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When it’s Pouring, the Best Place to be is Underwater

Posted on April 1st, 2010 by Chris Hadfield

April Fool’s Day in Vancouver, and the gray-black sky opened up. One of those cold pounding rains that makes you run in a crouch, hustling for cover. An umbrella-stealing rain. A rain that normally I wouldn’t go out in. But today I was splashing around and loving it, inches from the wet yet bizarrely dry, happily learning to pilot a DeepWorker one-person submarine.

Stan (the other student sub pilot) and I got to the West Van docks around 9 AM. Mike and the 2 Jeffs from Nuytco already had the subs ready, sleek and black with hatches open.

We had a classroom session on emergency procedures, what to do in case of fire, water leak, air leak, etc. We had sandwiches while Jeff told stories of using the subs to retrieve wrecks and bodies. We put on an extra layer of socks against the chill, climbed into our DeepWorkers feeling like race car drivers, and helped close the hatches. Kyle the crane operator smoothly lifted me first, up and clear, over and down the long pilings of the pier, into the cold green water of Burrard Inlet. Jeff in a dry suit unhooked me, carefully keeping his hands warm out of the water, and finally I got to the real work of the day – emergency drills, and sonar practice.

Before you submerge, the subs float where you see half sky and half sea. Today that was gray over green, and a little choppy, making the sub roll. As I sit and type this tonight I can still feel the slow roll of the sub in the water.

Gray over Green, from the surface of Burrard Inlet - Photo: Chris Hadfield

I confirmed by the little white radio microphone draped across my neck that my sub (‘DeepWorker 6’) was healthy, and got permission from Mike to dive. A reach down to the right to let water into the flotation tank, a sudden rush of white bubbles up the right side of the canopy, and magically I was back in another world. Somehow like slipping into oblivion.

Slipping into the green oblivion - Photo: Chris Hadfield

Burrard Inlet is a bad place to dive, with bits of stuff floating in the water, terrible visibility, and the bottom mostly gravel, rock, muck and the occasional pop can. I stared intently into the thick green fog, straining to see anything, but most of the time I barely saw the cloud of mud billow up just as I bumped into the bottom.

The main noise was from the 4 little propellers that moved me around. I steered with my feet, and the harder I pushed, the louder the noise and the faster I turned and went. I had to let up on the gas to hear Mike on the radio, as we went through the emergency drills. It was all pretty common sense stuff – if something’s leaking shut it off, if the air is bad use a mask, if water’s getting in head for the surface. Everybody was happy, and we got on to sonar work.

It was weird to pull the computer tablet out into my lap and have the Windows home screen there with me underwater. A few switch throws and the sonar display came up, replacing the green hill/blue sky with a multi-coloured radar scope. Mike and the Jeffs put targets into the water, and off I went, on a hunt.

Sonar display in DeepWorker: so near, and yet, so far - Photo: Chris Hadfield

I’m a poor sonar operator. Mostly the display looked to me like psychedelic ink blots. Jeff radioed me headings and distances, and once in a while I imagined I saw something on the sonar screen that matched. I tried driving fast to avoid drift, I tried slow and careful on heading, I tried up high near the surface, and I tried down by the bottom. Mostly I just drove where Jeff told me, and 3 times I found the sonar target suddenly looming out of the murk. I also found a piece of PVC pipe that I decided to pick up with the robot arm, clumsy on my first try with that. It uses a joy stick in my right hand, tipping and rolling it to move the arm joints, pulling the trigger to open and close the jaws. I got the pipe clamped on my 2nd try, and raised it high like a skinny algae-covered Olympic torch for the rest of the dive.

PVC Pipe, just like the Olympic Torch - Photo: Chris Hadfield

Jeff called and said it was 4:30, time to head back. I decided my prize PVC pipe would smell bad above water and let it go, and then pushed hard on my left heel to climb to the surface. As I broke into daylight I pulled a lever to fill the buoyancy tank with air, and then trundled over on the surface to where Jeff floated with the lifting hook. Kyle hauled me out and set my on the deck, still wet with rain. I did the last of the checks with Mike on the radio, opened the hatch, took off my warm socks, and climbed back out into the other, non-sub-piloting world.

When it’s April Fool’s Day and pouring rain, I recommend being underwater.

- Chris

Dr. Love’s Underwater Blog

Posted on March 31st, 2010 by Stanley Love

About a year ago, I heard about the Pavilion Lake Research Project, which investigates weird microbial growths in a lake in British Columbia. It sounded like a lot of fun, but I wasn’t sure how to get involved. Then, about ten days ago, I got a call from someone who saw that I’d volunteered for the Desert RATS expedition later this year. He wondered whether I’d also be interested in “something even cooler than NEEMO, if not quite as cool as space flight.” I said, “Is it as cool as Pavilion Lake?”

Turned out it was Pavilion Lake. Hooray! So I threw a bunch of wool socks, fleece shirts, and Gore-Tex into a suitcase (I lived in Seattle for six years, and have some idea of what kind of weather to expect up here in March) and flew on up to Vancouver for a very quick introduction to the “whos” and “whats” of Pavilion Lake.

For me, the most important of the “whats” will be the DeepWorker submersible, the miniature submarine that I’ll be piloting to explore the lake this summer. The DeepWorker was developed by Nuytco, the same company that built the famous “Newt Suit” diving apparatus. DeepWorker is just big enough to hold one pilot, some ancillary electronics, and some life support and survival gear. Attached to the outside are four thrusters controlled by foot pedals inside, the batteries that power the whole craft, and the compressed-gas tanks. There’s also a small hydraulic manipulator that looks like a miniature version of the robot arms we use on the Space Shuttle and Space Station.

Today was the first day of DeepWorker school. The students are myself and Canadian astronaut Chris Hadfield. He has had some past exposure to submarines, but I know nothing about them, so this is all new to me! But no matter. After a quick but thorough briefing by Jeff Heaton, I climbed into DeepWorker #7. Jeff ran me through some system checks and we lowered the clear bubble hatch. The crane picked me up, swung me out over the water, and lowered me into it, all in not much more time that it takes to write it all down.

It’s strange to sit, totally secure and dry, bobbing in the sea with the waterline right at eye level. Strange, but not at all uncomfortable. The sub moved only sightly in the small waves we had with today’s fair weather. Once I’d had a chance to get used to the feeling of being in the water, Jeff talked me through some basic surface maneuvers, using the foot pedals to control the thrusters. Turn right and left, move forward and backward, follow a compass heading. All that went fine. Then it was time to flood the ballast tank and start working underwater. No problem: I moved the valve, a lot of bubbles came up from the right side of the sub as the tank filled, and the waterline crept up the clear dome and then closed over my head. I had wondered ahead of time how that would feel, and was pleasantly surprised that the sense of overwhelming coolness overrode any apprehension about being underwater.

One of the things I had looked forward to on this trip was seeing the undersea life of Puget Sound up close. Sadly, it was not to be–the water was very murky, making it hard to see anything beyond the snout of the sub. So I didn’t see much marine life–Nor, during later maneuvering, did I see one of the nearby dock pilings until after I’d felt a bump!

The first dive was short and sweet. If seemed as if only a few minutes had passed when Jeff asked me to resurface for lunch. We all enjoyed a nice meal in the sunshine (unusual for this place and season). Chris and I chatted a bit with some folks from the local and national media, then prepared for the next dive of the day.

The second sortie cemented the lessons of the first. It also added some basic sonar navigation work and exercised the automatic depth-holding function. All very cool. Again, the time seemed to fly by, and all too soon they were hoisting us out of the water.

In all, it was a great day. The sub is a marvel, the instruction was topnotch, and I can’t wait to do it again tomorrow!

-Stan

Exploring the Depths – 10 Inches at a Time

Posted on May 19th, 2009 by Alex Forrest

After several years of playing with underwater robots, last week was a new dimension with learning to “fly” the Deepworker vehicles as part of the training for the upcoming Pavilion Lake field season. The training missions were conducted in Vancouver’s Burrard Inlet over a five day period with myself and three other new pilots from the PLRP. The unique opportunity to operate these individual manned submersibles allows an unrivaled perspective in these underwater environments. The only unfortunate thing was that the perspective was somewhat myopic as the spring freshet (freshwater runoff during spring snowmelt) resulted in the water being quite turbid. On a good day, I was only able to see to the end of my camera. However, as you can see in the photo below, it is possible to just make out the reddish sea anemone positioned about 10 inches off the bow of the vehicle.

Anenome

Anemone at the bottom of Burrard Inlet

This type of exploration is also part of my ongoing personal research using humans and robots. For the past several years, as part of my doctorate, I have been involved with the deployment of UBC-Gavia, an untethered, autonomous underwater vehicle, in Pavilion Lake and many other places around the world. Last year, we were able to have both the Deepworker and UBC-Gavia in the water during the same time as you can see in the picture below. This year we’re planning to use Gavia and Deepworker in tandem to to explore incoming groundwater in the south basin of Pavilion Lake, which is an exciting opportunity for joint human/robotic exploration.

dw_gavia

Deepworker and UBC-Gavia together in Pavilion Lake

Pavilion Lake is a unique and exciting opportunity to use multiple vehicles for joint human/robotic science and exploration. Methods developed and lessons learnt from choreographing the increasingly specialized robots associated with this project (in terms of data collection, data management, logistics, etc.) would serve as a complementary model as humans reach towards manned flight to Mars and exploration of extra-terrestrial liquid bodies as potentially found on Europa (one of Jupiter’s moons) or Enceladus (one of Saturn’s moons).

-Alex