some embodiments, pH of the water expelled from a reservoir to a tank is adjusted based on the needs of the marine organism in the tank. For example, 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. In another example, 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.

[0274] In some embodiments, the reservoir comprising water further comprises one or more feed or nutrients to be delivered to the marine-based organism. In some embodiments, the reservoir is further coupled to an input of feed and/or nutrients for the marine-based organism. In some embodiments, feed or nutrients comprise magnesium, calcium, phosphate, nitrate, and oyster-roe. In some embodiments, feed or nutrients comprise magnesium. In some embodiments, feed or nutrients comprise calcium. In some embodiments, feed or nutrients comprise phosphate. In some embodiments, feed or nutrients comprise nitrate. In some embodiments, feed or nutrients comprise oyster-roe.

[0275] In some embodiments, a tank comprising more than ideal amount of a nutrient is treated with a material to reduce the elevated levels of the nutrient. For example, 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. For example, 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.

[0276] In some embodiments, magnesium promotes the formation of calcium carbonate skeleton for a marine-based organism (e.g., coral). In some embodiments, 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. For example, 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.

[0277] In some embodiments, calcium is a component of the skeleton for a marine-based organism (e.g., coral). In some embodiments, the reservoir comprises calcium sufficient to adjust the calcium concentration of the water in the tank to an optimal level for the marinebased organism. For example, 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.

Biosecurity Features

[0278] In some embodiments, one or more systems provided herein comprise one or more biosecurity features to prevent the spread of pathogens between tanks or between substrates. In some embodiments, the automated feeder comprises one or more biosecurity features. In some embodiments, the automated cleaning device comprises one or more biosecurity features. In some embodiments, the automated feeder comprises one or more biosecurity features. In some embodiments, the nursery comprises one or more biosecurity features. For example, 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. In some embodiments, a biosecurity feature comprises contacting a system with fresh water. In some embodiments, a biosecurity feature comprises flushing the system with fresh water one or more times. In some embodiments, a biosecurity feature comprises pumping fresh water through a pump or tube. In some embodiments, a biosecurity feature comprises mixing fresh water in a compartment or reservoir of a system described herein.

[0279] In some embodiments, one or more systems described herein (e.g., automated monitoring device, automated cleaning device, automated feeder) are enclosed in waterproof casing. In some embodiments, the systems described herein are coated with a waterproof (e.g., hydrophobic) material. In some embodiments, waterproofing a system prevents corrosion from salt water. In some embodiments, waterproofing a system protects an electronic system housed within the system.

[0280] In some embodiments, the systems and methods described herein may have the ability use high pressure waterjets to remove algae and other pests. In some embodiments, high pressure is beneficial over a low pressure flow of water to “irrigate” coral, which may not indicate removal of algae or pests.

[0281] In some embodiments, the systems and methods described herein use lasers to remove algae and other pests.

Automated Feeder

[0282] In some embodiments, provided herein is an automated feeder for delivering one or more nutrients or food to the marine-based organisms. In some embodiments, the automated feeder administers one or more food or one or more nutrients to a marine-based organism. In some embodiments, 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. In some aspects, the automated feeder may reduce manual labor required to feed a marine-based organism. In some embodiments, controlled administration of food and/nutrients to a marine-based organism is prevents water in which the marine organism is residing in becoming polluted.

[0283] In some embodiments, the systems and methods described herein have the ability to administer chemicals and medicines to coral to automate treatment of diseases and other problems.

[0284] In some embodiments, the automated feed is coupled to the automated cleaning device.

[0285] In some embodiments, 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. In some embodiments, 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. In some embodiments, the automated feeder comprises an electrical system configured to sense, control, or monitor the food dispensation.

[0286] In some embodiments, the automated feed is configured to dispense a dose of dry feed or nutrients directly to marine-based organism. In some embodiments, 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. For example, 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.

[0287] In some embodiments, 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. In some embodiments, wet food (e.g., pre-mixed food or naturally wet food) is directly added to the reservoir for administering to a marine-organism in controlled amounts. In some embodiments, wet food is directly administered to the marine organism from the reservoir without mixing or the use of pumps.

[0288] In some embodiments, 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). In some embodiments, the mixing mechanism (e.g., mixer, shaker) is continuously working to maintain homogeneity of the food and/or nutrient mix. In some embodiments, continuously mixing the food enables a consistent composition to be administered to the marine organisms.

[0289] In some embodiments, the automated feeder comprises one or more pumps or one or more tubes to dispense food and/or nutrients to the marine-based organisms. In some embodiments, the pumps are peristaltic pumps, a diaphragm pump, or any other suitable pump. In some embodiments, one or more pumps is a peristaltic pump. In some embodiments, a peristaltic pump moves consistent volume of liquid, and therefore a consistent volume of food, to be administered to the marine organisms. In some embodiments, consistent administration of food requires minimal additional sensing, monitoring, or control of the system. [0290] In some embodiments, the automated feeder is configured to move within the nursery to administer food and/or nutrients to the marine-based organisms. In some embodiments, the automated feeder is a separate system configured to move in up to 3 axes. In some embodiments, the automated feeder is coupled with the automated cleaning device. In some embodiments, the automated feeder is coupled with the monitoring device.

[0291] 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.

Details of water jet system:

[0292] In some embodiments, 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. In some embodiments, 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.

[0293] In some embodiments, the waterjet system consists of a single nozzle or multiple nozzles. In some embodiments, 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. In some embodiments, spraying coral with jets while out of water may decrease the effect of distance on force. In some embodiments, 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.

[0294] In some embodiments, a system comprising a plurality of nozzles is able to clean more coral simultaneously. In some embodiments, nozzles facing up and down with a coral passed between them are able to clean both top and bottom sides of the coral simultaneously. In some embodiments, 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.

[0295] In some embodiments, the nozzles spray fresh water, water with bubbles if desired, water infused with substances such as medicines, chemicals, or nutrients, or a combination thereof.

[0296] In some embodiments, 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.

Details of laser system:

[0297] In some embodiments, 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). [0298] In some embodiments, the systems and methods described herein utilize lasers which can be applied to marine-based organisms (e.g., coral), or substrates.

[0299] In some embodiments, 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.

[0300] In some cases, pests (e.g., algae) are removed from sexually produced coral, which are small and can be overwhelmed by competition with coralline algae, green algae, or other species. In some embodiments, 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.

[0301] In some embodiments, the systems and methods described herein are used to remove algae from substrates and other surfaces around growing coral. In some embodiments, other pests could also be targeted by the system. For example, hydroids are a common pest in some areas which can sting and irritate coral, which a laser could be used to kill.

[0302] In some cases, 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.

[0303] In some cases, a laser is used to clean surfaces (e.g., equipment or aquariums). In some embodiments, the laser beam passes through a focusing lens which bends the beam inward to a point right above the area to be cut. In some embodiments, 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. [0304] In some embodiments, 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.

[0305] In some embodiments, 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.

[0306] In some embodiments, 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.

[0307] In some embodiments, the laser is controlled via any number of methods. In some embodiments, a method comprises a cartesian coordinate system such as a gantry, or a galvanometer mirror system. In some embodiments, the laser is any type suitable for the desired application (e.g., CO2 or fiber type).

[0308] In some embodiments, a cleaning method comprises the use of electricity or other forms of energy to heat substrates to kill pests. In some embodiments, this comprises an electrically conductive net or string substrate which the coral grow on. In some embodiments, 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.

[0309] In some embodiments, the robotic system could have a variety of implements, tools, and sensors to enable it to gather useful information or perform specific tasks. In some embodiments, the robotic system comprises sensors such as cameras, light level sensors, and others.

[0310] In some embodiments, the automatic system comprises a geometry which enables the system (e.g., automated monitoring device) to pick up coral. In some embodiments, picking up and moving coral reduces time and operators who keep track of the marine-based organisms (e.g., coral). In some embodiments, 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. In some embodiments, cognitive burden and errors associated with keeping track of specific marine- based organism (e.g., coral) genotypes is reduced.

[0311] In some embodiments, the marine-based organisms are moved using hooks or other geometry designed to interface with substrates such as frag plugs or our grouped substrates. For example, the end effector may comprise the hook or geometry to interface with a substrate. For example, a geometry may be a frybasket configuration described elsewhere herein. In some cases, a grabber can be used, which allows the system to pick up individual corals. For example, 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. In some embodiments, 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.

Marine Organisms

[0312] The systems and methods described herein can be used for the growth, restoration, handling, or transportation of a marine organism.

[0313] In some embodiments, a marine organism is referred to as a marine-based organism herein. In some embodiments, a marine organism is a marine restoration organism. In some embodiments, a marine organism is a marine invertebrate. In some embodiments, a marine organism is a marine plant. In some embodiments, a marine organism is an herbivorous fish. [0314] In some embodiments, 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. In some embodiments, a marine invertebrate is a coral. In some embodiments, a coral is a corallimorph, a hydrocoral, a large- polyp stony, a small-polyp stony, a soft coral, or a zoanthid. In some embodiments, a marine invertebrate is a crustacean (e.g., a crab, a lobster, a shrimp). In some embodiments, a marine invertebrate is a mollusk (e.g., an oyster, a clam, a scallop). In some embodiments, a marine invertebrate is a gastropod (e.g., a snail, a conch). In some embodiments, a marine organism is a coral.

[0315] In some embodiments, a marine plant is seagrass. In some embodiments, a marine plant is a mangrove. In some embodiments, a marine plant is kelp.

[0316] In some embodiments, a marine-based organism (e.g., coral) is harvested from a natural water source. In some embodiments, a marine-based organism is captively bred. In some embodiments, a marine-based organism (e.g., coral) can be a fragment of the organism. [0317] In some embodiments, the handling substrate described elsewhere herein is coupled with any marine restoration organism. In some embodiments, the systems and methods described herein can be adapted to provide care for any marine restoration organism. For example, 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). In some embodiments, a marine restoration organism is a marine invertebrate or a marine plant. In some embodiments, a marine-based organism is an herbivorous fish.

Facility infrastructure

[0318] In some embodiments, various sensors and actuators are used to enable automation and control various aspects of growing conditions. In some embodiments, some aspects of growing conditions are challenging to optimize and control with a general purpose robot.

[0319] In some embodiments, features include control of heaters or chillers to correct tank temperatures. In some embodiments, 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. In some embodiments, the tank comprises one or more sensors for closed loop control. In some embodiments, 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.

[0320] In some embodiments, the tank is coupled to a computer system configured to manage a schedule, manage one or more set points, or a combination thereof. In some embodiments, 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. [0321] In some embodiments, 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.

[0322] In some embodiments, 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. Such features may eliminate the need for workers to remove this waste.

[0323] In some embodiments, networked facility fans and temperature sensors automatically regulate temperature in the growing facility. In some cases, the system turns fans on when coral needs to be cooled and exterior temperature is lower than temperature inside facility. In some embodiments, 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).

[0324] In some embodiments, 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. For example, 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. For example, 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.

[0325] In some embodiments, 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. In some embodiments, 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

Management Systems

[0326] In one aspect, described herein is a system to enable superior production of organisms using software to manage operations and data. In some embodiments, the system 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. In some embodiments, 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).

[0327] In some embodiments, an automated monitoring device described elsewhere herein is coupled to a computer system comprising a software. In some embodiments, the software is configured to track inventory records, collect data, store data, analyze data, or a combination thereof. In some embodiments, coupled data is used to inform propagation within the facility. In some embodiments, 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.

[0328] In some embodiments, the software provides a database manipulation tool for tracking inventory. In some embodiments, 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.

[0329] In some embodiments, the 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. In some embodiments, systems, and methods utilize cameras that are connected to an image processing system, enabling data to be extracted.

[0330] In some embodiments, 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.

[0331] In some embodiments, 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. In some embodiments, 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. In some embodiments, this includes methods of visualizing data collected from sensors or operators. In some embodiments, this enables aggregation of various kinds of data collected from staff or sensors to facilitate operators to understand various trends. For example, the systems described herein can be used to calculate the effect of water temperature on the growth rate of an organism. In some cases, 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.

[0332] In some embodiments, 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. In some embodiments, 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

[0333] In some embodiments, 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. In some embodiments, 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. In some embodiments, 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. In some embodiments, this system includes calculations and sophisticated analysis of data captured manually by operators or automatically by sensors. For example, 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.

[0334] In some embodiments, 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).

[0335] In some embodiments, software is integrated with other systems to trigger automatic collection of data or automated care routines. To aid with data collection, 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. In some embodiments, 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.

[0336] 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. For example, 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.

[0337] In some embodiments, coordinating sensors with various kinds of automation enables relatively high quality care with relatively low labor costs. In some embodiments, the system and methods described herein enable automation of experiments. For example, 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. For example, 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.

[0338] In some embodiments, 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. In some embodiments, the substrates comprise a digital tag for tracking and management. In some embodiments, a digital tag comprises a barcode or a QR code. For example, in the coral handling systems and methods described herein, 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.

[0339] In some embodiments, 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. In some embodiments, 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.

[0340] In some embodiments, 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.

[0341] Enabling genetic experimentation and inventory management at scale may increase knowledge in optimizing growth in the target organisms. By increasing the consistency of measurement and types of data available and correlating genetic indicators, 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. In some embodiments, automatically sensing needs and acting on them could provide more precise and specific care.

Computer Systems

[0342] In an aspect, the present disclosure provides computer systems that are programmed or otherwise configured to implement methods of the disclosure. 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.

[0343] 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.

[0344] 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.

[0345] The CPU 105 can be part of a circuit, such as an integrated circuit. One or more other components of the system 101 can be included in the circuit. In some cases, the circuit is an application specific integrated circuit (ASIC).

[0346] 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).

[0347] The computer system 101 can communicate with one or more remote computer systems through the network 130. For instance, 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.). Examples of 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.

[0348] 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. During use, the code can be executed by the processor 105. In some cases, the code can be retrieved from the storage unit 115 and stored on the memory 110 for ready access by the processor 105. In some situations, the electronic storage unit 115 can be precluded, and machine-executable instructions are stored on memory 110.

[0349] 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.

[0350] Aspects of the systems and methods provided herein, such as the computer system 101, 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. Thus, 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. The physical elements that carry such waves, such as wired or wireless links, optical links, or the like, also may be considered as media bearing the software. As used herein, unless restricted to non-transitory, tangible "storage" media, terms such as computer or machine "readable medium" refer to any medium that participates in providing instructions to a processor for execution.

[0351] Hence, a machine readable medium, such as computer-executable code, may take many forms, including but not limited to, a tangible storage medium, a carrier wave medium or physical transmission medium. 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. 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.

[0352] 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. The portal may be provided through an application programming interface (API). 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.

[0353] 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. For example, 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.

Examples

Example 1: Nursery system

[0354] As illustrated in FIG. 16a and FIG. 16b, a nursery system for restoring or growing marine-based organisms comprises the systems described elsewhere herein.

[0355] The nursery system comprises an automated monitoring device 1620 as an endeffector. In some cases, 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). In some cases, 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). In some cases, the automated monitoring device moves in a 3^rd dimension (e.g., by lowering or raising itself while stationary on the gantry).

[0356] The nursery system comprises an automated cleaning device. In FIG. 16a and FIG. 16b, 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.

[0357] 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). The marine-based organisms can be stored and transported in this device for outplanting.

[0358] 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.

[0359] 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. Separately, outside of the tank, the gantry comprises the features necessary for monitoring, cleaning, and handling the marine-based organisms.

Example 2: Scaled Nursery System

[0360] The systems and methods described herein can be scaled to facilitate growth and/or restoration of a larger number of marine-based organisms simultaneously.

[0361] 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. Such 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.

[0362] From the foregoing description, it will be apparent that variations and modifications may be made to the disclosure described herein to adopt it to various usages and conditions. Such embodiments are also within the scope of the following claims. [0363] The recitation of a listing of elements in any definition of a variable herein includes definitions of that variable as any single element or combination (or subcombination) of listed elements. The recitation of an embodiment herein includes that embodiment as any single embodiment, any portion of the embodiment, or in combination with any other embodiments or any portion thereof.

Claims

WHAT IS CLAIMED IS: A system for growing one or more corals, comprising: a flexible substrate for coupling said one or more corals; an automated monitoring device configured to detect one or more properties of said one or more corals; and an automated cleaning device configured to clean one or more corals or said flexible substrate, wherein said automated monitoring device or said automated cleaning device is in communication with a computer system configured to collect data from at least said automated monitoring device or said automated cleaning device. The system of claim 1, wherein said one or more corals are grown in batches The system of claim 1, wherein said flexible substrate comprises one or more mounting areas configured to couple to one or more corals, wherein said one or more mounting areas are made of a first material comprising a first set of properties; and one or more interconnects configured to connect a mounting area of said one or more mounting areas to a second mounting area of said one or more mounting areas, wherein said one or more interconnects are comprised of a second material comprising a second set of properties. The system of claim 1, wherein said automated monitoring device moves along a 3-axis The system of claim 1, wherein said automated monitoring device transports said flexible substrate to said automated cleaning device. The system of claim 1, wherein said automated cleaning device removes algae, detritus, or a combination thereof from said coral or said flexible substrate. The system of claim 6, wherein said removal comprises thermal removal, ozonated water, or a combination thereof. The system of claim 7, wherein said thermal removal comprises lasers, heat, or a combination thereof. The system of claim 6, wherein said removal comprises subjecting said coral or said flexible substrate to a wavelength of light. . The system of claim 6, wherein said removal comprises subjecting said coral or said flexible substrate to ozone. . The system of claim 6, wherein said removal comprises subjecting said coral or said flexible substrate to a turbulent flow of water, wherein said turbulent flow of water comprises a Reynolds number of at least 2,000. . The system of claim 11, wherein said turbulent flow of water comprises a Reynolds number of at least 4,000. The system of claim 11, wherein said removal comprises subjecting said coral or said flexible substrate to alternating periods of turbulent flow of water and not turbulent flow of water. The system of claim 13, wherein said not turbulent flow of water comprises calm water flow or still water, wherein said calm flow of water comprises a Reynolds number of at most 2,000. The system of claim 1, wherein said automated cleaning device is coupled to a reservoir comprising water. The system of claim 15, wherein a flow of water from said reservoir is adjustable up to about 20 times the volume of said reservoir per hour. The system of claim 15, wherein a temperature of water from said reservoir is adjustable up to about 30 degrees Celsius. The system of claim 15, wherein said reservoir is further coupled to an input of nutrients for said coral. The system of claim 18, wherein said input of nutrients comprises magnesium, calcium, phosphate, nitrate, oyster-roe, or a combination thereof. The system of claim 15, wherein said tank comprises a sensor for closed loop control. The system of claim 15, wherein said tank is coupled to a computer system configured to manage a schedule, one or more set points, or a combination thereof. The system of claim 1, wherein said computer system automatically adjusts one or more parameters of said system based on said collected data. The system of claim 22, wherein said one or more parameters (water pressure, temperature, ozonation, etc. cleaning/monitoring. The system of claim 22, wherein one or more parameters of said marine organism or said tank comprises dirt, algae. A system for growing or monitoring one or more marine organisms, comprising: an automated monitoring device configured to detect one or more properties of said one or more marine organisms; and an automated cleaning device configured to clean said one or more marine organisms, wherein said automated monitoring device or said automated cleaning device is in communication with a computer system configured to collect data from said automated monitoring device or said automated cleaning device. The system of claim 25, wherein said one or more marine organisms comprises coral. The system of claim 25, wherein said automated monitoring device is configured to move along at least 1-axis. The system of claim 25, wherein said automated monitoring device is configured to move along at least 2-axes. The system of claim 25, wherein said automated monitoring device is configured to move along 3 -axes. The system of claim 25, wherein said automated cleaning device is configured to move along at least 1-axis. The system of claim 25, wherein said automated cleaning device is configured to move along at least 2-axes. The system of claim 25, wherein said automated cleaning device is configured to move along 3 -axes. The system of claim 25, wherein said automated monitoring device transports said coral handling substrate to said automated cleaning device. The system of claim 25, wherein said automated cleaning device removes algae, detritus, or a combination thereof from said one or more marine organisms. The system of claim 34, wherein said removal comprises thermal removal, ozonated water, or a combination thereof. The system of claim 35, wherein said thermal removal comprises lasers, heat, or a combination thereof. The system of claim 35, wherein said removal comprises subjecting said one or more marine organisms to a wavelength of light. The system of claim 35, wherein said removal comprises subjecting one or more marine organisms to ozone. The system of claim 34, wherein said removal comprises subjecting said one or more marine organisms to a turbulent flow of water, wherein said turbulent flow of water comprises a Reynolds number of at least 2,000. The system of claim 39, wherein said turbulent flow of water comprises a Reynolds number of at least 4,000. The system of claim 39, wherein said removal comprises subjecting said one or more marine organisms to alternating periods of turbulent flow of water and not turbulent flow of water. The system of claim 41, wherein said not turbulent flow of water comprises calm water flow or still water, wherein said calm flow of water comprises a Reynolds number of at most 2,000. The system of claim 25, wherein said automated cleaning device is coupled to a reservoir comprising water. The system of claim 43, wherein a flow of water from said reservoir is adjustable up to about 20 times the volume of said reservoir per hour. The system of claim 43, wherein a temperature of water from said reservoir is adjustable up to about 30 degrees Celsius. The system of claim 43, wherein said reservoir is further coupled to an input of nutrients for said one or more marine organisms. The system of claim 46, wherein said input of nutrients comprises magnesium, calcium, phosphate, nitrate, oyster-roe, plankton, rotifer, or a combination thereof. The system of claim 43, wherein said tank comprises a sensor for closed loop control. The system of claim 43, wherein said tank is coupled to a software configured to manage a schedule, one or more set points, or a combination thereof. The system of claim 25, wherein said computer system automatically adjusts one or more parameters of said system based on said collected data. The system of claim 50, wherein said one or more parameters (water pressure, temperature, ozonation, etc. cleaning/monitoring. The system of claim 50, wherein one or more parameters of said marine organism or said tank comprises dirt, algae. The system of claim 50, wherein flow of water in said tank is increased when said automatic monitoring device detects algae. The system of claim 25, further comprising an automated feeder configured to dispense a dose of dry feed or nutrients directly to said one or more marine organisms. The system of claim 25, further comprising an automated feeder configured to dispense a dose of viscous feed or nutrients directly to said one or more marine organisms. The system of claim 25, further comprising an automated feeder comprising a storage compartment comprising dry feed and a mixing compartment, wherein said mixing compartment is configured to contact said dry feed or nutrients with a liquid prior to dispensing to said one or more marine organisms. The system of claim 56, wherein said liquid is water. The system of any one of claims 54-56, wherein said automated feeder further comprises one or more pumps to configured to transfer at least a portion of said dry feed or nutrients to said one or more marine organisms. A method of growing one or more corals, comprising:

(a) providing said one or more corals;

(b) providing a coral handling substrate comprising: one or more mounting areas configured to couple to one or more corals, wherein said one or more mounting areas are made of a first material comprising a first set of properties; and one or more interconnects configured to connect a mounting area of said one or more mounting areas to a second mounting area of said one or more mounting areas, wherein said one or more interconnects are comprised of a second material comprising a second set of properties, wherein said coral handling substrate is flexible; and

(c) contacting said one or more corals with a mounting area of said one or more mounting areas. The method of claim 59, wherein said first material comprising said first set of properties and said second material comprising said second set of properties are different. The method of claim 59, wherein said first material comprising said first set of properties and said second material comprising said second set of properties are the same. The method of claim 59, further comprising harvesting said coral from a natural water source prior to said coupling said coral to said coral handling substrate. The method of claim 59, further comprising harvesting said coral from a captively bred coral source prior to said coupling said coral to said coral handling substrate. The method of claim 62 or 63, further comprising fragmenting said coral. The method of claim 59, further comprising, subsequent to said coupling, subjecting said coral to conditions sufficient for growth. The method of claim 59, wherein a plurality of said coral is coupled with said coral handling substrate. The method of claim 59, further comprising positioning said coral handling substrate comprising said coral in a natural water source. The method of claim 67, wherein said coral continues to grow when positioned in said natural water source. The method of claim 67, wherein said coral is positioned in said natural water source in batches. The method of claim 59, further comprising positioning said coral handling substrate comprising said coral onto a reef. The method of claim 70, wherein said coral continues to grow when positioned on said reef. The method of claim 70, wherein said coral is positioned on said reef in batches. The method of claim 59, wherein a time to position said coral is reduced in comparison to an otherwise similar method not comprising a use of said coral handling substrate. The method of claim 59, further comprising wherein a time to outplant said coral is reduced in comparison to an equal number of coral not coupled with said coral handling substrate. The method of claim 59, wherein (c) comprises coupling said coral handling substrate to a natural reef or an artificial reef. The method of claim 59, wherein subsequent to (c) at most 30 wt% of said coral handling substrate is degraded over a time period of about 1 year. The method of claim 59, wherein said coral comprises a digital tag for tracking and management. The method of claim 59, wherein said digital tag comprises a barcode or a QR code. 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 said automated monitoring device, wherein said end effector is coupled to a framework, and wherein said end effector is configured to move in at least 2 axes. The automated monitoring device of claim 79, wherein said marine based organism is a coral. The automated monitoring device of claim 79, wherein said end effector comprises said one or more cameras and one or more sensors. The automated monitoring device of claim 79, wherein said end effector is configured to transport a coral handling substrate or a coral fragment. The automated monitoring device of claim 79, wherein said handling of said marine based organism occurs ex- situ. The automated monitoring device of claim 79, wherein said handling of said marine based organism occurs in-situ. The automated monitoring device of claim 79, wherein said end effector is configured to move in 3 axes. The automated monitoring device of claim 79, wherein said automated monitoring device monitors health of said marine based organism. The automated monitoring device of claim 86, wherein said monitoring health comprises detecting fouling. The automated monitoring device of claim 86, wherein said monitoring health comprises observing a color of a marine based organism. The automated monitoring device of claim 86, wherein said monitoring health comprises detecting bleaching. The automated monitoring device of claim 86, wherein said monitoring health comprises detecting tissue recession. The automated monitoring device of claim 86, wherein said monitoring health comprises detecting coral growth. The automated monitoring device of claim 86, wherein said monitoring health comprises detecting polyp extensions. The automated monitoring device of claim 79, wherein said automated monitoring device monitors growth of said marine based organism in a nursery setting. The automated monitoring device of claim 79, wherein said automated monitoring device comprises one or more cameras configured to capture and image. The automated monitoring device of claim 94, wherein said one or more cameras comprises an optical camera. The automated monitoring device of claim 94, wherein said one or more cameras comprises a UV camera. The automated monitoring device of claim 94, wherein said one or more cameras comprises an IR sensitive camera. The automated monitoring device of claim 94, wherein said one or more cameras are configured to capture an image at a specific bandwidth of electromagnetic radiation. The automated monitoring device of claim 79, wherein said 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 automated monitoring device of claim 99, wherein said one or more sensors comprise said dissolved oxygen sensor, said nitrate sensor, said nitrite sensor, said ammonia sensor, said turbidity sensor, or a combination thereof. . The automated monitoring device of claim 79, wherein said automated monitoring device comprises a UV radiation source capable of emitting one or more frequencies in the UV spectrum. . The automated monitoring device of claim 79, wherein said automated monitoring device comprises a visible radiation source capable of emitting one or more frequencies in the visible light spectrum. . The automated monitoring device of claim 79, wherein said automated monitoring device is coupled to a computer system comprising a software. . The automated monitoring device of claim 103, wherein said software is configured to track inventory records, collect data, store data, analyze data, or a combination thereof. . A marine invertebrate handling substrate, comprising: one or more mounting areas configured to couple to one or more marine invertebrates, wherein said one or more mounting areas are made of a first material comprising a first set of properties; and one or more interconnects configured to connect a mounting area of said one or more mounting areas to a second mounting area of said one or more mounting areas, wherein said one or more interconnects are comprised of a second material comprising a second set of properties, wherein said marine invertebrate handling substrate is flexible, and wherein said marine invertebrate handling substrate is configured to be outplanted to a marine environment.. The substrate of claim 105, wherein said first material or said second material is biocompatible. . The substrate of claim 105, wherein at least a portion of said marine invertebrate handling substrate is naturally decomposed by the environment. . The substrate of claim 107, wherein at most 50 wt% of the marine invertebrate handling substrate is decomposed over a period of 1 year. . The substrate of claim 108, wherein at most 30 wt% of the marine invertebrate handling substrate is decomposed over a period of 1 year. . The substrate of claim 109, wherein at most 10 wt% of the marine invertebrate handling substrate is decomposed over a period of 1 year. . The substrate of claim 105, wherein the marine invertebrate handling substrate comprises at least 4 mounting areas. . The substrate of claim 111, wherein the marine invertebrate handling substrate comprises at least 10 mounting areas. . The substrate of claim 112, wherein the marine invertebrate handling substrate comprises at least 15 mounting areas. . The substrate of claim 113, wherein the marine invertebrate handling substrate comprises at least 50 mounting areas. . The substrate of any one of claims 111-114, wherein said mounting areas are positioned in 2D array. . The substrate of claim 105, wherein said one or more mounting areas comprises at least a surface of inorganic material. . The substrate of claim 116, wherein said inorganic material comprises a cement or a ceramic. . The substrate of claim 105, wherein said one or more mounting areas comprises a biodegradable polymer. . The substrate of claim 118, wherein said biodegradable polymer comprises a biodegradable polyester. . The substrate of claim 118, wherein said biodegradable polymer comprises polycaprolactone (PCL). . The substrate of claim 105, wherein said one or more interconnects comprises a biodegradable polymer.

. The substrate of claim 121, wherein said biodegradable polymer comprises a biodegradable polyester. . The substrate of claim 122, wherein said biodegradable polymer comprises polycaprolactone (PCL). . The substrate of claim 105, wherein said one or more interconnects comprises a biodegradable polymer and calcium carbonate. . The substrate of claim 124, wherein said one or more interconnects comprises about 1 wt% to about 40 wt% calcium carbonate. . The substrate of claim 125, wherein said one or more interconnects comprises about 1 wt% to about 20 wt% calcium carbonate. . The substrate of claim 126, wherein said one or more interconnects comprises about 1 wt% to about 15 wt% calcium carbonate. . The substrate of claim 105, wherein said first material comprising said first set of properties and said second material comprising said second set of properties are different.. The substrate of claim 105, wherein said first material comprising said first set of properties and said second material comprising said second set of properties are the same.. The substrate of claim 105, wherein said marine invertebrate handling substrate is configured to couple to one or more coral fragments. . The substrate of claim 105, wherein said marine invertebrate handling substrate is used during at least one of coral growth, transport of said coral, and outplanting of said coral.. The substrate of claim 105, wherein said marine invertebrate handling substrate is recognized by one or more bacteria. . The substrate of claim 132, wherein said one or more bacteria comprises pseudomonas, streptomyces, alcanivorax, or a combination thereof. . The substrate of claim 105, wherein at least a portion of said marine invertebrate handling substrate conforms to a topology of a reef. . The substrate of claim 105, wherein said marine invertebrate handling substrate is configured to be coupled to a natural reef. . The substrate of claim 105, wherein said marine invertebrate handling substrate is configured to be coupled to an artificial reef. . The substrate of claim 105, wherein said marine invertebrate handling substrate is configured to be coupled to a non-reef area (e.g., marine rubble). . The substrate of claim 105, wherein at least a portion of said marine invertebrate handling substrate is formed using a 3D printer.

139. The substrate of claim 105, wherein at most 30 wt% of said marine invertebrate handling substrate is degraded over a time period of about 1 year.