People You Meet in Submarines: Expedition Life with Dr. Steve Moore
A lifelong naturalist, Dr. Steve Moore has developed his passion for ocean discovery into a lifestyle of education through marine robotics. He became an inspiration to me the moment I met him, preparing for a dive to 300 meters. Here’s why:
When did you find yourself drawn to the ocean?
As a very young child, I used to visit my aunt, uncle, and grandma in Capitola, a small beach town on the central California coast. There, I’d play on the beach, where I sometimes found sea stars, crabs, or other sea life. These animals were so weird and fascinating to me, particularly since they hinted at a vast unexplored universe hidden just out of my reach. As I grew older, my fascination with marine life grew through books about the ocean, such as Jules Vern’s “20,000 Leagues Under the Sea,” and TV shows like “The Undersea World of Jacques Cousteau.”
How does a background in bioengineering affect the way you think about marine engineering?
My professional interests and my formal education span two major disciplines: biology and engineering. The marine world is especially exciting for me, because it presents unique opportunities and challenges that appeal to both the biologist and engineer in me. On the biology side, I am most interested in how animals work and how they interact with their environment. The animals living in the ocean are so different from the more familiar animals living on land, and the most obvious differences — such as body shape and methods of feeding, moving, or reproducing — are driven largely by differences in the physical properties of air and water. Trying to understand that interplay between biology and physics appeals to the bioengineer in me.
On the engineering side, I am most interested in designing and building gizmos and gadgets I can use to observe and study animals in their natural habitats. In this context, the ocean presents unique engineering challenges not typically encountered on land. For example, seawater is corrosive to metals, blocks radio waves, and can crush diving machines with its intense pressure. As a bioengineer, I get to see biology through the eyes of an engineer, and I get insights into engineering solutions by thinking about how animals survive and function in the deep sea.
What gets you excited about marine robotics?
Humans are naturally inclined to explore the world around them (and beyond), but they aren’t naturally equipped to live and explore under water. Fortunately, however, we’re clever enough to invent devices that transcend our biological limitations and enable us to explore under water. These devices range from simple things like face masks, snorkel, and fins to super-advanced submarines and submersibles. Recent advances in electronics have made it possible for us to “visit” the sea vicariously through remotely controlled undersea robots, or ROVs, which provide a sort of telepresence — we can be down there and poke around to explore the ocean depths without actually being down there. This approach is less expensive and less risky than visiting the ocean depths in person, so it appeals to people like me who are on a budget and who want to involve students safely in subsea exploration.
What are the biggest challenges you see facing new robotics students?
That’s a great question. There are several challenges, but none of them is insurmountable for a motivated student. One challenge is keeping up with the rapid evolution of this field, but the good news here is that most new advances make it easier and less expensive for the average student to get started in marine robotics. There are lots of robotics forums on the web, supportive community groups like the one associated with OpenROV, beginner-friendly robotics books and magazines, and other places to get great information and advice. Although the web information can be more up-to-date, the books and magazines often provide a more bite-sized and coherent introduction to the topic. Another problem is figuring out how or where to get started. If you’re lucky enough to have a school robotics club or a parent or neighbor who is into robotics, you can tap them for information, or get involved in robot projects or contests, such as the annual international MATE ROV competitions. Cost is, of course, another big obstacle for most students. While some of the most familiar robots cost millions of dollars, it’s also possible to design and build interesting robots that can do some serious exploration for a few hundred bucks or less. Here again, school clubs or similar groups can be helpful, because they may be able to access sources of money or share resources.
For example, if ten students get together and each chip in $20, that’s enough to build a simple ROV capable of exploring marine life under a wharf or floating dock.
What are some the techniques you’ve seen them use to move into an intimidating field?
The students who, in my experience, have been most successful at moving into potentially intimidating fields are those who:
- Just do it!
- Make effective use of available resources such as mentors, websites, and books to learn as much as they can,
- Get involved early in kits or other hands-on projects rather than just reading about it, and
- Are willing to admit openly that they don’t know it all yet, but are super eager to learn.
- I think the last one may be the most important. Students (and others) are often hesitant to get involved in a new activity out of fear that they’ll look stupid, because they don’t know anything about it yet. But if you come in with a humble “I don’t know it yet, but I’m eager to learn” attitude instead of a cocky “I already know it” attitude, people will generally think more highly of you and be very eager to help. Soon you WILL know a ton!
What role has art played in your study of the environment and engineering?
What an unexpected and wonderful question! My dad is a combination artist and engineer, and I think some of his artistic side rubbed off on me. The beauty of nature enthralls me. There’s probably a deeper psychological or evolutionary explanation (of which I’m unaware), but it seems to me that the most functional forms in nature are often the ones people find most aesthetically pleasing. For many years I have been into nature photography, trying to capture and convey that beauty of natural forms. More recently, I have been working on ROV designs that will allow me to take what I know about photography an apply it in the deep sea to bring back compelling images of deep sea life — images that are not just effective as documentation of what’s down there, but artistic as well.
What drew you to the Ulithi Atoll?
The short answer is serendipity. It was a lucky opportunity that arose from a presentation by my students about ROV work we had been doing, and we seized it. The longer explanation is that I’ve visited and worked on many coral reefs around the world over the past 40 years and have become concerned about the health of the world’s coral reefs and the sustainability of island cultures that depend on them. When I was asked if my lab could supply an ROV to assist with coral reef studies constructed to help Ulithi’s native people overcome declining fish populations and other environmental challenges, it was a no brainer to say, “Sure, we’ll see what we can do.” As we got more involved in the project, it became clear that it was a great opportunity to help a wonderful group of native islanders solve some pressing environmental issues and contribute to a global set of experiments in effective coral reef management, while at the same time challenging us to push our ROV design skills beyond what we’d ever achieved before. As an enticing bonus, it was a chance to explore a remote corner of planet earth that nobody had ever seen before — the deep fore reef slopes of Ulithi Atoll.
Where would you like to see the Ulithi ROV in 3–5 years?
Ultimately, I’d like to see the Ulithi ROV back in Ulithi answering more questions about threats to the health of Ulithi’s coral reefs and finding solutions that will help Ulithi’s people live sustainably on their remote atoll home, but it may be a while before we can find the funding we need to get back there regularly. It’s very remote and very expensive to get to, especially when I’m trying to bring several students with me and ship a bunch of ROV equipment. Right now, we are in the process of modifying and upgrading the Ulithi for use in Carmel Submarine Canyon, which is located off the California coast not far from California State University Monterey Bay, where I work as a professor. Our ecological research in Carmel Canyon, while useful in its own right, will help us refine the design of the ROV so that it can be a more effective tool in Ulithi.
What was the most enjoyable part of flying the Ulithi ROV?
Without a doubt, the most exciting and enjoyable part of flying the Ulithi ROV was the sense of discovery that came with exploring a steep vertical coral reef drop off at depths deeper than any scuba diver had ever gone before. We knew we were looking at things that no other human being had ever seen before! While we didn’t see any new species (that we know of), we saw many beautiful coral, sponge, and fish species rarely seen by others and extended the known depth range of at least one fish species. We (I mean the ROV) got circled several times by large silvertip sharks. We also experienced the totally illogical, yet undeniably creepy, first-person fear of falling into the abyss when, at our ROV’s depth limit of 500 feet, our downward camera revealed the reef wall dropping away into blackness and unfathomable depths directly beneath “us”. Yes, even though the ROV is remote controlled and you’re sitting safely in a boat looking at a TV screen, the sense of telepresence — of being down there in the depths in person — is very real. It’s a voodoo ROV. What happens to the ROV feels like it’s happening to you.
Walk me through the first 3 steps you take before any expedition.
Wow. Great question.
i. Logistics and preparation are everything, especially when you work in a remote place like Ulithi. You can’t just run down to the local hardware store to pick up a replacement part. There is no hardware store. In the case of Ulithi, the nearest store (of any sort) is over 100 miles away across open ocean. And you can’t call to order one, because there are no phones and no internet. The supply ship arrives once every 6 months… if you’re lucky. If you forgot something critical and can’t fashion it out of a coconut husk using a hermit crab shell as a tool, you’re hosed. And I’m not exaggerating here — months or even years of preparation and tens of thousands of dollars in transportation costs can all be wasted because you forgot one battery, or whatever. Because of that, the very first thing I start working on, months before departure, is an exhaustive and extremely detailed checklist, usually many pages long. In my mind, I run through endless scenarios, visualizing what will happen, and — perhaps more importantly — what might happen each moment of each day. I make two types of checklists. One covers what to pack and bring (passport, permits, spare batteries, tools, etc.) The other covers what to do, mostly as we prepare for and conduct each ROV dive (check to make sure batteries are fully charged, camera SD cards are cleared, O-rings are sealed, etc.) The checklists cover lots of “what if” scenarios. What if the ocean is too rough to go out while we’re there; what can we do to make effective use of the time anyway? What’s Plan B? What’s Plan C, D, E, F, and G?
ii. I also go into intensive information gathering mode. I search the web. I e-mail and phone people. Lots of people. I ask lots of questions. Does the island have electricity to recharge batteries? Is it U.S. standard, or does it use a different voltage? Is it reliable, or does it only operate a few hours per week? If not, can I bring a generator? Does the island have fuel? What vaccinations do we need? Can we drink the water? Is there any way to get medical assistance if I or one of my students gets sick or injured? This kind of information ultimately helps me refine my mental scenarios, making them more realistic, and improves the accuracy and relevance of what goes on my checklists.
iii. This third item may sound too obvious to include, but I’m going to list it anyway: I use my checklists. I learned this one the hard way years ago. I spent ages creating a detailed checklist for a trip to a remote tropical forest research station, but then, in the last minute rush to get out the door in time to catch the plane, I forgot to take the time to consult my checklist. Big mistake.
What terrestrial or marine applications do you see robots doing next?
Robots are becoming sufficiently sophisticated to start making important decisions on their own and working in coordinated groups. They are getting smaller and more capable all the time. Most of the major advances are driven by military needs and funding, but there are lots of “civilian” applications, too, including things like search and rescue. In the marine realm, autonomous underwater vehicles (AUVs) are increasingly replacing ships and ROVs as tools for doing marine surveys, military operations, and basic or applied science. Provided they are smart enough to return home reliably, they are less expensive to operate than ROVs and much less expensive than human divers. The downside is that they are (so far) less able to deal with completely unexpected situations than devices with humans at the controls.
You direct the Ecosystems Electronics Lab at CSUMB, which does many of its research tests from kayaks. What sort of exciting moments might new explorers encounter while working from these small research vessels?
Well, kayaks are great for student projects, because they are small, light, and easily portable, so they are easy and inexpensive to deploy and use. However, there are obvious disadvantages, too. They have limited range. For inexperienced kayakers, they are safe only in very calm conditions very near shore. They have limited space for ROVs or other research equipment. And they’re tippy. They are especially tippy when trying to lift a heavy ROV in or out of the water over the side of the kayak! This week, I have three students out working on kayaks. Before allowing them to go out with the equipment, I required them to show me, repeatedly, that they could flip the kayak over, fall out of it, roll it upright again, and get back in without assistance and without being able to touch the bottom. This is an essential safety skill when working from these tiny vessels. We also need to make sure our equipment is securely tied to the kayak and that it’s waterproof, so we won’t lose it or destroy it when the kayak flips!
Do you have a favorite phrase tucked in Underwater Robotics?
I have several I like, but my favorite is probably the quote from Drew Michel, on the back of the book: “This is the book that underwater robotics educators have been waiting for.” The insiders who worked on the book and funded its production recognize a double meaning in that quote. On the surface, it’s a testament to the wealth of useful information in the book, and that’s a good thing. But it’s also a not-so-subtle reference to the fact that it took us many years longer than originally anticipated to finish writing the book. This book, like most books, I suspect, was a labor of love. Three co-authors (Harry Bohm, Vickie Jensen, and me), a producer (Jill Zande of MATE), the Marine Technology Society, and others worked tirelessly for over 8 years to produce it. In the end, I’m happy with what we produced, but it was a huge amount of work and has given me a new appreciation of what it takes to create a major book.
How deep can your deepest ROV descend?
At present, our deepest ROV is the Ulithi ROV, and it can descend to a working depth of 150 m (500 feet).
Who inspires you?
Lots of people have inspired me throughout my lifetime. My parents Stan and Jane Moore inspired me. Many of my teachers from grade school through my graduate and post-doctoral programs inspired me. My wife (and fellow professor) inspire me. My son inspires me. My colleagues at CSUMB inspire me. My students inspire me. I guess that’s a long-winded way of saying that almost everyone I meet, in some way, large or small, inspires me, because each and every person has skills or knowledge or accomplishments that I respect but have not yet attained. I try to recognize in each person those qualities that would make me a better person, and then I try to emulate them. I’m not usually very successful, at least not at first, but over time I gradually get closer and closer to the person I ultimately aspire to be.
What snack do you always take on your day trips to the field?
Great question. Granola bars and dried fruit are good, because they provide energy but don’t require refrigeration and hold up pretty well while getting squashed in the bottom of a pack. I also have a thing for cookies, but sometimes I end up eating cookie crumbs. These snacks and water will keep me going all day, or several days, if needed.
Do you have any favorite robotic jargon?
I don’t know if I have any favorite robotic jargon, but I do have a couple of favorite nerdy T-shirt sayings related to my work:
“There are 10 kinds of people in the world, those who understand binary, and those who don’t.”
“If we knew what we were doing, it wouldn’t be called ‘research’.”
If you had a robotic arm what function would it serve?
Good question, because we are designing an arm now to add to the Ulithi ROV, and to design it effectively, we need to know what it’s supposed to do! We have a bunch of small seafloor instrumentation packets with sensors and time-lapse video cameras my students are designing and building right now. We hope to deploy these and later recover them from water deeper than scuba divers can go. Therefore, the most immediate and important role for our arm will be to attach lifting lines to these instrumentation packets, so we can haul them back up to the boat. An alternative would be to leave a buoy line attached to the instruments, but that invites theft, and it could become snagged with kelp or cause other problems, so we’re going the ROV recovery route instead.
Educator extraordinaire, Professor at California State University Monterey Bay, and author of Underwater Robotics: Science, Design, & Fabrication, learn more about Dr. Moore at https://csumb.edu/eel.
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