how about this little gem from (video) the US Office of Naval Research. ONR recently conducted tests with a developmental ship hull grooming robot, called the Robotic Hull Bio-inspired Underwater Grooming (HULL BUG) tool. The HULL BUG is similar in concept to a autonomous robotic home vacuum cleaner or lawn mower and incorporates the use of a biofilm detector that utilizes modified fluorometer technology to enable the robot to detect the difference between the clean and unclean surfaces on the hull of a ship. The Naval Surface Warfare Center at Carderock (NSWCCD) estimates that biofouling reduces vessel speed by up to 10 percent. Vessels can require as much as a 40 percent increase in fuel consumption to counter the added drag.