UNIVERSITI TENAGA NASIONAL

COLLEGE OF ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

SEMESTER 2 2020/2021

MEMB 322 – MECHANICAL DESIGN PROCESS

PROGRESS REPORT 1

SECTION : 01

GROUP NUMBER : 06

GROUP MEMBERS :

1. Sukhjeet Singh ME0103540

2. Kavineshrau A/L Vijayan ME0103548
3. Azri Rahimi Bin Abdul Samat ME092549
4. Syafiq Afifuddin Bin Mohd Anuar ME0103565
5. Caleb John Isaac ME0103616
6. Hemaid Sobhy Shawky ME0103845

INSTRUCTOR: Mr. Chua Yaw Long

Performed Date Due Date* Submitted Date

2/4/2021 2/4/2021 2/4/2021

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 TABLE OF CONTENTS

Contents Page

Chapter1 Abstract 3

Chapter 2 Introduction 4

2.1 Background Research 4

2.2 Overview 4

2.3 Problem statement 5

Chapter 3 Survey Analysis 6

Chapter 4 Competitors’ Product 15

Chapter 5 House of Quality Diagram 29

Chapter 6 Conclusion 30

Chapter 7 Reference 31

2
 Chapter 1

Abstract

This group project that has been assigned to us is mainly focusing on designing and
upgrading the types of water cleaner that are already in the market. In these modern days there
are already many type of aquatic water cleaner in the market but what we are doing here is just to
study and make up the upgrades can be made to the products to better and more efficient.
According to news that has been published, last year, a group of people protested for a lake
located in Taman Wahyu to be cleaned up as it was getting dirtier day by day [1]. By listening to
news like this, it is clear that we really need to study and do research to help up with such
situation. In Malaysia, the focus and influence of lake water cleaner is not really focused as it is
obvious that most of our lakes are really in need of cleaning as the water quality is decreasing
[2]. This project of ours started by studying the types of aquatic water cleaner that are in the
market and coming to a conclusion on how can a one specific type of design and added features
will help up with the situation. To make sure the project was done smoothly a few meetings had
been held by our group and discussion has been going on since we received the task that has
been given to this group of ours. The task division between team members was done accordingly
to make sure no one was left out. In a nutshell, our group members was very responsible and
helpful during this whole project and that is why we did not have any problem working on this
group project.

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 Chapter 2

Introduction
Background Research

A large portion of Earth's surface is covered by water, less than a third is taken up by
ground. Population of the earth continues to grow and people are depended on the planet's water
supplies. In a way, our seas, rivers, and other land waters are being compressed by human
activities so their consistency is decreased. [3] Poorer water quality leads to water contamination.
An aquatic lake cleaner is a machine that operates on only one main function and that is to clean
up the lake. The main way to clean up a lake is by collecting the trash that is floating around a
lake and to gather it up to make the lake cleaner. Most water cleaner are only depended on one
renewable energy to run and operate but what we had in mind is that to combine 2 different
renewable energy which is solar energy and wind energy to aid in the operation of the aquatic
lake cleaner. A lake cleaner is mainly equipped with things that will be needed to collect the
floating trash around a lake. One of the main negative affect of a polluted lake is that it will
directly affect the aquatic living things in the lake. Contaminated water will eventually lead to
deaths of aquatic living things if things are not handled properly.

Overview

This project that we will be conducting is an Aquatic Trash Collector where this trash collector
will be powered up and functioning using solar panel and wind energy. This gives us an ample
opportunity to invent a machine with the knowledge of mechanic of machine, machine design,
theory of machines from the syllabus that we have learned. The place that we are focusing on to
use our design is at a lake at Taman Wahyu as recently it has come to attention that the lake is
heavily contaminated and needs cleaning as soon as possible.[1] In order to give each group
members equal opportunity to contribute in this project we came up with Gantt charts, flow
charts and statement of RANS to organise them with their respective parts.

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Problem Statement

In recent years, water pollution cases have becoming very serious lately. Waste disposal drops
the quality of water and ultimately gives a high impact towards water pollution. Several nations
have produced a semi-automation craft that is completely loaded with the latest device which
came together with the advancement of technologies to promote the role of garbage collection.
The automation vehicle production is critical for reducing both waste and manpower use for
managing the method of cleanliness. [4] Domestic waste, which is the major source of water
contamination. It consists of manure and sewage pumped into the river or lake indiscriminately.
This has contributed to a shortage of oxygen in the water and can be a threat to the marine
ecosystem. The dirty river may also be a vector of diseases and livestock. Drinking this water
will also transfer this unwanted disease on to human and animals[5]. High cleaning costs are
another problem. Government hires contractors to use man power to collects the trash along the
river or lake using boat so to avoid this a lake cleaner is the better situation.

5
 Chapter 3

Survey Analysis

3.1 Introduction of survey

The aim of the survey was to gather and analyze data in order to better understand their needs
and decide how to enhance the current water collector design. The survey was given amongst the
students, and random people. The questions were aimed at deciding what consumers want from
better model in order to convince them to use it. The survey had a goal of getting at least 30
people to participate in order to get a final result, and it ended up with 35 people.

3.2 Method of Conducting the Survey

Unfortunately, due to the present situation, which is the COVID-19 epidemic, the questionnaire
must be completed virtually in order to prevent physical encounters with anyone. Google Forms,
an online survey that can be posted on the internet site, was used to create a collection of
questions (Refer to Online Survey Forms attached in Appendices). The online forms were then
disseminated via social media platforms such as Facebook, Instagram, and messaging apps like
WhatsApp. Part A and Part B of the survey were split into two parts. Part A is focused on
demographics, while Part B is made up of questions about the model specifications.

3.3 Survey Questions

Part A – Demographics

1. Gender
2. Age
3. Occupation

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Part B – House of Quality (HoQ)

1. Have you ever wonder the needs of water trash collector?

2. Would you prefer to have manual water trash collector (by hand) or automatic water trash
collector (by robotic)?
3. Do you think the trash collector should be running day and night collecting trash around
lake?
4. Do you think the trash collector should be moving around lake while collecting or
standstill?
5. Main sail is attached onto the water trash collector so that it could maneuver around
during night cycle without having to consume electric. Do you agree on this?
6. If you are able to request any special specifications on the automatic lake collector, what
are your thoughts?

3.4 Survey Outcome and Analysis

Based on the chart above, there are 25 males and 10 females. This indicates the survey has been
answered 71.4% more male than female genders. This is important to ensure that all genders'
perspectives are taken into account.

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According to the pie chart above, the most of those who completed the survey are between the
ages of 21 and 25. Just 5.7 percent are between the ages of 26 and 30, and 2.9 percent are
between 31 and 35. No one under the age of 20 and above 36 has responded to the survey.

As 91.4 percent of the respondents answered student that indicates the majority of the
respondents are students. Just 5.7% of them are still working, while the rest are neither students
nor workers. This also suggests that it is linked to the previous pie map, since the majority of
them are between the ages of 21 and 25, suggesting that they are still students or fresh graduate.

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Part A has been completed, and it is very useful to learn how these consumers, who are mainly
students, would like to have lake trash collector made to suit their needs.

Part B

About more than half respondents, 57.1% to be exact agreed the needs of water trash collector to
be implements in real life and 14.3% of people had 50% chance to required water trash collector
or vice versa. However, 28.6% of people disagree to the statement and hence it is clear that water
trash collector is a form of majority requirement.

Automatic is always the main stand up point for the new era. About 82.9% of respondent choses
to have robotic water trash collector and 17.2% chose the opposite. Smart product required more

9
complex setup in order to make it functional without having the needs of men power to
constantly be cleaning lake.

Based on the above pie chart, 62.9% respondent thinks that the lake trash collector should be
running while collecting day and night. 17.1% of people did not agree with the statement as this
might have some difficulties on how to move the model during night cycle. About 77.1% agreed
that the trash collector should be maneuver around lake while 20% of them disagree and required
the model to passively standstill while collecting trash.

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The amount of electric required to run a motor is indeed continuously draining. Having a
thoughts on adding mainsail to the model as it could maneuver around during night time is
important for energy saving. Currently the model is required to handle 3 components via
electricity, 2 motors and an Arduino board that include wireless controller and GPS. These
components required to invest more electric in order for them to perfectly be working. Thus,
65.7% of people agreed to add mainsail on the model and about 17.1% disagreed.

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 In the survey, we developed some parameters for people to choose from in order to assess
their satisfaction with the lake trash collector. The primary concern of people can be seen in the
bar chart shown above.

When asked about price, it is clear that people prefer a purchase that provides good value
for money. The product prices should be commensurate with the product's quality. Customers
would gladly pay for product if their needs are met. This is supported by the results of the
survey, which revealed that 77.14% of the total respondents agreed with the argument that cost

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would be a factor in buying a lake trash collector. Customers would prefer lower prices if given
the option, as it would allow them to save money.

The method on easy to use is important and should be taken into account. Users friendly
affect both the GPS locator and controllable specification as both of this required user to get full
control of the product. It is recommended to have an easy application that able to use in different
type of mobile phones in order to control the product. Thus, positive feedback regarding the
importance of GPS locator and controllable can be extracted when they responded to the
question that matter to them. In order to run these, electricity is the most crucial thing to be
considered. Solar energy was selected and provided in the question if this type of energy is to be
considered. About 91.43% of respondent agreed with this idea and it is clear why as the model
will always maneuver on water and the only finite sources of electricity only by sunlight. It is
understandable that wind energy could be added to the model. However, the amount of length
and sizes makes it to be unstable and will disturb the movement.

As 28 of the respondents agree with the statement, a question about whether customers
prefer a free-moving product receives a positive response. The main reason for this is widely
covered the whole lake instead of standstill that only collect in one portion of area. Another
study to find out the response regarding collector tray if this should be big or small in size. The
size will consider the amount of trash that could be hold in between each intervals of product
maintenance. About 62.86% of respondent agreed to have larger size as this will help to increase
more time for the product to collect instead of moving back and forth frequently just for clearing
the tray.

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Calculation of Importance Rating

𝑁𝑜. 𝑜𝑓 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒
Importance Rating = 𝑇𝑜𝑡𝑎𝑙 𝑛𝑜. 𝑥 10
𝑜𝑓 𝑟𝑒𝑠𝑝𝑜𝑛𝑑𝑒𝑛𝑡𝑠

27
One sample calculation (Cost) = 𝑥 10
35

= 7.714

No. of response Importance rating

Cost 27 7.71
User friendly 31 8.85
Solar energy 32 9.14
GPS 28 8.00
Aesthetic 31 8.86
Ergonomic 28 8.00
Controllable 29 8.29
Collector Tray 22 6.29
Free moving 28 8.00
Table 1 : Importance rating

We also provide a means for respondents to share their opinions, such as a suggestion or a
concern, at the end of the survey. The following are respondents review on water trash collector

1 Safety nets to filter out aquatic life

2 Solar powered
3 Auto rechargeable
4 To make sure it does the job effectively
5 Bigger for larger debris
6 A predetermined location where it creates a channel for the trash to flow into the
cleaner
7 works efficiently
Table 2 : Respondents’ responds

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 Chapter 4

Competitors’ Product

COMPETITOR 1: ORCA-TECH

INTRODUCTION OF COMPETITOR

The Shaanxi Ouka Electronic Intelligent Technology Co., Ltd. (Ouka Smart) was

established in January 2017 with the aim of researching, developing, and manufacturing

intelligent ship solutions for use in inland and coastal waters. This business has made the

commitment to becoming a L4 service supplier for all water situations. Their services and

products includes water area intelligent assessment, data collection and reporting, and other

water system service professionals solutions. [6]

Its products are the Ouka unmanned cleaning boat, the Ouka unmanned inspection boat,

the Ouka unmanned surveillance boat, computer autonomous learning, image recognition, and

other technologies, which provide water surface intelligent sanitation and water field monitoring

to large businesses and government customers. [6]

Two of this company product will be taken into comparison for this project which are the

SMURF and TITAN unmanned cleaning robot.

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PRODUCT CHARACTERISTICS

PRODUCT 1: SMURF UNMANNED CLEANING ROBOT

An unmanned water surface technical service robot that cleans the water surface in

numerous water scenes such as beaches, scenic locations, parks, large lakes, and coastal waters

in open, enclosed/semi-enclosed water scenes. [7]

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Features:

1. Customization of the Platform

Additional features, such as hydrography survey, reagent distribution, water quality control, and

water plant mowing, may be applied to the robot.

2. Artificial Intelligence Object Recognition

The robot will classify goal waste and fine-tune the cleaning plan in real time using continuous

machine learning.

3. Obstacle Avoidance with Precision

The robot, which is equipped with millimetre wave radar, lidar, and an intelligent sensing

device, can detect obstacles in real time and avoid collisions and injury.

4. Service Flexibility

The robot can be controlled by an app or a remote control. Path preparation, auto sweeping, edge

cleaning, and auto return are only a handful of the features available in the app.

5. Cleaning with High Efficiency

A single battery has a lifespan of 6 hours and can vacuum up 360kg of trash every day. When

compared to conventional cleaning techniques, it is at least four times more effective.

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PRODUCT SPECIFICATIONS

(L) 251cm X (W)158cm X

Dimensions
(H)105cm

Draft 0.5m

Hull material Aluminum alloy

Payload 100kg

Single cleaning capacity 15kg

Battery 24V 60Ah, 2 Packs

Extra power output 420Ah

Lifetime 5-8 Hours

Max. speed 1.5 m/s

Propulsion 480W, two thruster

Obstacle Avoidance Millimeter wave radar, Lidar

Camera Range 3000

Communication Frequency 2.4G, 4G

Communication Range 2km

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PRODUCT 2: TITAN UNMANNED CLEANING ROBOT

Unmanned wastewater appliances for water surface washing in medium and big sizes. It

is ideal for 20-meter-wide freshwater waterways, medium and deep artificial lakes, and

reservoirs. It is more adaptable, has a greater carrying capacity, and is more effective. [7]

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Features:

1. Several interactions

Multiple ways of managing things: a remote control, a simple APP, and four smart ways of Pad

with a big screen to cater to the needs of a wide range of consumers.

2. Sensor of intelligence

 Fusion of millimetre radar and binocular cameras.

 Modeling of high-precision radar maps.

 Achieve robotic obstacle avoidance and sweeping.

3. Regulated accuracy

To gain precise control of ships, a precise positioning system combined with an intelligent route

algorithm is used.

4. Unrestricted job

Edge washing, field cleaning, and self-cleaning cruises are all options. Various cleaning task

modes can be mixed and matched at will.

5. Unmanned and incredibly secure service.

6. Low-cost robot service, economical.

7. Self-cleaning with a high productivity of one to ten.

8. Easily adaptable to a variety of urban waters.

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PRODUCT SPECIFICATIONS

(M) 379cm X (W)272cm X

Dimensions
(H)139cm

Draft 0.42m

Working minimum water depth 0.8m

Hull material Aluminum alloy

Payload 440kg

Single cleaning capacity 60-150kg

Extra power output 420Ah

Lifetime 8 Hours

Max. speed 1.3 m/s

Propulsion Electric thruster

Obstacle Avoidance Millimeter wave radar, Lidar

Camera Range 3000

Communication Frequency 2.4G, 4G

Communication Range 2km

Safety protection and dustproof

IP56
design

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COMPETITOR 2: THE OCEAN CLEANUP

INTRODUCTION OF COMPETITOR

The Ocean Cleanup is a Dutch-based non-profit innovation conservation organisation that

implements technologies to eradicate plastic waste from the seas and catch it in waterways until

it enters the sea. [8] The group performs scientific studies on plastic waste in the oceans. Boyan

Slat, a Dutch-born inventor-entrepreneur of Croatian and Dutch ancestry[9], created the

company in 2013. Their ocean system consists of a floating barrier at the water's surface in

oceanic gyres that absorbs marine debris as the system is moved by wind, waves, and current,

and slowed by a sea anchor.[10] The Ocean Cleanup launched a new project, the Interceptor, in

late October 2019 to fix the litter issue closer to the source, with plans to prevent 80 percent of

riverine trash from 1000 waterways around the world. [11][12]

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PRODUCT CHARACTERISTICS

THE INTERCEPTOR

The Ocean Cleanup's river plastic waste alternative is The Interceptor. It's the first scalable way

to keep plastic out of water and into the world's oceans. It runs entirely on solar fuel, collects

plastic on its own, and can operate in the majority of the world's most polluted waterways.[13]

There are currently three interceptors deployed which are at 1. Cengkareng Drain, Jakarta,

Indonesia; 2. Klang River, Selangor, Malaysia; and 3. Rio Ozama, Santo Domingo, Dominican

Republic.

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Features:

1. Barrier

The barrier directs river waste flowing with the current into the Interceptor's opening. The water

flow direction is optimised to travel through the system, taking the plastic onto the conveyor belt,

thanks to the Interceptor's catamaran configuration.

2. Conveyer Belt

The debris is pushed onto a conveyor belt by the current, which continually removes the debris

from the water and carries it to the shuttle.

3. Shuttle

The trash is automatically distributed through six dumpsters by a shuttle. The containers are

filled evenly using sensor data until they reach full capacity.

4. Dumpster

The garbage can be stored in the Interceptor for up to 50m3 until it has to be emptied. This means

it will work in even the most toxic rivers around the world.

5. Empty And Recycle

When the interceptor is nearly full, it sends a text message to the nearby owners, instructing them

to come and retrieve the garbage. The barge is then removed from the Interceptor, transferred to

the side of the canal, the dumpsters are cleared, the garbage is taken to nearby waste disposal

sites, and the barge is restored to the Interceptor.

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6. Scalable

The Interceptor has been designed for mass production and can be applied virtually anywhere in

the world.

7. Energy Neutral

The debris enters the Interceptor with the natural current of the river. All electronics on the

Interceptor, including the conveyor belt, shuttle, lights, sensors, data transmission, are solar-

powered.

8. Connected

The Interceptors are internet-connected, allowing us to gather continuous performance and

collection data. It also enables the Interceptor to automatically notify local operators once the

dumpsters are full.

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PRODUCT SPECIFICATIONS[14]

SYSTEM SIZE 8m x 24m x 5m

DEBRIS BARGE CAPACITY 50 m3

DEBRIS BARGE SIZE 4.5m x 14m x 0.77m

DUMPSTERS ON BARGE 6

DUMPSTER CAPACITY 8.3 m3

 Containerized components for assembly on site

 Smooth debris concentrating barrier

 Optimized hydrodynamic debris inlet

 Deflection functionality for oversized debris

 Navigation channel on side of system

 Multiple barrier connections points for variety of installation configurations

 Four point mooring system

 Designed for series production

 100% solar powered

Power and Data

 Off grid power generation

 Solar capacity – 5.6 kWp

 Battery capacity – 20 kWh Li-ion

 4G data uplink to cloud

 Direct measurement of extracted debris

 Measurement of local weather conditions

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 Remote monitoring dashboard

 Automated extraction control

Conveyer Belt and Extraction

 Maximum conveyor belt extraction rate

 24 kg/s (Assuming extraction conveyor is 100% full with debris @ 200 kg at a height of

0.3m)

 Nominal time to fill one barge 1 hour (Assuming 15% average fill condition of extraction

conveyor)

 Multiple barge exchanges possible per day

 Fully operational Interceptors can extract up to 50,000 kg a day; at optimal efficiency, this

capacity can theoretically be as high as 100,000 kg a day

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 COMPARISON BETWEEN THE COMPETITORS.

Product A B C
Company ORCA-TECH ORCA-TECH THE OCEAN CLEANUP
Name
Product Name SMURFS UNMANNED TITAN UNMANNED THE INTERCEPTOR
CLEANING ROBOT CLEANING ROBOT

Features 1. Customization of the 1. Several interactions 1. Barrier

Platform 2. Sensor of intelligence 2. Conveyer Belt
2. Artificial Intelligence 3. Regulated accuracy 3. Shuttle
Object Recognition 4. Unrestricted job 4. Dumpster
3. Obstacle Avoidance with 5. Unmanned and incredibly 5. Empty and Recycle
Precision secure service. 6. Scalable
4. Service Flexibility 6. Low-cost robot service, 7. Energy Neutral
5. Cleaning with High economical. 8. Connected
Efficiency 7. Self-cleaning with a high
productivity of one to ten.
8. Easily adaptable to a variety of
urban waters.

Dimensions (L) 251cm X (W)158cm X (L) 379cm X (W)272cm X (L) 800cm X (W) 2400cm
(H)105cm (H)139cm X (H) 500 cm
Frequency 2.4G, 4G 2.4G, 4G 4G
Communication 420Ah 420Ah 370Ah
Range

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 Chapter 5

House of Quality

29
 Chapter 6

Conclusion

Although the terms of cleaners has been modified through ages, the key goals remain the same,
and is most generally known as robotic lake cleaners such that there can be a pollutant-free lake
and that the lake operators feel particularly reassured in order to clean a lake for them. It is just
inconvenient for many consumers to be suddenly aware of the extreme retail price scale on such
machines. However, such instruments come from decades of creativity and progress that give the
spectrum of efficiency in time, money, maintenance and cleaning a special and distinguishing
appearance. In this article, a multi-robot system of self-sufficient aquatic machines for lake
cleaning has been suggested a new recruiting algorithm for a 3-robot system in a lake-like
environment was developed and simulated for navigation. In the removal of waste, useful load
distribution and detecting water quality, tests of a single robot model on a managed lake were
successful. Although the boats were not very fast, they created a great deal that was required to
counteract a great deal of drag on the system. These robots were designed to require minimal
maintenance and human intervention, performing much of their work individually but with the
ability to be manually operated. The simulations for a 3-robot device with a selecting algorithm
concluded that the removal of at least 80% of the randomly scattered pollution from a lake of
55,000m in a given day was successful. When all machines return to the same point for industrial
wastes and battery recharges, an increase in the number of machines does not increase the area of
cleaning significantly as each machine cover only a limited area at that point. For these machines
to be useful and accurate, the lakes should also have a minimum measurement of 100m x
100mThese machines can be programmed to perform many more important functions, including
fishing on a lake, as well as cleaning activities. The issue of plastic, paper and metal water
collection causes plague growth and favors illnesses such as malaria, typhoid and other
conditions. For human life, this is unsafe. The system proposed cleans the waste in small and
large lakes and reduces the use of the waste collector by fuel. The program saves the life and
effort of aquatic animals to clean the lake.

30
 Chapter 7

References

[1] https://www.freemalaysiatoday.com/category/nation/2020/08/02/taman-wahyu-residents-
want-authorities-to-clean-up-lakes/.

[2] “No Title.” https://www.astroawani.com/berita-malaysia/decreasing-water-quality-

affecting-putrajaya-lake-and-wetlands-136401.

[3]
vol. 3, no. 7, pp. 285–290, 2018.

[4] P. Nur, F. Mohd, and M. A. Mansor, “Article development of water trash collector,” no.
January, pp. 1–6, 2020.

[5] M. F. Nasir, “Design Water Trash Collector Prototype for River Bank Application,” 2016.

[6] Unmanned ship-Oka Zhibo, leader of unmanned cleaning ships. [Online]. Available:
http://www.orca-tech.cn/aboutus. [Accessed: 31-Mar-2021].

[7]"Unmanned Ship Series," Unmanned Ship-Oka Zhi Ship Leader of Unmanned Cleaning
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[8]“The Ocean Cleanup,” Wikipedia, 01-Apr-2021. [Online]. Available:

https://en.wikipedia.org/wiki/The_Ocean_Cleanup#:~:text=The%20Ocean%20Cleanup%20is%
20a,it%20can%20reach%20the%20ocean. [Accessed: 01-Apr-2021].

[9]“HRVAT KOJI ČISTI OCEANE Moj tata živi u Istri, a ja sam s ušteđevinom od 200 €
ostvario san,” Jutarnji list, 23-Aug-2016. [Online]. Available:
https://www.jutarnji.hr/life/znanost/hrvat-koji-cisti-oceane-moj-tata-zivi-u-istri-a-ja-sam-s-
ustedevinom-od-200-%E2%82%AC-ostvario-san-4632887. [Accessed: 01-Apr-2021].

[10]“Into the Twilight Zone,” The Ocean Cleanup, 25-Sep-2019. [Online]. Available:
https://theoceancleanup.com/updates/into-the-twilight-zone/. [Accessed: 01-Apr-2021].

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[11]“Dutch foundation launches project to tackle river plastic pollution,” Yahoo! News.
[Online]. Available: https://news.yahoo.com/dutch-foundation-launches-project-tackle-
184500487.html. [Accessed: 01-Apr-2021].

[12]Explaining the Interceptor | Cleaning Rivers | The Ocean Cleanup. YouTube, 2019.

[13]“Rivers,” The Ocean Cleanup, 27-Jan-2021. [Online]. Available:

https://theoceancleanup.com/rivers/. [Accessed: 02-Apr-2021].

[14]“The Ocean Cleanup InterceptorTM.” The Ocean Cleanup, 26-Oct-2019.

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