Integrated probes and probe systems suitable for attachment to a robotic arm of a remotely operated vehicle are disclosed. The probes and probe systems serve to perform cleaning operations and both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. The cathodic protection measurement system includes one or more electrically conductive legs that extend outwardly from the probe. These legs are arranged about a cleaning tool and an ultrasonic sensor. When the integrated probe contacts the underwater surface, at least one leg contacts the surface, thereby providing a desired distance between the probe and the underwater surface for efficient cleaning and UT inspection. The underwater surface can be cleaned and CP and UT measurements can all be performed using a single, integrated probed during a single operation, without having to reposition the probe.

Integrated probes and probe systems suitable for attachment to a robotic arm of a remotely operated vehicle are disclosed. The probes and probe systems serve to perform cleaning operations and both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. The cathodic protection measurement system includes one or more electrically conductive legs that extend outwardly from the probe. These legs are arranged about a cleaning tool and an ultrasonic sensor. When the integrated probe contacts the underwater surface, at least one leg contacts the surface, thereby providing a desired distance between the probe and the underwater surface for efficient cleaning and UT inspection. The underwater surface can be cleaned and CP and UT measurements can all be performed using a single, integrated probed during a single operation, without having to reposition the probe.

An autonomous ship bottom inspection method by a ROV(s) based on a ship 3D model in STL format is provided. The ship 3D model is obtained and a surface thereof is spliced by triangular facets. Body 3D coordinate points of the ship 3D model are obtained and then expanded according to a safety distance of ROV and ship to obtain inspection track points of the ROV. The ship 3D model is divided into regions, and the inspection track points in each region are performed with interpolation and smoothing. Smoothed inspection track points of the regions are connected as per a result of the dividing to obtain a ship bottom inspection track, a real-time position of the ROV is obtained, a ship bottom inspection path is generated based on the ship bottom inspection track and the real-time position. The ROV is controlled to move as per the ship bottom inspection path.

A hull cleaning system is disclosed that comprises a below-waterline hull cleaning head arranged to clean an underwater portion of a hull in-situ, a location determining system arranged to produce location information indicative of the location of the hull cleaning head relative to the hull, and a hub facility remotely located relative to the hull cleaning head. The hub facility is arranged to store the location information, and the system is arranged to send the location information to the hub facility for storage at the hub facility so as to thereby provide a record at the hub facility of clean portions of the hull that have been cleaned by the hull cleaning head and fouled portions of the hull that have not yet been cleaned by the hull cleaning head. The system is also arranged to provide on-line access to the location information stored at the hub facility so as to thereby enable cleaning to continue at a subsequent time using the stored location information.

A hull cleaning system is disclosed that comprises a below-waterline hull cleaning head arranged to clean an underwater portion of a hull in-situ, a location determining system arranged to produce location information indicative of the location of the hull cleaning head relative to the hull, and a hub facility remotely located relative to the hull cleaning head. The hub facility is arranged to store the location information, and the system is arranged to send the location information to the hub facility for storage at the hub facility so as to thereby provide a record at the hub facility of clean portions of the hull that have been cleaned by the hull cleaning head and fouled portions of the hull that have not yet been cleaned by the hull cleaning head. The system is also arranged to provide on-line access to the location information stored at the hub facility so as to thereby enable cleaning to continue at a subsequent time using the stored location information.

A movement device is for progressive movement on the surface of a body around which a fluid passes, such as a hull, a rotor blade, a rudder, a tubular body or the like. The movement device has a retaining system for adhesion of the movement device on the surface, a traction system for providing a course for the movement device on the surface, and a drive system for driving the movement of the movement device on the surface. The drive system has at least one flow element, around which flow can pass, for interaction with the fluid, such that, for the progressive movement of the movement device on the surface of the body around which the fluid passes, flow energy can be extracted from the fluid passing around it and can be used for driving the movement.

A movement device is for progressive movement on the surface of a body around which a fluid passes, such as a hull, a rotor blade, a rudder, a tubular body or the like. The movement device has a retaining system for adhesion of the movement device on the surface, a traction system for providing a course for the movement device on the surface, and a drive system for driving the movement of the movement device on the surface. The drive system has at least one flow element, around which flow can pass, for interaction with the fluid, such that, for the progressive movement of the movement device on the surface of the body around which the fluid passes, flow energy can be extracted from the fluid passing around it and can be used for driving the movement.

The invention provides a light guide element (1300) comprising a light guide (300) and a layer element (30), wherein the light guide (300) comprises a light guide face (301) and wherein the layer element (30) comprises an optical layer (310), wherein said optical layer (310) is in contact with at least part of the light guide face (301), wherein the optical layer (310) has a first index of refraction (n1) smaller than 1.36 at 280 nm, wherein the light guide (300) comprises a UV radiation transmissive light guide material (305).

The invention provides a light guide element (1300) comprising a light guide (300), wherein the light guide (300) in comprises a first light guide face (301) and a second light guide face (302) with UV radiation transmissive light guide material (305) between the first light guide face (301) and the second light guide face (302), wherein the light guide element (1300) further comprises one or more of: (i) a first layer element (30) in contact with the first light guide face (301), wherein the first layer element (30) is transmissive for UV radiation; and (ii) a second layer element (130) in contact with the second light guide face (301), wherein the second layer element (130) has one or more functionalities selected from the group consisting of (a) reflective for UV radiation, (b) adhesive for adhering the light guide (300) to an object, (c) reinforcing the light guide element (1300), and (d) protective for the light guide (300).

A cleaning device that passively self-adjusts to improve biofoul removal across curved, non-uniform, or irregular underwater surfaces. The cleaning device includes a motor, one or more shafts coupled to the motor and coupled to one another via at least one universal joint, and a cleaning mechanism for removing biofoul from the target surface. The cleaning device includes an alignment mechanism that restricts the cleaning mechanism's movement to improve biofoul removal. The alignment mechanism can include bearings, spring components, dampening material, adhesion components, floatation objects, or a combination thereof.