Marina Maintenance: How Autonomous Surface Vessels are Making Waves
World Marina – Dec 2024
In the competitive world of marina management, maintaining pristine waters is more than just an environmental responsibility—it’s a business imperative. Innovative Autonomous Surface Vessels (ASVs) are transforming how marinas approach water cleanliness and environmental stewardship. These cutting-edge technologies offer a compelling solution to the persistent challenge of marine debris and water pollution in marinas.
ASVs can autonomously navigate through marina waters, efficiently collecting floating trash, plastics, and organic matter. Capable of removing significant quantities of waste daily, these vessels substantially reduce the manual labor traditionally required for water maintenance.
One of the key advantages of ASVs is their versatility. Their compact size allows them to access areas between docked boats and in tight corners where traditional cleaning methods struggle to reach. This ensures comprehensive coverage of the marina, leaving no area untouched in the pursuit of cleanliness.
Beyond debris collection, leading ASVs can serve as valuable data-gathering tools. When equipped with sensors, they can monitor water quality parameters in real-time, providing marina managers with crucial information about their aquatic environment. This data can be instrumental in identifying pollution sources and implementing targeted solutions.
The electric-powered operation of many ASVs aligns perfectly with the growing emphasis on sustainability in the marine industry. Their zero-emission functionality not only maintains clean waters but also contributes to a marina’s green credentials, potentially attracting environmentally conscious boat owners and visitors.
Importantly, ASVs operate quietly and unobtrusively, ensuring they don’t disturb marina patrons or wildlife. Their autonomous capability allows for continuous operation, maintaining water cleanliness round the clock without increasing labor costs.
By incorporating ASVs into their maintenance toolkit, marinas can demonstrate their commitment to innovation and environmental responsibility. This cutting-edge technology not only enhances the cleanliness and aesthetics of marina waters but also positions the marina as a leader in sustainable maritime practices.
Key Benefits of ASV Deployment in Marinas:
Efficient Debris Removal: Collects substantial amounts of waste daily.
Versatile Cleaning: Removes floating trash, plastics, and organic matter.
Access to Hard-to-Reach Areas: Cleans between docked boats and in tight spaces.
Environmental Data Collection: Possibility to gather real-time water quality data.
Autonomous Operation: Reduces labor costs and allows continuous cleaning.
The consumer electronics show (CES) is the largest event for consumer product launches in the world. I had the opportunity to attend CES for the first time this year, and it was an overwhelming experience. With over 3,200 vendors, there is so much to see that it would be impossible for one person to see and experience everything. That’s where pre-event research is critical to distill the vendor list down to a manageable size. I wanted to see over 60 robot-related products at CES 2023, and I only had two days to do so.
Here’s a recap of my favorite robotic solutions at CES 2023 (in no particular order):
Waste Shark by RanMarine
I stumbled on the Waste Shark by RanMarine in the Netherlands innovation area of CES Eureka Park. This was the serendipitous part of my CES adventure. Waste Shark is an autonomous marine vehicle that is designed to navigate small waterways and clear plastics, bio-waste and other debris from the surface of the water. The robot is completely autonomous but takes its basic design from its larger manned sibling, the Tender Shark.
The primary use case for Waste Shark is to operate on contained bodies of either fresh or salt water. Parks, golf courses and amusement parks are just a few of the potential application areas for Waste Shark. The robot needs to return to the dock or shoreline when it’s time to remove the debris from its internal trap. It is a simple process to remove the trash basket as it slides out of the front of the vehicle for emptying.
The robot monitors its forward speed and determines that the trash basket is full when there is a measurable drag on the forward motion of the vehicle. Waste Shark can operate in salt water, but due to its small size should be restricted to operation in contained harbors.
Enchanted Tools – Mirokai
If you went to CES 2023 but didn’t meet Mirokai, don’t go looking for the booth that wasn’t there. Enchanted Tools showed off Mirokai in a private suite to an exclusive group of people. I was lucky enough to secure an invite.
There’s a lot to like, and a lot to question about the future of Mirokai as a commercial solution. What I liked about Mirokai was the top-notch overall design, form and function of the robot. The Enchanted Tools designers and engineering team did a fantastic job in pulling the whole design concept together. I love the face, head and interactivity of Mirokai – it’s immediately engaging.
With an animated face, there’s no uncanny valley to cross, and you are immediately enthralled (some might say enchanted) by the eyes, mouth and voice. This robot is built kinematically around a ball-bot, and there hasn’t been a commercially successful implementation of a ball-bot yet. With a moveable torso, head and arms, Mirokai is more complex than the original ball-bot designs.
The beauty of the ball-bot is in its fluid motion across the floor, and this supports the illusion of the Mirokai character. The downside (in my opinion) is that a ball-bot is dynamically stable, and any small disruption to its balance, such as pushing on the head or pulling on an arm, requires that the robot respond to keep its balance. In an ideal world with flat surfaces, the ball-bot can maintain its balance. However, the cluttered house of an elderly owner is going to present challenges to the navigation paradigm and balance-keeping algorithms for this class of robot design.
Overall, I give Mirokai high marks for design implementation and interactivity. It is the most pleasing service robot that I’ve ever interacted with.
What was a little over the top in the product introduction, is the whole mythology behind the Miroko world and the Mirokai characters. Enchanted Tools is trying to make a whole new set of characters and bring them to life. To make a social robot for the elder care use case, you don’t need to know the whole origin story behind it.
The company has already shown that it can give Mirokai a persona that is charming and fun to talk to. If Mirokai is used for entertainment, the company still has a lot of work to do to make videos, books and games that fit with the mythology.
New Ottonomy Yeti robot
The Ottonomy Yeti Ottobot features a holonomic drive and an automatic package delivery option. | Credit: Ottonomy
Ottonomy demoed the new Ottobot Yeti last-mile delivery robot at CES 2023. This new platform includes an entirely new drive platform that includes holonomic motion using a four-wheel swerve drive. The cargo-carrying payload platform has also been redesigned to be larger and more robust. The payload area includes two cargo bays that open autonomously, to allow a patron to remove only their order.
Yeti also features an optional autonomous cargo drop door. This enables Yeti to autonomously move a package (i.e. a box) from inside the cargo bay, onto the ground or into a locker.
Ottonomy received an RBR50 Award in 2021, for its first delivery application deployment within the Cincinnati Airport. Since that first generation, Ottonomy has continued to expand the capabilities of the platform, and to enable indoor to outdoor navigation. This capability makes Ottobot one of the few AMRs capable of both indoor and outdoor navigation with the same platform. The company is targeting curbside delivery for both grocery and mall-based restaurants as the initial market for the robots.
aeo by Aeolus Robotics
Aeolus Robotics demoed the second generation of its aeo social robot at CES2023. This latest generation of aeo is a complete redo of the robot design from the original model. The robot still features two fully articulating and vision-guided manipulators (i.e. arms).
aeo can be equipped with a number of different end effectors. The primary gripper is a two-fingered gripper, useful for picking up items, and opening drawers and doors.
The company has also developed (and demoed) the following end effectors:
Two fingered gripper
Large, general area UV disinfecting light
Small, door handle UV disinfecting light
Interactive tablet
Interactive phone, tablet and printer
The primary use case for aeo is elder care, and the company has deployed a number of aeo gen 2 units into elder care facilities in Japan. With the new capability to ride an elevator, aeo can now be deployed into multilevel facilities.
BIM Printer
The BIM Printer robot features a mobile frame with an X/Y plotter-style print unit to paint BIM data onto the building floor. | Credit: BIM Printer
The construction robotics market has evolved quickly over the last five years. One of the companies on my CES hit list was BIM Printer, a French robotics company that hasn’t spent much time in the U.S. prior to this event.
Unfortunately, the company didn’t have a live demo at the booth, but I spent some time talking to co-founder Vincent Agie. The robot is currently being employed to lay out the interior floor space for tenants at the Burj Khalifa (the tallest building in the world).
Unlike the other BIM information printers on the market, BIM consists of two robots: a movable AMR frame that indexes across the floor to position the base unit, combined with an X/Y plotter that paints the BIM data onto the floor. The other automated BIM marking solutions on the market leverage an AMR that paints BIM data as it moves across the floor.
BIM Printer has an accuracy of 2 mm (0.079″) and achieves this accuracy through the use of a total station to localize the position of the robot. The go-to-market for the company is through survey company partners and construction service companies.
The company is also introducing a BIM ceiling printer that can mark all of the construction details onto the ceiling. This data includes the placement of walls, ducting, water, electrical and other utilities.
Robosen transformer toy robot
What would CES be without toy robots? There were plenty of consumer robotic toys on display, but I’ve chosen to discuss my favorite robotic plaything. Robosen is more than just a toy, its product line includes a number of transforming robot characters that range in price from $300 to $1000.
The current star of the Robosen product line (more on that later) is the Elite Optimus Prime auto-converting and programmable robot. The product is officially licensed and designed in collaboration with Hasbro.
Optimus Prime Robot is an auto-converting, interactive, programmable, voice-activated, mobile-controlled robotic toy. Robosen brings Optimus Prime to life with a fully immersive experience through voice-activated actions, mobile app controls, and endless hours of creative and fun ways to program Optimus Prime to walk, punch, blast, drive, and convert at the swipe of your finger, or command of your voice.
Next on the Robosen product roadmap will be the release of a fully articulated Disney Pixar cobranded Buzz Lightyear robot. | Credit: The Robot Report
RobotSmith material finishing workstation
RobotSmith is a fully enclosed grinding and polishing solution that uses CAD data to drive the robot paths for material finishing. | Credit: The Robot Report
RobotSmith was another serendipitous discovery I made in the Taiwan section of CES Eureka Park. This robotic work cell is a true industrial robot application that leverages an industrial robot arm to grind and polish metal objects. It wasn’t what I would have expected to discover at CES.
I was impressed by the integration between CAD model data, force feedback and AI-driven path generation in the solution. Robot Smith uses the CAD model of a part and a simulation environment to generate the grinding and polishing path. Next, it uses vision guidance to pick up unfinished physical parts from a material tray, and take the item to the various grinding and polishing station as the item is worked to the desired final state of finish.
Third Wave autonomous warehouse fork truck
ThirdWave had a static demo unit in the Ouster booth at CES2023. Credit: The Robot Report
The final discovery worth highlighting from CES 2023 is Third Wave Automation. The company is developing an automated pallet-moving fork truck for use in warehouses. The bay area company didn’t have its own booth, but it had a nonmoving demo unit of its autonomous fork truck on display at the Ouster booth.
The company is using Ouster LiDAR for navigation and obstacle avoidance. The AMR has three operational modes: (1) manual; (2) remote operation; (3) fully autonomous operation. Third Wave has implemented a controls package and sensor array that can retrofit an existing fork truck. The company is initially working with a fork truck partner Clark, and has built a package for the NPX20 vehicle. This vehicle has a load capacity of 4000 lbs (1800 kg).
Third Wave instruments the fork truck with vision cameras, LiDAR and other sensors such that a remote operator in the Third Wave remote operations center can monitor the movement of the robot. If the robot detects an issue such as a misaligned pallet, or it loses localization, the remote operator is alerted to the situation. The operator can then either remotely pilot the robot to safe location or resolve the issue to put it back into autonomous operation. Or the remote operator can alert an on-site operator to the situation and enable them to take local control of the vehicle to resolve the issue. At any time, the robot can be switched from autonomous mode to manual mode so that it can be operated under human control.
This control paradigm is a unique differentiator as many of the competitors are either manual/autonomous or remote/autonomous or manual/remote, but this is one of the first solutions that I’ve seen with the three operational modalities.
ABOUT THE AUTHOR
Mike Oitzman
Mike Oitzman is Editor of WTWH’s Robotics Group and founder of the Mobile Robot Guide. Oitzman is a robotics industry veteran with 25-plus years of experience at various high-tech companies in the roles of marketing, sales and product management. He can be reached at moitzman@wtwhmedia.com.
Aquatic trash boat scooping up marine debris all summer long
To the best of scientists’ knowledge, there is no version of the Great Pacific Garbage Patch in the Great Lakes, but that doesn’t mean everyone is waiting until a huge trash vortex accumulates to address marine debris.
“People see the big pictures in the ocean, the big gyres of garbage, but they don’t realize that there’s 22,000 pounds of plastics that are put into the Great Lakes every year,” said Greg Kleinheinz, a University of Wisconsin-Oshkosh professor of environmental engineering technology who also chairs the department and is the Viessmann Chair of Sustainable Technology. “It’s an emerging and significant issue.”
Kleinheinz’s statistic came from the Rochester Institute of Technology, which inventories and tracks high concentrations of plastic in the Great Lakes. The institute estimates that the equivalent of approximately 100 Olympic-sized pools full of plastic bottles is dumped annually into Lake Michigan alone.
Garbage that pollutes U.S. rivers, lakes, streams and creeks is considered “aquatic trash” by the Environmental Protection Agency. That aquatic trash becomes “marine debris” once it reaches the ocean or the Great Lakes. Marine debris, according to the National Oceanic and Atmospheric Administration, is defined as “any persistent solid material that is manufactured or processed and [is] directly or indirectly, intentionally or unintentionally, disposed of or abandoned into the marine environment or the Great Lakes. Anything human-made and solid can become marine debris once lost or littered in these aquatic environments.”
(From left) Nicole Cochems, a UW-Eau Claire geology major, with Sara Pabich, a Door County resident who graduated this year from UW-Madison. In the foreground is Greg Kleinheinz, a UW-Oshkosh professor of environmental engineering technology. Photo by Rachel Lukas.
Plastic waste is particularly concerning because it’s used widely and never really goes away. Instead, sun exposure, waves and temperature changes break the plastics down into smaller and smaller pieces until they become “microplastics” of about 5 millimeters or smaller. (There are about 25 millimeters in an inch.)
Microplastics remain in the water or wash up on land and are very difficult to remove. Aquatic organisms eat microplastics and the chemicals they carry, and in that way, plastics make their way up the food chain.
“Finding plastic particles is one thing,” Kleinheinz said. “What kind of health effects do they have on fish or macroinvertebrates, which relates to sport fishing? People don’t understand all that.”
First Trash Boat in Wisconsin, First Trash Drone in U.S.
Understanding requires research, and research requires people gathering data in the field and in the lab.
Meet Nicole Cochems, a UW-Eau Claire geology major who’s entering her third year, and Sara Pabich, a Door County resident who graduated this year from UW-Madison with a degree in economics and environmental studies.
The two, along with Kleinheinz, launched a pontoon-style boat off Sawyer Park in Sturgeon Bay one early-July morning. They are two of seven students hired this year to work for UW-Oshkosh out of a rented home in Baileys Harbor. They and the other students – UW-Stout, UW-Oshkosh and Michigan Tech are also represented – were selected from four times as many applicants.
“It’s probably the most popular program we run,” Kleinheinz said. “They make a little money to help fund their education; they get to be in a great place [where] most people don’t have an opportunity to live; and they get to learn both field and laboratory skills in some area that’s related to whatever their career path is.”
Their primary role is working with Wisconsin’s Beach Monitoring Program. Throughout the summer, they test beach-water samples from 32 of Door County’s 54 beaches for E. coli, a bacterium that indicates the presence of pathogens that can cause illness. If E. coli levels are high enough, they issue beach-water advisories or closures.
The marine drone used on the trash boat is the first of its kind in the United States. Photo by Rachel Lukas.
Nicole Cochems remotely pilots the marine drone in tighter areas. Photo by Rachel Lukas.
Kleinheinz has been running the program since 2003 and usually pairs it with another research project. His groups have tackled beach economics, beach remediation and beach microbial source identification, to list a few.
“In this case, this year, we have a trash boat,” Kleinheinz said.
“Marine debris boat,” Pabich corrected.
The Marine Debris Mitigation Project boat is pontoon-style craft with a 50-horsepower Mercury motor that tops out at 5 mph. A large basket installed below deck scoops up all it encounters. Since May and through Labor Day, the students will collect aquatic trash weekly from four locations: the bay of Sturgeon Bay, the mouth of the Fox River in Green Bay, in Algoma/Kewaunee and in Manitowoc.
A marine drone docked on deck is swung into the water to navigate remotely around boats in the closer quarters of marinas using a tablet-like device. It, too, is equipped with a basket and has a range of up to 1,200 feet from the boat’s operator.
The students also collect water samples that are filtered in the lab to determine the quantities and types of microplastics that are present.
After a day on the water, they return to Crossroads at Big Creek, where they dock the boat and empty the basket contents. Some of the most commonly found forms of plastics in Great Lakes waters include plastic pieces, cigarettes and filters, foam pieces, plastic bottles and caps, food wrappers and straws.
“This is kind of the worst scenario because we’re cleaning up what’s already in the water,” Kleinheinz said. “It would be better to prevent what’s going in there.”
To do that, they also identify and characterize what they’re finding.
“Then we can hopefully start an education campaign to prevent that,” Kleinheinz said.
Nicole Cochems leaves Sturgeon Bay’s west side behind as she captains the Marine Debris Mitigation Project boat in the bay of Sturgeon Bay. Photo by Rachel Lukas.
Once, they found a tire. Mostly they find pop bottles. Sometimes, the catch is only seaweed and dead alewives.
“We don’t want to see trash, but I was thinking there was going to be tons and tons of trash in there,” Cochems said. “I was not expecting to see as little as we’ve found.”
They’d been collecting debris for only a few weeks at that time, however. As the water and beach activities of the summer continued, they were expecting more.
“It would be exciting if we found a big pile of trash floating around, and we could scoop it all up, but on the other hand, that would be pretty depressing,” Kleinheinz said. “It’s good news for the community and the water that we’re not seeing big piles.”
The marine debris boat, funded through the Environmental Protection Agency’s Trash Free Waters Program, is Wisconsin’s first. And this is the first research group in the country to get the marine drone.
“A lot of times you’ll see trash boats in places like Chicago and Baltimore – really big metropolitan areas,” Kleinheinz said. “But when you look at the number of marinas, for example, in Sturgeon Bay and Door County, it’s pretty significant.”
At the end of the summer, the researchers will have a good set of data to work with.
“I think Door County is lucky that UW-Oshkosh has funding to do stuff like this in Door County,” Pabich said. “Once we get a better understanding of where the trash is, we can start those educational campaigns.”
“This is just one more aspect of how we can keep resources here clean – because it’s vital,” Kleinheinz added. “Not only to the society and culture of the county, but the economics of it as well.”