Entering the Hawaii Undersea Research Laboratory hangar is akin to
stepping onto the set of a Spielberg film.
The dull metal shell, perched
on the Makai pier along the Windward Coast of Oahu, is nondescript, but
the inside bristles with Zodiac boats and a dizzying assortment of
hoists and tools, and the walls are festooned with 30 years of
snapshots.
At the center of it all, two 20-foot-long Pisces submarines
sit atop skids like alien spacecraft, their robotic arms outstretched,
beckoning for another mission.
The laboratory, part of the University of Hawaii and better known as
HURL, has been the sole submersible-based United States deep-sea
research outpost in the mid-Pacific since the 1980s.
At its helm is
Terry Kerby, perhaps the most experienced submersible pilot alive.
With a
crew of five, Mr. Kerby and the Pisces subs have discovered more than
140 wrecks and artifacts, recovered tens of millions of dollars in lost
scientific equipment, and surveyed atolls and seamounts whose
hydrothermal vents and volcanoes were unknown.
The Pisces IV and Pisces V research submarines could soon be mothballed.
Credit
Kent Nishimura for The New York Times
“It’s
very unusual to have a facility that large and well-equipped in the
middle of a large ocean basin,” said Robert Dunbar, a Stanford
oceanographer.
“They’ve done a remarkable thing over there, largely due
to Terry’s expertise.”
But
today, Mr. Kerby faces the possible mothballing of his fleet.
The
forces at play are the same as in many other realms of science —
dwindling budgets, of course.
And robots.
Robotic
subs can stay down for days and reach extraordinary depths, instantly
relaying their finds to scientists and an Internet-connected global
audience.
But they cannot go everywhere, and many scientists argue that
studying the deep without direct human observation yields at best an
incomplete understanding.
“You can’t replace a Terry Kerby with a robot,” said Andy Bowen, principal engineer at Woods Hole. “It’s not possible.”
At
65, Mr. Kerby is tanned and fit, thanks to daily two-mile ocean swims.
He has been piloting submersibles at Makai for better than three
decades, starting in the mid-1970s harvesting corals.
He shifted to the
University of Hawaii and the National Oceanic and Atmospheric
Administration, which had bought the Makai facility to expand the
nation’s deep-sea capabilities.
In
1985, Mr. Kerby found the Pisces V submersible idled in Edinburgh and
persuaded the university to spend $500,000 for it.
Relatively big, it
could dive to 6,500 feet.
“She cost $4 million to build in 1972,” he
said. “And would cost $50 million to build today.”
Pisces
V came with no instruction manual, but Mr. Kerby found it was highly
maneuverable and could hover motionless, even in strong currents.
It
also operated untethered from a mother ship, allowing exploration of
caves and overhangs. Coupling Pisces with the University of Hawaii’s
research ship, the Ka`imikai-O-Kanaloa, and a home-built submersible
platform enabled Mr. Kerby to carry out missions from 60 feet down,
during surface conditions too rough for any other submersible.
Mr. Kerby
racked up discoveries, beginning with exploration of the Loihi seamount
off Kona. Eighteen years of return missions have revealed that an area
once thought dead is a vibrant world of myriad ecosystems and volcanism
still shaping the Hawaiian Islands.
Along Loihi and other slopes, the
team discovered living corals that predate even California’s bristlecone
pines.
In part 1 of a two-episode look at the submersible operation at the Hawaii Undersea Research Lab, we meet Terry Kerby, a legend of the underwater world. Terry has been piloting submarines for over 30 years. He and his team recently redeployed an old technology to help them save money in times of reduced funding for scientific research. The LRT-30a is a barge that transports the sub out to its dive site. A team of divers then takes the barge underwater with the submarine still attached and proceeds to launch the sub while it is underwater. see part II
In
2000, Mr. Kerby acquired a sister sub, the Pisces IV, from Canada for
$80,000.
Exploring in tandem made diving safer and enabled film crews to
show discoveries in the context of the submersibles.
The subs have
appeared in more than 20 documentaries, including National Geographic’s “Fires of Creation,”
in which the oceanographer Robert Ballard, whose discoveries included
the wreckage of the Titanic, descended with Mr. Kerby to the caldera of
Loihi.
Besides plumbing geological and ecological mysteries, the Pisces subs have made dives that sharpened views of history.
A little more than an hour before the first bombs fell in Pearl Harbor on Dec. 7, 1941, the American destroyer U.S.S. Ward
reported that it had sunk a tiny submarine near the harbor entrance.
But in a blunder that still fuels conspiracy theories, the report never
reached far enough up Navy command to initiate a mobilization of
defenses.
The Ward’s claim was disputed, even in the official Pearl
Harbor investigation report.
The sub thus became a holy grail for marine
archaeologists and historians.
Pisces V lauched from R/V KoK
In
August 2002, Mr. Kerby lay across the bench of the Pisces V, 1,200 feet
down, gazing at the dark, frigid world beyond his porthole.
For hours
he had been sweeping the seafloor four miles south of Pearl Harbor,
hunting for the mythic sub amid three dozen potential sonar targets and
fighting a rising sense of futility.
“We were chasing our tails down
there,” he said.
But then, looming out of the darkness, Mr. Kerby faced a torpedo shape three times as long as the Pisces. It was a 78-foot-long submarine
bearing the exact damage – a four-inch hole punched just beneath its
conning tower — described by the Ward’s crew.
“We’d searched for 10
years,” Mr. Kerby said.
“I just couldn’t believe it.”
After
that find, NOAA directed Mr. Kerby to further document the wreck-strewn
waters off south Oahu.
In another National Geographic project, the team
discovered four mammoth Japanese I-series submarines captured by the Navy at the end of World War II and scuttled to keep them out of Soviet hands.
Experience the first view of a World War II-era Imperial Japanese Navy mega-submarine, the I-400, lost since 1946 when it was intentionally scuttled by U.S. forces after its capture.
It now sits in more than 2,300 feet of water off the southwest coast of O'ahu.
“What
the Pisces program has done, mostly underfunded and unappreciated, over
the years is unmatched,” said Sylvia Earle, former chief science
officer for NOAA.
“It’s baffling to me that more understanding and
funding hasn’t been heaped upon them.”
Five
years ago, piloted deep-sea exploration appeared on the verge of a
boom, funded by wealthy explorer/entrepreneurs.
In 2012, after spending
$10 million building his Challenger Deep submersible, the filmmaker
James Cameron became one of three humans to reach the 6.8-mile depths of the Marianas Trench, the deepest ocean spot on Earth — and the only one to do it solo.
The Virgin Airlines founder Richard Branson
promised a new era of exploration with his $17 million Virgin Oceanic
submarine.
And Eric E. Schmidt, Google’s chairman, joined with Dr. Earle
on the $40 million Deep Ocean project.
Yet
all those programs have withered.
And by fiscal year 2014, the deep-sea
budget for NOAA was down to $26 million.
For comparison, NASA’s
exploration budget was $4 billion.
The United States Navy has abandoned
piloted submersibles with the exception of Alvin, which it owns jointly
with Woods Hole.
In 2013, NOAA said it would no longer fund the Pisces
program, leaving the United States with no Pacific deep-sea facility.
HURL has money to last until the beginning of 2016.
After that, the
university may be forced to sell the submersibles.
“There are only eight
deep-diving submarines left operating in the world” that can go 6,500
feet or deeper, said John Wiltshire, director of HURL and a member of
the Woods Hole submersible scientific advisory committee.
“So we’re
about to lose a quarter of the world’s fleet.”
What
changed?
To hear Dr. Ballard tell it, the shift began during a 1977
dive aboard Alvin off the Galápagos Islands.
About 8,000 feet down, Dr.
Ballard noticed a colleague paying more attention to the camera monitor
than to Alvin’s tiny windows.
“He turned his back on me to look at the
screen,” Dr. Ballard said.
“I said, ‘Why?’ He said, ‘I can get closer.’ I
said, ‘Then why the hell are you here?’ ”
Afterward,
Dr. Ballard said he realized fundamental truths of piloted deep-sea
exploration: It’s cold and scary, time in the deep is limited, and
robotic vehicles might do the same work for less money.
He persuaded the
Navy to fund two remote exploration vehicles, Argo and Jason, for use
by Woods Hole.
On Sept. 1, 1985, Argo first filmed the wreckage
of the Titanic.
Since then, remote deep-sea vehicles have proliferated
in exploration, mining and drilling. Dr. Wiltshire estimates perhaps
10,000 are in operation.
NOAA’s deep-sea efforts
are focused on two ships: its own Okeanos Explorer, based in Rhode
Island, and the E/V Nautilus, a joint project with the Ocean Exploration
Trust, founded by Dr. Ballard and based in Connecticut.
Nautilus has an
autonomous underwater vehicle that follows a programmed route and two
tethered remote submersibles.
Typically,
Dr. Ballard’s ships carry just one or two senior oceanographers;
engineers and technical staff deploy and monitor the submersibles,
which, via satellite link, deliver real-time images across the world via
the Internet.
Terry Kerby and his Pisces subs have discovered more than 140 undersea wrecks and artifacts.
Credit
Kent Nishimura for The New York Times
Dr.
Ballard described a recent Nautilus expedition that sent its
submersibles two and a half miles down into the Cayman Trough.
In a
piloted dive, the descent and ascent would take six hours each, leaving
mere minutes for seafloor exploration.
“Now we’re going down to 20,000
feet and spending days,” he said.
“And we have the entire world
participating.”
To
most marine scientists, including Mr. Kerby, robots have clearly won
the deep-sea war.
It’s now a question of whether lingering advantages to
piloted exploration should be discarded.
Mr. Kerby described a recent
robotic mission that Pisces might have done better.
In
2012, Ric Gillespie, a retired naval aviator, and Dr. Ballard announced
a sonar hit off Nikumaroro Island in the South Pacific that might
represent the wreckage of the Lockheed Electra flown by Amelia Earhart.
Mr. Gillespie requested Mr. Kerby for the expedition, but the Pisces
subs were down for maintenance, so his team instead relied on robotic
technology.
The tethered sub was unable to explore the near-vertical sea
walls and could not deploy over days of rough seas.
Eventually, an
untethered robotic vehicle became lodged in a reef overhang and had to
be rescued by a tethered robot.
The recovery nearly required the
University of Hawaii’s Ka`imikai-O-Kanaloa to deploy perilously close to
a reef.
“It’s
a horrible way to search,” Mr. Gillespie said.
“It’s like you’ve lost
your car keys at night in your backyard and you’re looking for them
through a toilet paper roll with a flashlight.”
At
the university, Dr. Wiltshire cited plans for bringing Alvin and the
Nautilus rovers to explore newly created Pacific marine monuments.
Rates
for Nautilus are in the range of $35,000 to $40,000 a day, while Alvin
and its support vessel Atlantis II cost $60,000 to $70,000 a day.
HURL
can deploy both Pisces subs for $48,000 a day, “and that’s not counting
the transit time and expense to get there,” Dr. Wiltshire said.
“It
takes us 15 days, but it takes two months to bring those ships over from
the East Coast.”
Dr.
Ballard countered that comparison must take into account the time his
rovers can stay submerged — days at a time, as opposed to eight hours or
so for Pisces or Alvin.
Dr. Bowen, who oversees the robotic and piloted programs for Woods Hole, says piloted exploration still has plenty of benefit.
Operating two of only eight deep-diving submersibles in the world, the Hawaii Undersea Research Laboratory (HURL) at the University of Hawaii - Manoa provides science and engineering communities with safe and efficient, cutting edge submergence capability.
A regional center in the NOAA Office of Ocean Exploration and Research, HURL supports proposals to conduct undersea research in offshore and nearshore waters of the main and Northwestern Hawaiian Islands and waters of the central, southwestern, and western Pacific, including the new marine national monuments.
“There’s
no question that the strong suit for robotics is that you can engage a
larger number of people in the process of exploration and discovery,”
Dr. Bowen said.
But taking in all the undersea factors — currents,
sounds, land forms, interactions between animals and their environment —
humans are still far better at synthesizing what’s going on in the deep
sea, he said.
“We hear that all the time from researchers who have
looked at the video monitors and data screens from Jason, but then also
gone down in Alvin.
It’s stunning how different their perception of the
environment is.”
According
to Craig McLean, the assistant administrator for oceanic and
atmospheric research at NOAA, decisions about HURL’s future were mainly a
matter of budget constraints and emerging technology.
HURL was funded
as part of NOAA’s National Undersea Research Program.
Scientists
competed for NOAA-backed studies, and the agency maintained and provided
the equipment — like Pisces submarines — to the winners.
That program
was phased out in favor of an unpiloted, Internet-connected virtual
model that includes on-call scientists around the world.
“We
realized we can’t afford to do it all,” he said.
“So we had to ask,
what are we doing and how can we have it be inclusive? So scientists who
can’t dive — they have a presence through telepresence.”
In
addition to making headlines with discoveries of bizarre creatures,
surveys with the Okeanos have, he said, had more practical applications.
A fisheries survey, for example, resulted in the recent protection of
38,000 nautical square miles of ocean off the East Coast.
Mr.
McLean said that should a scientist bring a proposal before NOAA or the
National Science Foundation that Pisces was well suited for, Mr.
Kerby’s team could still get funding on a mission-by-mission basis.
He
further agreed with a sentiment expressed by Dr. Earle, that in a time
of dramatic changes in the climate and ocean itself — some 90 percent of
which remains completely unexplored — he would prefer that NOAA had a
wider arsenal of discovery at its disposal.
“We’re doing as much as we
can,” he said.
“But we have to get into these difficult situations where
we have to make our priorities.”
In
the meantime, Mr. Kerby and his maintenance chief, Steve Price, have
been hustling.
Mr. Price has been funded to compile a database of all
Pisces discoveries for use by NOAA.
A World War II documentary project
has kept Mr. Kerby busy lately, and a series of geology, undersea cable
and sewer outfall surveys will keep HURL funded through year’s end.
He
says he is confident more work will materialize, preventing his crew
from having to follow the route of many former colleagues into oil
and gas exploration.
He’d love to secure the resources not only to keep
his subs running, but to add a full-time robot sub to HURL’s fleet.
“An
associate of mine at Woods Hole upper management said, ‘HURL doesn’t
stand a chance,’ ” Mr. Kerby said.
“ ‘They’re too far from the
flagpole.’Well, we are. We’re way out here on the ocean frontier, in
the prime spots, and we’re one of the most cost-effective operations
around. With all the new and unexplored monuments in the western
Pacific, and all the groups that need to do that exploration, we’re the
only viable tool with experience in these environments.”
After four years designing and piloting underwater drones, we've
taken everything we've learned and completely re-imagined what an
underwater drone could be.
Trident has a unique design that combines the
versatility and control of an ROV (Remotely Operated Vehicle) and the
efficiency of an AUV (Autonomous Underwater Vehicle).
It can fly in
long, straight survey lines called "transects" as well as perform
delicate maneuvers in tight spaces, all while maintaining a sleek and
powerful form factor.
Trident is easy to use and comes ready to
go.
Most importantly, it is incredibly fun to fly.
(Flying really is the
best term, because that's exactly what it feels like when you're
piloting.)
Our Story
You may remember us.
We came to Kickstarter three
years ago and shared our dream of building a low-cost underwater robot
that would allow anyone and everyone to explore the world below the
surface.
We have come a long way since that initial Kickstarter video.
We
were working out of Eric's garage at the time, building the original
prototype to explore a cave in Northern California with rumors of lost
treasure (the full story can be heard in this TED talk).
We never found the gold, but we received messages from people all over
the world who wanted to help us and improve the robot.
The Kickstarter
project was the springboard. Since then, we've shipped thousands of
OpenROV kits to people all over the world.
Community
The OpenROV community is the secret sauce.
We made
our project open source in order to facilitate faster innovation cycles
and allow others to improve on our initial designs.
Thousands of people
have gotten involved.
You can see and follow along with the community
expeditions on OpenExplorer.
Team
We've also assembled a small team that works from our
OpenROV HQ in Berkeley, CA to manufacture, ship and support the robots.
The combination of community wisdom and the commitment of our internal
R&D team (many of whom were original Kickstarter backers) have been
the drivers in creating Trident.
At OpenROV, we talk openly about our desire to maximize "Return on
Adventure."
We want to make sure that everyone who comes in contact
with our project - community members, customers, employees, whoever -
feels that their world is more interesting and more exciting because of
it.
We want to give people a sense of wonder about how much out there is
yet to be explored and make it possible for anyone to be a part of
exploring it.
Trident is our best attempt yet to fulfill that promise.
Trident Performance
Every aspect of the Trident design has been painstakingly
thought out in order to optimize performance and usability in any
situation.
One of the secrets of its versatility is the unique,
hydrodynamically offset thruster design.
This configuration allows you
to move through the water fast and efficiently when you want to rapidly
search an area or run a transect, but also allows you to maneuver very
delicately when in tight quarters or while looking at a particular
target.
By taking advantage of drag's exponential relationship
with velocity, the off-center vertical thruster of the ROV can cause it
to pitch at high speeds but also hover or change depth without pitching
while operating at low speeds - similar to the way a traditional ROV
works.
We've designed Trident to be ultra portable and ultra durable.
The form
factor is small enough to fit in a backpack or fit under an airplane
seat.
The side panels are overmolded with a strong, rubber coating,
which gives it protection from underwater obstacles as well as rough
handling when being transported.
Depth: Capable of 100m (will ship with a 25m tether - longer tethers will be sold separately) Mass: 2.9 kg Top Speed: 2 m/s Run Time: 3 hours
The data connection to Trident is a major evolution from the
connection set up of the original OpenROV kit.
It uses a neutrally
buoyant tether to communicate to a towable buoy on the surface (radio
waves don't travel well in water) and the buoy connects to the pilot
using a long range WiFi signal.
Using a wireless towable buoy greatly
increases the practical range of the vehicle while doing transects and
search patterns since a physical connection between the vehicle and the
pilot doesn't need to be maintained.
You can connect to the buoy and
control Trident using a tablet or laptop from a boat or from the shore.
Software
Our goal is to make the easiest, most intuitive telerobotic control
system possible.
We have embraced the latest emerging internet
standards from HTML5 and webRTC to WebVR and WebGL to deliver a rich
piloting experience through just a browser that runs on laptops,
tablets, and modern mobile devices.
The software that drives Trident is a living open-source project (https://github.com/openrov/openrov-software).
The same software that drives our previous ROV has been continually
updated by both the community and our software team. Some of those
changes included:
Software plugins that allow any ROV enthusiast to deliver improved
ROV capabilities to the whole OpenROV community via small Internet
delivered update packages.
UI Themes so that you can change the look and feel of the piloting experience.
Depth and Heading hold. Until recently, only a feature on high end industrial ROVs, now available to everyone.
With Trident we are focused on an amazing out-of-the-box
experience.
We are reviewing every bit of the user experience regarding
our software to ensure the most simple and intuitive experience
possible.
What's included
In each of the reward levels for a Trident, the basic package will include:
Trident. The actual drone, ready-to-dive.
A 25m (82 ft) tether. There's a lot to see in the first 25m of
depth. For many people, that will be enough. Tethers will be removable
and upgradeable if you need to go deeper.
A wifi topside buoy. The tether connects to a wifi topside buoy.
You can use this to control the ROV remotely by setting it on the water
or just leaving it on the boat or dock.
Batteries. Trident comes with onboard LiFePO4 batteries, providing a run time of over 3 hours.
ADVENTURE SET ADD ON* (add $350 to any pledge level): *You can always get this later if you're not sure. Or only add for either the hard case or longer tether.
Hard Case. ($100 Add On) Trident will come in a sturdy package/box, but the Adventure Set will have a hard case for travel and shipment. AND/OR
100m Tether. ($250 Add On) Know you want to go deep? Get the 100m tether right out of the gate.
Use cases
We built Trident to be the ultimate
tool for explorers.
But we also wanted to make sure that it was useful
for a whole host of utilities.
One of the most interesting new features -
something that sets Trident in a class of its own - is its ability to
conduct long transects, meaning it can run lawn mower patterns over
large areas.
The benefit of this type of coverage is that you can
create visualizations of what the seafloor looks like using
photogrammetry software to create a 3D model of the work area.
Here's an
example from the Fiskardo Greece Expedition run by our friends at OCTOPUS Foundation and Novalta:
Mission Fiskardo 2015 (Greece) In the Northern part of Kefalonia island in the Ionian sea, Ocean71, Novalta and Fiskardo Divers
When overlaid on top of aerial drone footage, these visualizations create a "window on the sea."
It's also a great tool for boat owners and fishermen.
Whether you want
to inspect an anchor line or look for shipwrecks, Trident gives you eyes
underwater and adds a whole new dynamic to the experience of being on
the water.
Sponsor a High School "The OpenROV project was a winner -- igniting my inner city
students' enthusiasm for exploration, taking on academic and technical
challenges and developing resilience to over-come set-backs." -Katie Noonan, Oakland High School
One
of the most exciting parts of the OpenROV project has been the number
of high school classes and students that have taken part.
The project
provides an incredibly well-rounded education experience: mechanical and
electrical engineering, programming, physics, biology, ecology,
contributing to an open source community, and just getting outside into
nature.
The OpenROV kit
(not Trident - the previous model of kit) is still an excellent tool
for education (and other uses that require the hack-ability).
We have a
long list of well-deserving classrooms that can do wonders with a
donated OpenROV kit. The reward pledge at the $1,000 level will further
our efforts here.
It will allow us to send a kit and build materials to
one of these schools.
If you're a resource-constrained teacher
who'd like to be added to this list, please email info@openrov.com with
the subject "I'm a teacher!"
Where We're At
We have spent the last two years developing the Trident, engineering
dozens of prototypes to get to what you see today.
We are currently
working on refining the final design and tuning it for manufacturing
with veteran mechanical engineers and industrial designers.
We have
developed relationships with manufacturing partners for the components
and subsystems of Trident and now we need your support to help make it a
reality!
