Patent Publication Number: US-2023143856-A1

Title: Urchin culling mechanism and attractant method

Description:
PRIORITY 
     This application claims the benefit of U.S. Provisional Patent Application No. 63/005,615, filed Apr. 6, 2020, which is incorporated by reference herein in its entirety. 
    
    
     BACKGROUND 
     Urchin barrens form in the shallow part of oceans where sea urchin populations have proliferated, leading to overfeeding on kelp forests. Over the past four decades, barrens have been reported along coastlines around the world, everywhere from Nova Scotia to Chile. They can span over a thousand kilometers of coastline or occur in small patches. To assist ocean restoration in urchin barrens, human divers and seafloor traps have been used to cull urchins. However, diving to cull urchins is labor intensive. Counting the number of urchins in a trap after pulling the trap from the seafloor offers little data and cannot provide information about marine life on the ocean floor surrounding the trap. 
     SUMMARY 
     There is a need for more near real-time data on urchin density that relates to trap engagement and effectiveness. In addition, the general biodiversity data of surrounding plant and animal species could be very beneficial to a variety of stakeholders from marine scientists to government agencies. 
     For purposes of summarizing, certain aspects, advantages, and novel features have been described herein. It is to be understood that not all such advantages may be achieved in accordance with any one particular embodiment. Thus, the disclosed subject matter may be embodied or carried out in a manner that achieves or optimizes one advantage or group of advantages without achieving all advantages as may be taught or suggested herein. 
     According to one aspect of the present disclosure, a system for attracting and monitoring marine life, can include: an underwater device, comprising: a weighted base having a top, a bottom, and a side determined by a shape of the weighted base, the weighted base supporting a camera attached to the top of the weighted base; an attractant apparatus suspended above the weighted base and connected to the top of the weighted base by an anchor affixed to a proximate side of the attractant apparatus; a communications enabled buoy suspended above the weighted base and the attractant apparatus and connected to a distal side of the attractant apparatus by a flexible link; a data cable communicatively coupled to the camera and the communications enabled buoy; and a microcontroller communicatively coupled to the data cable and disposed within the communications enabled buoy. 
     In some embodiments, the attractant apparatus can include: a lure containment object connected to the top of the weighted base by the anchor; and an attractant disposed within the lure containment object. In some embodiments, the attractant apparatus can include: a planter frame having a plurality of slots connected to the top of the weighted base by the anchor; a plurality of seeding plates arranged to fit into the slots of the planter frame; and a center post extending above the planter frame. In some embodiments, the anchor can include a rigid rod between the top of the weighted base and the center of the planter frame. In some embodiments, the system can further include the camera mounted to the center post to monitor the seeding plates. In some embodiments, the flexible link can include a chain, cable, rope, cord, tube, or wire. In some embodiments, the system can further include a culling unit disposed between the weighted base and the attractant apparatus, the culling unit comprising: a motor attached to the top of the weighted base; a threaded center-rod extending above the motor; a shaft coupling terminating the threaded center-rod; a culling plate with culling spikes disposed between the top of the weighted base and the shaft coupling, the culling plate with culling spikes having a top surface and a bottom surface; and a limit switch affixed to the bottom surface of the culling plate with culling spikes. In some embodiments, the culling unit can include: a size exclusion base attached to the top of the weighted base; a motor attached to the attractant apparatus by the anchor; a threaded rod extending below the motor; an extrusion basket containing an attractant reservoir moving along the threaded rod; and an attractant disposed within the attractant reservoir. In some embodiments, the system can further include a mounting cage holding the motor in place. In some embodiments, the anchor can include a flexible chain, cable, rope, cord, tube, or wire. In some embodiments, the camera can be configured to capture images of marine life on and around the weighted base in near real-time. In some embodiments, the data cable connected to the camera can be configured, by the microcontroller, for a wireless communication link to a remote server for executing instructions, monitoring, and data storage. In some embodiments, the microcontroller can be configured to: activate the camera at timed intervals; and activate the motor of the culling unit. In some embodiments, the attractant can include kelp, seaweed, abalone, coral, sea sponges, algae, sea lettuce, or combinations thereof. 
     According to one aspect of the present disclosure, a method for attracting and monitoring marine life, can include: attracting, by an attractant disposed within an attractant apparatus supported by a weighted base, marine life into an entrapment zone; capturing, by one or more cameras supported by the weighted base and operably linked to a data cable, an image on and around the weighted base; processing, by a computer vision algorithm, the images to identify the density of marine life in the entrapment zone in near real-time; and transmitting, by a microcontroller, the image to a remote server over the data cable. 
     In some embodiments, the method can further include culling, by a culling unit having a motor, a threaded center-rod, and a culling plate with culling spikes, marine life in the entrapment zone. In some embodiments, the method can further include culling, by a culling unit having the motor, a threaded center-rod, an extrusion basket, and a size exclusion basket, marine life in the entrapment zone. In some embodiments, the method can further include determining, by the microcontroller, a culling rate of marine life in the entrapment zone. In some embodiments, the attractant apparatus can include a planter frame with a plurality of removable seeding plates, the seeding plates providing a renewable source of the attractant. In some embodiments, the attractant can include kelp, seaweed, abalone, coral, sea sponges, algae, sea lettuce, or combinations thereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various objectives, features, and advantages of the disclosed subject matter can be more fully appreciated with reference to the following detailed description of the disclosed subject matter when considered in connection with the following drawings, in which like reference numerals identify like elements. 
         FIG.  1    illustrates a perspective view of a system for attracting and monitoring marine life according to some embodiments of the present disclosure. 
         FIG.  2    illustrates another perspective view of a system for attracting and monitoring marine life with a culling unit to eliminate marine life within the entrapment zone according to some embodiments of the present disclosure. 
         FIG.  3    illustrates a detailed view of a culling unit within the entrapment zone of the weighted base according to some embodiments of the present disclosure. 
         FIG.  4    illustrates a high-level schematic of the system according to some embodiments of the present disclosure. 
         FIG.  5    illustrates another perspective view of a system for attracting and monitoring marine life with another culling unit to eliminate marine life within the entrapment zone according to some embodiments of the present disclosure. 
         FIG.  6    illustrates an exploded view of another culling unit within the entrapment zone of the weighted base according to some embodiments of the present disclosure. 
         FIG.  7 A  shows an attractant apparatus with one seeding plate removed from the planter frame according to some embodiments of the present disclosure. 
         FIG.  7 B  shows a side view of the attractant apparatus with one seeding plate removed in the planter frame according to some embodiments of the present disclosure. 
         FIG.  8 A  shows a side view of a planting frame attractant apparatus with the seeding plates and buoy removed according to some embodiments of the present disclosure. 
         FIG.  8 B  shows a side view of a planting frame attracting apparatus with the seeding plates removed, but the buoy intact according to some embodiments of the present disclosure. 
         FIG.  9    illustrates a perspective side view of a kelp holdfast growing on an underwater device according to some embodiments of the present disclosure. 
         FIG.  10 A  illustrates a top view of a planting frame without buoy and seeding plates according to some embodiments of the present disclosure. 
         FIG.  10 B  illustrates the top view of a planting frame without buoy and with one seeding plate removed according to some embodiments of the present disclosure. 
         FIG.  11    illustrates a side view of a single seeding plate according to some embodiments of the present disclosure. 
     
    
    
     The drawings are not necessarily to scale, or inclusive of all elements of a system, emphasis instead generally being placed upon illustrating the concepts, structures, and techniques sought to be protected herein. 
     DETAILED DESCRIPTION 
     The following detailed description is merely exemplary in nature and is not intended to limit the invention or the applications of its use. 
     The terminology used in the present disclosure is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used in the description of the embodiments of the disclosure and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. 
     The term “and/or,” as used herein, refers to and encompasses any and all possible combinations of one or more of the associated listed items. 
     Embodiments of the present disclosure relate to a system for attracting and monitoring marine life by capturing images on and around the seafloor surrounding a device of the system. The system can quantitatively measure the effectiveness of attracting and culling marine life, such as, but not limited to sea urchins of various size and species, lionfish, European green crabs, sea stars, and starfish which threaten coral and rocky reefs. The attracting and the culling features can be used independently. 
     Sea urchins from the phylum Echinodermata are formed with a domed back side generally referred to as the posterior side and a flattened mouth side generally referred to as the anterior side. The sea urchin has spines covering all of its shell. However, the spines are shorter and more uniform in size on the mouth side. A variety of sea urchin species share these characteristics, though some species do not. 
     There are approximately 1,000 known species of urchin including green, red, and purple urchins. Green sea urchins are generally found in latitudes above 40° north and below 40° south in all oceans. In North America they are commonly found from Atlantic Canada to Cape Cod on the Atlantic coast and from the Aleutian Islands to British Columbia on the Pacific Coast. The commercial size of green sea urchins generally ranges from 1½ to 4½ inches (3.8 to 11.4 cm) in diameter with spine lengths up to ½ an inch (1.3 cm). 
     Red sea urchins are commonly found from Juneau, Alaska to Mexico on the Pacific Coast. Red sea urchins are roughly double the size of the green sea urchin varieties and have longer spines, for example up to several inches (7.6 cm) in length. Purple sea urchins occur in the region of overlap of red and green sea urchins on the Pacific Coast. Purple sea urchins are approximately the same size as the green sea urchins. 
     Lionfish,  Pterois volitans  or red lionfish and  Pterois miles  or devil firefish, are originally from the Indo-Pacific. However, lionfish have been introduced off the coast of South Florida and have since become one of the most prolific invasive marine species in the world. Dense lionfish populations can consume up to 460,000 prey fish per acre per year. With no natural predators in the invaded range and very high breeding rates lionfish pose a significant threat to native fish in the Western Atlantic, Caribbean and Gulf of Mexico. 
     The European green crab ( Carcinus maenas ) is an invasive species that threatens native species and eelgrass habitats. Their diverse diet, tolerance of a large range of ocean temperatures, and long larval period makes them excellent at conquering new environments. Green crabs are generally regarded as one of the top five most invasive species in the marine environment. 
     Starfish or sea stars are star-shaped echinoderms belonging to the class Asteroidea. Common usage frequently finds these names being also applied to ophiuroids, which are referred to as brittle stars or basket stars. Starfish are also known as Asteroids due to being in the class Asteroidea. About 1,500 species of starfish occur on the seabed in all the world&#39;s oceans, from the tropics to frigid polar waters. They are found from the intertidal zone down to abyssal depths, 6,000 m (20,000 ft) below the surface. 
     Some sea stars are invasive. For example, the Northern Pacific sea star, also known as  Asterias amurensis  and Japanese common starfish. This species has been introduced to oceanic areas of southern Australia, and is an invasive species there causing damage to native species, especially in Tasmania. 
     Crown-of-thorns starfish (COTS) ( Acanthaster planci ) are a naturally occurring corallivore (i.e., they eat coral polyps) on coral reefs. Covered in long poisonous spines, they range in color from purplish blue to reddish-gray to green. They are generally 25-35 cm in diameter, although they can be as large as 80 cm. 
     Crown-of-thorns starfish are found throughout the Indo-Pacific region, occurring from the Red Sea and coast of East Africa, across the Pacific and Indian Oceans, to the west coast of Central America. Predators of COTS include the giant triton snail ( Charonia tritonis ), the stars and stripes pufferfish ( Arothron hispidus ), the titan triggerfish ( Balistoides viridescens ), and the humphead maori wrasse ( Cheilinus undulates ). 
     For example, the current applications of urchin trapping involve both passive and active means. Passive urchin trapping can be done by cages and flexible nets. Most passive methods involve some type of bait, which is usually some type of desirable fish or fauna (e.g., kelp). The passive traps usually involve a flexible net that is attached to a solid structural weighted component. The passive traps are placed on the seafloor, and once the urchins are in the entrapment zone, the structure can be raised to the surface and emptied. Passive urchin trapping, however, is manual and laborious. 
     Active urchin trapping is either done via automated (varying degrees of technological tools) or manual (divers) means. There are limited automated tools at this time to assist with urchin collection. There are some remote operated vehicles (ROVs) that can collect urchin, but they often involve significant human interaction (e.g., Seabed Harvester). These vehicles and tools often require the use of divers to operate properly. Divers (both SCUBA and free-dive) also serve as a direct method of manual urchin collection. Divers can use base hands, special gloves or custom tools to assist in the collection of urchin. 
     Urchin culling is often done by the same persons conducting urchin harvesting, namely human divers. These divers use manual tools such as hammers, spears and custom arm claw accessories to cull and retrieve targeted urchin. It is a largely manual process and not a good solution to address targeted urchin barrens on a global scale. Furthermore, passive methods involve very sporadic data on effectiveness. The state of urchin density can be assessed at the time the trap is placed, and then again when it is checked or collected. The intermediate state of the urchin density and activity is not available. 
     Like the passive methods, the active methods are sporadic and based on the observation of the divers before, during and after dives, by dive cameras or other counting means. There is a need for a system that is easily deployable and requires less human interaction to cull urchin. 
     Accordingly, embodiments of the present disclosure are directed to a device that can monitor the sea floor while attracting marine life for data collection and or culling purposes while also reducing the number of times a diver has to manually tend to an underwater trap. Embodiments of the present disclosure assist in monitoring the sea floor and urchin barrens remotely without the need for frequent dives. Furthermore, embodiments of the present disclosure are directed toward coupling a system for attracting and monitoring marine life with methods of transmitting near real-time data on urchin density and ocean biodiversity, culling marine life at intervals determined by processor analysis of camera data, and aquaculture. 
     The details of one or more variations of the subject matter described herein are set forth in the accompanying drawings and the description below. Other features and advantages of the subject matter described herein will be apparent from the description and drawings, and from the claims. The disclosed subject matter is not, however, limited to any particular embodiment disclosed. 
       FIG.  1    is a perspective view of a system for attracting and monitoring marine life according to some embodiments of the present disclosure. Marine life, including sea urchin, are encouraged to move toward the base plate by an attractant, and the marine life or urchin density can be monitored by a camera system. A buoy can lift the system toward the surface. 
     In some embodiments, the system  100  of  FIG.  1    can include a weighted base  102 , an attractant apparatus  106 , an anchor  108 , a flexible link  110 , a communications enabled buoy  112 , and a camera  104 . In some embodiments, the attractant apparatus  106  can be a lure containment object  114  as depicted in  FIG.  1   . In some embodiments, the weighted base  102  can sit on the seafloor and be a basic flat metal plate. In some embodiments, the weighted base  102  can be, for example, a round shape such as a circle, oval, or cloud. In some embodiments, the weighted base  102  can also be a polygon including, but not limited to, a triangle, a rectangle, or a pentagon. In some embodiments, the weighted base  102  can have a top, a bottom, and a number of sides depending on the shape of the weighted base  102 . For example, in some embodiments, the weighted base  102  can be a rectangle with four sides. The surface area of the top of the weighted base  102  can be equal to the surface area of the bottom of the weighted base  102  and both can exceed the surface area of the one or more sides. In some embodiments, one or more of the camera  104  can be mounted to the weighted base  102  and directed to capture urchin and biodiversity around the base, over time. The camera  104  can be a digital camera, an underwater camera, a time-lapse camera, or another camera enclosed in waterproof casing. For example,  FIG.  1    depicts two of the cameras  104 . 
     In some embodiments the weighted base  102  can be connected to the attractant apparatus  106  by an anchor  108  affixed to a proximate side of the attractant apparatus  106 . In some embodiments, the anchor  108  can be a flexible chain, cable, rope, cord, tube, or wire. The anchor  108  can be made of rope, steel, metal, plastic, chain, rubber, or any other suitable material. 
     In some embodiments, the attractant apparatus  106  shown in  FIG.  1    can be a lure containment object  114 . In some embodiments, the lure containment object  114  can be an open mesh flexible bag that can contain an attractant (not shown) and the mesh can allow the attractant chemicals, fragrance, and or odorants to disperse in the surrounding area. As used herein, the term “attractant” refers to a natural or synthetic substance that lures marine life. In some embodiments, the attractant can be, for example, kelp, seaweed, abalone, coral, sea sponges, algae, sea lettuce, or combinations thereof. In some embodiments, the lure containment object  114  can be connected to the top of the weighted base  102  by the anchor  108 . In some embodiments, the distal end of the attractant apparatus  106  can be connected to the communications enabled buoy  112  by a flexible link  110 . In some embodiments, the distal end of the attractant apparatus  106  can be drawn toward the ocean surface by a connection to the communications enabled buoy  112 . In some embodiments, the lure containment object  114  can be drawn toward the ocean surface by a connection on the distal end of the lure containment object  114  to the communications enabled buoy  112 . In some embodiments, the flexible link  110  can be a flexible chain, cable, rope, cord, tube, or wire. The flexible link  110  can be made of rope, steel, metal, plastic, chain, rubber, or any other suitable material. 
     As described, the communications enabled buoy  112  can be suspended above the weighted base  102  and the attractant apparatus  106  and can be connected to the distal side of the attractant apparatus  106  by a flexible link  110 . In some embodiments, the communications enabled buoy  112  can be installed so that the body frame floats in a balanced manner on the surface of the sea water. In some embodiments, the communications enabled buoy  112  can be installed so that it is completely submerged underwater, while also keeping other elements of the system  100  afloat such as the attractant apparatus  106  and flexible link  110 . In some embodiments, the buoy can be a communications enabled buoy  112 . In some embodiments, the buoy  112  can include components for transmitting and/or receiving data, such as images and operational commands. The communications enabled buoy  112  may include, for example, a modem for modulating and demodulating signals, and an antenna configured to transmit modulated signals to and/or receive modulated signals from, one or more gateways. Such data signals may be communicated via a radio frequency network. For example, the data signals can be communicated over a cellular network, such as a Global System for Mobile (GSM) communication network, a General Packet Radio Service (GPRS) network, a Code Division Multiple Access (CDMA) network, an Enhanced Data for Global Evolution (EDGE) network, a Long Term Evolution (LTE) network, or any other type of cellular network. In some embodiments the data communications can be over a satellite network. In some embodiments the data communications can be over a shorter distance network, such as a Wi-Fi, Bluetooth, or infrared network. In some embodiments, the communications enabled buoy  112  can be configured to send and/or receive data communications using Long Range (LoRa) or LoRaWAN technology. By using LoRA or LoRaWAN technology, data may be communicated long distances, such as 30 kilometers, even in remote locations where cellular network coverage is unreliable or nonexistent. In another embodiment, the data communications can be over an optical network where light is modulated for wireless transmission. In still another embodiment, the communications enabled buoy  112  can be configured to transmit and/or receive data over a variety of networks. For example, the communications enabled buoy  112  could contain elements that could be configured to transmit over one or more different types of cellular networks, satellite networks, short distance networks, LoRa networks, or optical networks, and may select a network technology to use for a data communication based on availability. 
       FIG.  2    is another perspective view of a system  200  for attracting and monitoring marine life with a culling unit to eliminate marine life within the entrapment zone, according to some embodiments of the present disclosure. As used herein, the term “entrapment zone” refers to the area circumscribed by a culling unit  208 . In some embodiments, the system  200  of  FIG.  2    can include the weighted base  102 , the camera  104 , the attractant apparatus  106 , and the communications enabled buoy  112  as described in  FIG.  1   . Moreover, the system  200  of  FIG.  2    can include a culling unit  208 . In some embodiments, the culling unit  208  can include a threaded center-rod with shaft coupling  204 , a motor  202 , and a culling plate with spikes  206 . In some embodiments, the system  200  can not only lure marine life to an entrapment zone but can also cull the marine life within a certain range. The marine life in the entrapment zone can be culled periodically, either on timed intervals or upon critical mass of the cull mechanism. In some embodiments, the critical mass culling interval can be determined via analysis of data from the camera  104  system. In some embodiments, the culling unit  208  can be part of a system  200  consisting of the same elements as described in  FIG.  1   , with the insertion of a culling unit  208  between the weighted base  102  and the attractant apparatus  106 . 
       FIG.  3    is a detailed partial view of a system  300  with the culling unit  208  within the entrapment zone of the weighted base  102  according to some embodiments of the present disclosure. In some embodiments of the system  300 , the culling unit  208  can include a motor  202 , a threaded center-rod  204   a,  a shaft coupling  204   b,  a culling plate  206   a  with culling spikes  206   b,  and a limit switch  206   c.  In some embodiments, the culling unit  208  can cull marine life, such as urchins, by using the motor  202  output to spin the threaded center-rod  204   a,  thereby moving the plate with culling spikes  206   b  up and down to periodically target urchin that have been lured to the system. In some embodiments, the motor  202  can be attached to the top of the weighted base  102  as shown in  FIG.  2   . In some embodiments, the culling spikes  206   b  can extend from the plate  206   a  toward the weighted base  102 . In some embodiments, the threaded center-rod  204   a  can terminate into the shaft coupling  204   b,  which can prevent the remainder of the system above from rotating. In some embodiments, the shaft coupling  204   b  can be any coupling device used to connect two or more machine shafts for the purpose of transmitting power. In some embodiments, the anchor  108  can extend from the shaft coupling  204   b  and connect to the proximate end of the attractant apparatus  106 . For example, a flexible chain can connect the top of the culling unit  208  of  FIGS.  2 - 3    to the bottom of the lure containment object  114  of  FIG.  1   . 
     In some embodiments, the plate with culling spikes  206  can be threaded through the threaded center-rod  204   a.  As the culling plate  206   a  and culling spikes  206   b  are lowered, the culling spikes  206   b  can penetrate the urchin within the entrapment zone, as these are sandwiched between the culling spikes  206   b  and the weighted base  102 , thus killing them. When the culling plate and spikes are raised, the culled urchin and remains can be released, to be washed away by water currents. In another embodiment, the culling unit  208  can be used to cull other marine life such as starfish or sea sponges. 
     In some embodiments, the culling unit  208  motion can be initiated by a timed clock interval and prescribed to stop by a similar time interval or the limit switch  206   c,  which can be attached to the bottom surface of the plate with culling spikes  206 . For example, the culling can occur every 1, 5, 10, 15, 20, 30, 45, or 60 minutes. In some embodiments, the culling can occur every 1, 2, 3, 4, or more hours. In some embodiments, the motion of the culling plate  206   a  and culling spikes  206   b  can cause the limit switch  206   c  to trigger the completion of the culling action and to reset to default position. 
       FIG.  4    is a high-level schematic of the system according to some embodiments of the present disclosure. The schematic depicts an attractant apparatus  106  with the culling unit  208  in place. In some embodiments, such as for the base attractant apparatus depicted in the system  100  as shown in  FIG.  1   , the motor  202  for culling and limit switch  206   c  can be absent and not needed in the base attractant apparatus depicted in the system  100 . 
     In  FIG.  4   , a standard ON/OFF switch  404  controls the entire system  400  operation. 
     A battery  402  provides the necessary power at scheduled intervals when the system  400  is active. The battery may be, for example, a lithium ion battery, a nickel metal hydride (NiMH) battery, an alkaline battery, or a lead acid battery, though the disclosure is not so limited. In some embodiments, the system can remain in a low power mode for the majority of its operation. Through the use of a timer  414 , the system microcontroller  406  can activate the imaging system and culling unit  208  if needed. In some embodiments, the microcontroller  406  can execute instructions for operating the camera  104 . In some embodiments, the microcontroller  406  can execute instructions for using computer vision algorithms that can be trained to identify targets of interest in the collected image data from the camera  104  and to control the culling unit  208 . In some embodiments, computer vision algorithms can be trained to identify marine life, such as sea urchins, starfish, abalone, or kelp. In some embodiments, computer vision algorithms can analyze image data and can count marine life in the images. In some embodiments, the imaging system can include lighting  416 , a camera  418 / 104  and data storage  420 , such as image storage. In some embodiments, when activated, the culling motor  408  can either raise or loser the culling plate and spikes  206 . In some embodiments a limit switch, also called a limit trigger,  410  can be used to bound the motion of the culling unit  208  motor  202 . In some embodiments, surface data communications  412  can be used to collect stored image data, monitor the battery level and control the system  400 . 
     In an embodiment, a data cable (not pictured) can be connected to the camera  408 / 104  and communicatively linked to the communications enabled buoy  112 , such as that pictured in  FIG.  2   . In some embodiments, a microcontroller  406  can be connected to the data cable and disposed within a communications enabled buoy  112 , such as that pictured in  FIG.  2   . 
     In some embodiments, the data cable (not pictured) from the camera system to the communications enabled buoy  112  can provide the ability for a wireless (e.g. cellular) surface data communications  412  to a remote server for monitoring and data storage/backup. In some embodiments, the microcontroller  406  can communicate with the camera  104  subsystem and can transmit and or receive data to the communications enabled buoy  112  via the data cable (not pictured). The movement of the urchin or marine biodiversity data can be collected. In some embodiments, the culling unit  208  motion can be based on insight gained from processing the camera  104  data. In some embodiments, the culling unit  208  motion can be a culling rate. In some embodiments, the culling rate can be determined by the limit switch  410 . In some embodiments, the culling rate can be determined by processing camera  104  data. For example, in some embodiments, the culling unit  208  can be deployed when 5, 10, 20, 30, or more marine creatures are within the entrapment zone. In some embodiments, the culling unit  208  can be deployed when the density of the marine life in the entrapment zone is determined by the camera  104 , computer vision algorithm, and or microcontroller  406  to exceed a threshold. 
     In some embodiments, surface data communications  412  may include one or more wide areas networks (WANs), metropolitan area networks (MANs), local area networks (LANs), personal area networks (PANs), or any combination of these networks. The surface data communications  412  may include a combination of one or more types of networks, such as Internet, intranet, Ethernet, twisted-pair, coaxial cable, fiber optic, cellular, satellite, IEEE 801.11, terrestrial, and/or other types of wired or wireless networks. The surface data communications  412  can also use standard communication technologies and/or protocols. 
       FIG.  5    is another perspective view of a system  500  for attracting and monitoring marine life with another culling unit  208  to eliminate marine life within the entrapment zone according to some embodiments of the present disclosure.  FIG.  5    illustrates an embodiment of the attractant system with a weighted base  102 , a camera  104 , an attractant apparatus  106 , a communications enabled buoy  112 , and a culling unit  208  with an alternate culling and attractant system to eliminate marine life within the entrapment zone. In some embodiments, the system  500  of  FIG.  5    may also be a system as described in any of  FIGS.  1 - 4   . In some embodiments, the culling unit  208  of the system  500  can be the culling unit described in  FIGS.  2 - 3   . 
       FIG.  6    is a detailed partial view of a system  600  with culling unit  208  within the entrapment zone of the weighted base  102  according to some embodiments of the present disclosure. In some embodiments, the culling unit  208  shown in  FIGS.  5 - 6   , can include a motor  202  and mounting cage  608 , an extrusion basket  606   a  and an attractant reservoir  606   b,  a size exclusion base  602 , and three guide rods  604 . In some embodiments, the size exclusion base  602  can be attached to the top of the weighted base  102 , and can limit access to the entrapment zone to marine life targets of a certain size. For example, the size exclusion base  602  can be configured to keep marine life larger than urchins out of the entrapment zone. In some embodiments, of the culling unit  208 , the extrusion basket  606   a  and attractant reservoir  606   b  (e.g., kelp) are a single component mounted on three guide rods  604 . In some embodiments, the attractant reservoir  606   b  can contain kelp. In some embodiments of the culling unit  208 , the motor  202  is attached to the attractant apparatus  106  components by the anchor  108  extending from the motor  202  to the proximal end of the attractant apparatus  106 . In other words, in some embodiments of the culling unit  208 , the motor  202  can be attached to the weighted base  102  and the culling plate with spikes  206  can be attached to the anchor  108 . In other embodiments of the culling unit  208 , such as depicted in  FIGS.  5 - 6   , the motor  202  can be attached to the anchor  108  and the size exclusion base  602  can be attached to the top of the weighted base  102 . 
     In some embodiments, extrusion basket  606   a  and attractant reservoir  606   b  component can have a threaded center-rod shaft that allows the extrusion basket and attractant reservoir  606   a - b  to be lowered to crush the targeted urchin in the entrapment zone and raised to allow the remains to be cleared by water current. In some embodiments, the threaded rod can be driven by a motor  202  which can be held in place by a mounting cage  608 . In other words, in some embodiments, the mounting cage  608  can be holding the motor  202  in place. The mechanism can move the extrusion basket and attractant reservoir  606   a - b  up and down to periodically target urchin that have been lured into the system. In some embodiments, an attractant can be disposed within the attractant reservoir  606   b.  In another embodiment, of the system  400  of  FIG.  4   , the motor  202  for culling can be activated to raise or lower the extrusion basket and lure containment  606   a - b.    
       FIG.  7 A  shows the attractant apparatus system  700  with one seeding plate removed from the planter frame according to some embodiments of the present disclosure. The system  700  includes a weighted base  102 , a camera  104 , a communications enabled buoy  112 , a flexible link  110 , a planter frame  702 , a plurality of seeding plates  704 , and a center post  706  extending above the planter frame  702 . In some embodiments, the attractant apparatus  106  can be a planter frame  702 , a plurality of seeding plates  704 , and a center post  706  extending above the planter frame  702 . The planter frame  702  can be connected to the top of the weighted base  102  by the anchor; a plurality of seeding plates  704  can be arranged to fit into the slots of the planter frame  702 . In some embodiments, the planter frame  702  can be a lattice, grid, or matrix having 2, 4, 8, 16, 32, 64, 100, 200, or more slots arranged in a repeated pattern. In some embodiments, the seeding plate  704  can have 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, or more holes for aquaculture. In some embodiments, the seeding plate can support kelp holdfasts, which can weave in and out of the holes. The seeding plates can be seeded by submerging in a solution of kelp sporophytes. In some embodiments, the planter frame  702  can be full of seeding plates  704  except for the center space, from where the center post  706  can extend. In some embodiments, the flexible link  110  can connect the communications enabled buoy  112  to the distal end of the attractant apparatus  106 . In some embodiments, the distal end of the attractant apparatus  106  can be the top of a lure containment object  114  described in  FIG.  1   . In some embodiments, the distal end of the attractant apparatus  106  can be a rigid center post  706  extending from the center of the planter frame  702 . 
       FIG.  7 B  shows a side view of the live kelp embodiment of the attractant apparatus with one seeding plate removed in the planter frame according to some embodiments of the present disclosure. The system  700  includes a weighted base  102 , a camera  104 , a communications enabled buoy  112 , a flexible link  110 , an anchor  108 , a culling unit  208 , a planter frame  702 , a plurality of seeding plates  704 , and a center post  706  extending above the planter frame  702 . In some embodiments, the weighted base  102 , camera  104 , communications enabled buoy  112 , and flexible link  110  can be any of those described in  FIGS.  1 - 6   . In some embodiments, the anchor  108  can be a rigid attachment. In some embodiments, the culling unit  208  can be the culling unit  208  described in  FIGS.  2 - 3 ,  5 - 6   . In some embodiments, the planter frame  702 , plurality of seeding plates  704 , and center post  706  extending above the planter frame  702  can be those described in  FIG.  7 A . In some embodiments, more than one of the camera  104  can be in the system. For example, in some embodiments, the camera  104  can be mounted to the weighted base  102  in 1, 2, 3, 4, 5, 6, 7, 8 or more locations. Additionally, in some embodiments, the camera  104  can be mounted to the center post  706  extending about the planter frame  702  with seeding plates  704 . In some embodiments, the camera  104  can be mounted to the center post  706  in 1, 2, 3, 4, 5, 6, 7, 8 or more locations. In some embodiments, the camera  104  mounted to the center post  706  can scan for abalone in the kelp fronds, monitor growing kelp, and employ computer vision algorithms to count abalone in the kelp planters. In some embodiments, the computer vision algorithm can be trained to identify, track and count plant and animal species of interest, and can be retrained to improve effectiveness over time as updated system components and training data become available. 
       FIG.  8 A  shows a side view of a planting frame attractant apparatus with the seeding plates and buoy removed according to some embodiments of the present disclosure. The system  800  of  FIG.  8 A  shows a weighted base  102 , a camera  104 , a culling unit  208 , a planter frame  702 , a seeding plate  704 , and a center post  706  extending above the planter frame  702 . In some embodiments, the weighted base  102  and camera  104 , can be any of those described in  FIGS.  1 - 6   . In some embodiments, the culling unit  208  can be the culling unit  208  described in  FIGS.  2 - 3 ,  5 - 6   . In some embodiments the planter frame  702 , plurality of seeding plates  704 , and center post  706  extending above the planter frame  702  can be those described in  FIG.  7 A . 
       FIG.  8 B  shows a side view of a planting frame attracting apparatus with the seeding plates removed, but the buoy intact according to some embodiments of the present disclosure. The system  800  of  FIG.  8 B  shows a weighted base  102 , a camera  104 , a communications enabled buoy  112 , a flexible link  110 , an anchor  108 , a culling unit  208 , a planter frame  702 , a seeding plate  704 , and a center post  706  extending above the planter frame  702 . In some embodiments the weighted base  102 , camera  104 , communications enabled buoy  112 , and flexible link  110  can be any of those described in  FIGS.  1 - 6   . In some embodiments the anchor  108  can be a rigid attachment. In some embodiments the culling unit  208  can be the culling unit  208  described in  FIGS.  2 - 3 ,  5 - 6   . In some embodiments, the planter frame  702 , seeding plate  704 , and center post  706  extending above the planter frame  702  can be those described in  FIG.  7 A . 
       FIG.  9    is a perspective side view of a kelp holdfast growing on an underwater device according to some embodiments of the present disclosure. The system  900  of  FIG.  9    shows a weighted base  102 , a camera  104 , a communications enabled buoy  112 , a planter frame  702 , a plurality of seeding plates  704 , kelp  902  growing, and a center post  706  extending above the planter frame  702 . In some embodiments the weighted base  102 , camera  104 , communications enabled buoy  112 , and flexible link  110  can be any of those described in  FIGS.  1 - 6   . In some embodiments the planter frame  702 , plurality of seeding plates  704 , and center post  706  extending above the planter frame  702  can be those described in  FIG.  7 A . In some embodiments, the attractant can be supplied by the attractant apparatus  106  as a renewable source of the attractant. In some embodiments, kelp  902  can grow as the renewable source of the attractant. In some embodiments, the seeding plates  704  can be replaced after transferring the seeding plates with kelp  902  to land-based nurseries. In some embodiments, spores (not pictured) for seeding kelp can be added to the seeding plates  704  in land-based nurseries and then transported to the field such as in the system  900  of  FIG.  9   . In some embodiments, the plates can be installed, and the juvenile kelp can be allowed to grow in the field. 
       FIG.  10 A  illustrates the top view of a planting frame without seeding plates according to some embodiments of the present disclosure. The system  1000  of  FIG.  10 A  shows a weighted base  102 , a camera  104 , a culling unit  208 , a planter frame  702 , a seeding plate  704 , and a center post  706  extending above the planter frame  702 . In some embodiments the weighted base  102 , camera  104  can be any of those described in  FIGS.  1 - 6   . In some embodiments the culling unit  208  can be the culling unit  208  described in  FIGS.  2 - 3 ,  5 - 6   . In some embodiments the planter frame  702 , seeding plate  704 , and center post  706  extending above the planter frame  702  can be those described in  FIG.  7 A . In some embodiments, all of the seeding plates  704  can be removed at once from the planter frame  702 . 
       FIG.  10 B  illustrates the top view of a planting frame without buoy and with one seeding plate removed according to some embodiments of the present disclosure. The system  1000  of  FIG.  10 B  shows a weighted base  102 , a camera  104 , a culling unit  208 , a planter frame  702 , a plurality of seeding plates  704 , and a center post  706  extending above the planter frame  702 . In some embodiments the weighted base  102  and camera  104  can be any of those described in  FIGS.  1 - 6   . In some embodiments the culling unit  208  can be the culling unit  208  described in  FIGS.  2 - 3 ,  5 - 6   . In some embodiments the planter frame  702 , seeding plate  704 , and center post  706  extending above the planter frame  702  can be those described in  FIG.  7 A   
       FIG.  11    is a side view of a single seeding plate  704  according to some embodiments of the present disclosure. 
     In some embodiments discussed in  FIGS.  1 - 6   , the attractant apparatus  106  can be a lure containment object  114  such as shown in  FIG.  1    with the anchor  108 , which can be a flexible attachment as discussed, and a communications enabled buoy  112  keeping the lure containment object  114  afloat. In some embodiments discussed in  FIGS.  7 - 11   , the attractant apparatus  106  can include a planter frame  702 , a plurality of seeding plates  704 , and a center post  706  extending above the planter frame  702  such as shown in  FIG.  7    with the anchor  108 , which can a rigid attachment as discussed, and a communications enabled buoy  112 . In some embodiments, the communications enabled buoy  112  does not keep the kelp planter embodiment of the attractant apparatus afloat but can remain for the purposes of communication. In some embodiments, the attractant apparatus  106  can be part of a system without a culling unit  208 , such as the system  100  of  FIG.  1   . In some embodiments, the attractant apparatus  106  can be coupled with a culling unit  208  that operates using a plate with culling spikes  206  to grind target marine life, such as urchin, that have been lured into the entrapment zone such as the culling unit  208  of  FIGS.  2 - 3   . In some embodiments, the attractant apparatus  106  can be coupled with a culling unit  208  that operates using an extrusion basket  606   a  and attractant reservoir  606   b  to smash target marine life, such as urchin, that have been lured into the entrapment zone such as the system of  FIGS.  5 - 6   . In some embodiments, the example system  400  of  FIG.  4    can describe any device of the present disclosure, such as the device of  FIGS.  1 - 2 ,  7 - 9   . 
     It is to be understood that the disclosed subject matter is not limited in its application to the details of construction and to the arrangements of the components set forth in the following description or illustrated in the drawings. The disclosed subject matter is capable of other embodiments and of being practiced and carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting. As such, those skilled in the art will appreciate that the conception, upon which this disclosure is based, may readily be utilized as a basis for the designing of other structures, methods, and systems for carrying out the several purposes of the disclosed subject matter. It is important, therefore, that the claims be regarded as including such equivalent constructions insofar as they do not depart from the spirit and scope of the disclosed subject matter. 
     Although the disclosed subject matter has been described and illustrated in the foregoing illustrative embodiments, it is understood that the present disclosure has been made only by way of example, and that numerous changes in the details of implementation of the disclosed subject matter may be made without departing from the spirit and scope of the disclosed subject matter.