TRAVERSE
TRAVERSE
a watch for navigation. anywhere.
about
100 miles of caves are discovered each year
the worlds largest cave vault wasn’t discovered until
2010
Caves remain the most unexplored terrain on earth because only recently have new technologies (batteries, oxygen tanks, climbing gear) allowed for more dangerous expeditions
cold water caves
vertical descents
preservation
mountain/glacial
cave diving
rushing water
extreme temperatures
delicate crystals
narrow tunnels
dangerous ice passages
mud and dirt
Problem Caving is dangerous because it is difficult to receive aide when it’s needed most. Once you are underground you can’t call for help, ask for directions, or get out quickly.
Possible Directions navigation get out safely rescue when things go wrong, how do you get out gear keep things from going wrong in the first place diving the most dangerous type of caving
Focus
Cave Gear and Navigation My main focus is on caver gear, specifically the gear related to navigation and way-finding.
Included Areas navigation devices
packs
path marking
climbing gear
mapping
lighting
communication
protective gear
User Groups
Novice Cavers
[3 types]
My final product should fall into the advanced user group, as they are likely to buy a product and are numerous enough to be a profitable target audience
are new to the sport borrow or rent gear require a guide to navigate caves aren’t likely to buy a dedicated product
Advanced Cavers The core group of the caving world have their own gear go on a regular basis often serve as guides to less experienced cavers Marion Smith
number of people
novice
advanced caver
buys the best gear Historian by profession goes caving every few weeks often takes novice cavers with explores non-public caves
advanced
Elite Cavers elite amount of experience
go to uncharted and unexplored caves includes photographers, scientists, explorers use the very best gear only a handful world-wide
A Caver’s Gear
The average caver pack needs to be waterproof, lightweight, and have a flat profile. This is what the typical caver pack consists of.
what they carry
extra light helmet
trash bags cave map
pack headlamp
cover alls
glow sticks
matches
batteries
flash light harness gloves
water carabiners
rope
notepad
pads urine bottle
multi-tool
boots
first aid
food
Gear Breakdown This is a breakdown of the standard equipment used by cavers with an average price range.
ascenders $50-200
helmet $50-150
descenders $15-235
headlamp $30-400
carabiners $5-30
harness $20-150
extra light x2 $10-60
pack $50-150
rope 10m $5-30
other gear waterproof notepad food and water first aid kit plastic trashbag knife/multi-tool protective clothing/pads camera gear overnight gear research equipment
Cave Types
[four types]
Cold Water Caves (solutionable caves)
are the most common caves. They are formed by water from the surface eroding a soluble rock such as limestone, they are usually not as complex, but are still dangerous because they can flood quickly
Thermal Caves (primary caves)
are formed by hot water, usually in areas with volcanic activity. The water rises from underground, leaving labrynths and few connections to the surface. But they stay dry even when it rains, and are distinguished by having no stalagtites
Glacial Caves
form in arctic regions, They beautiful but unpredictable, especially in the spring season when the cave sweats.
Old Mining Shafts
are very dangerous and precarious. They are prone to collapses and it is strongly recommended to avoid such caves.
Thermal Glacial Cold Water Mine Shafts
Why we get lost in caves 3 dimensional environment lack of common references different going in than coming out structure light (or lack thereof) distorted time other cavers
from
we are only used to navigating in 2 dimensions on the surface
no sun or stars
hence the “look back rule”
we live in rectilinear buildings and cities, underground is chaos
only see whats in front of us, no peripherals, shadows are no longer directional clues, distorts sense of distance, affects perspective without the sun time is often measured in distance, which is hard to judge
a slow caver affects a fast cavers sense of distance, back of the line has a limited perspective of the cave
Wayfinding in Caves - A Proposed Curriculum for a Short Course in Self Rescue by Dave Lemberg, UC Santa Barbara
Wayfinding
Reorientation
avoid getting lost
landmarks
pick out and label landmarks as you go
find your path again don’t panic
relax and assess the situation, panic will only serve to get you more lost
look back
caves look very different going out than going in
breathe
caves can be cool, the steam from your breathe will flow towards an exit
use all senses
See distinguishing features Hear dripping, water rushing, wind blowing, and echoes Smell the clean rock and water or guano, sulfur, etc Feel the texture of the rock and mud and temperature
watch for animal life
a scared bat will always try to flee the cave. But be careful if you are blocking the path, it will attack
go upstream
other senses
balance, exertion, pace, distance
develop a system
be systematic and consistant
in cold water caves the water flows from the surface, but be wary this is not the case with thermal caves
sit tight
If all else fails, sit tight and wait for a rescue team reorientation techniques from caving expert Lazlo Turi
“Most cavers never attain map knowledge of a cave. Fortunately, route knowledge is all that is necessary to avoid major disorientation in cave”
- Dave Lemberg, UC Santa Barbara
Other Forms of Navigation wayfinding in the rest of the world
Maps
are available for most public caves but because they are 2 dimensional they are not very descriptive of the terrain
GPS
has the same 2 dimensional issue as maps but also can’t receive signals underground
Path Marking
can be an effective form of navigation but is frowned upon in the caving community. Marking a path by either leaving something behind or chalking a wall damages the pristine environment of most caves
String
is often used by cave divers, but is limiting on the range of an expedition. Also, cave creatures like to destroy any non-synthetic materials.
Dead Reckoning
as used in other fields
Marine Navigation
Dead Reckoning refers to navigating based on something that is ‘dead’ in the water. It was the primary means of navigation prior to the 19th Century how marine navigation works start with a know position or ‘fix’ record heading, speed, time plot course to find current position
Animal Navigation
Migratory animals use dead reckoning or ‘path integration’ to find their way home.
“We aren’t exactly sure how they do it, but it’s thought that geese use magnetic north to continously keep track of their location relative to their home.” “Sea turtles, salmon, and other migratory sea creatures are another matter, they taste in the water the familiar currents of home, and then follow those back to their native river or beach.”
Aviation and Rocketry
Rocket Scientists such as Robert Goddard and Wernher Von Braun developed Inertial Navigation Systems (INS) in the 1950s. These systems allowed their navigation systems to function even when gps was interrupted. How INS works accelerometers, gyroscopes, altimeters, and spedometers track the progress from the launch point, providing the current position.
Chris Brahos
Purdue School of Veterinary Medicine
Inertial Navigation System for EFA Typhoon
“Roadbooks”
a Core77 series on navigation
“No Place Like Home” gps shoes
by Dominic Wilcox
Wrist Watch Map
this 1920’s device allowed travelers to have turn by turn directions while driving
Rally Car Racers
use these instructions for how to navigate each obstacle or turn in lieu of directions
“No Place Like Home”
by Dominic Wilcox uses gps and indicators on the shoes to provide distance and direction to your destination
Technology
potentially useful tech Components
Uses a combination of accelerometers, gyroscopes, and a compass to track motion, direction, and distance
Common Uses
built into car gps devices Nintendo Wii Remotes cell phones tablets, etc
Affordable
This technology is affordable with prices ranging from $7 to $17
The Tacit Project
A hand mounted device, the Tacit guides the visually impared with sonar
Handheld Sonar Device
This tool is used by clearance divers to sense objects that they cannot see in the water. It could be used to find paths in cave systems
3D Laser Scanning Dead Reckoning Modules
Microelectromechanical Systems (MEMS) that can be integrated into a number of products. This is basically a commercial grade INS that is manufactured by a number of companies.
often used in dry mining operations, this process can create accurate three dimensional maps of caves
What it doesn’t
What it needs
product specifications
things to avoid
it should withstand anything durable
it should be consistant and reliable dependable
it should be easily carried portable
it should survive water and mud waterproof
it should last longer than necessary long battery life
it should guide a caver to safety at least route knowledge
organic materials it shouldn’t decay in the cave
product dependency it shouldn’t create a dependency
high price tag it shouldn’t cost too much
complexity it shouldn’t be too complicated
high power consumption it shouldn’t drain battery life
getting in the cavers way it shouldn’t hinder a cavers agility
Concepts
exploring a variety
Waypointing
LiDAR Helmet
Path Marking
Air Sampler
Dead Reckoning
Traverse Compass
Echo Location
Digital Note Taking
Digitally mark each turn, the arrow will point your way back
Uses sensors to digitally trace the path taken and displays it to follow out
Uses a rear mounted LiDAR scanner to accurately map the cave on the way in.
Based on a 15th century sailors tool, this lets you mark the direction heading at each turn
This alternative doesnt damage the cave because you collect them on your way out
Uses Radar technology to map the surounding area, much like the native cave animals
This device test the oxygen, humidity, and airflow of the cave, and points to the surface
Involves the caver in the mapping process by taking pictures and notes of the path
Direction 1
Dead-Reckoning Nav
This device would create an accurate path that the caver can easily follow out.
Key Components
A compass, accelerometer , altimeter, and other instruments are used to trace your path from a starting point. 100ft E.
ft 75 S. E 50
ft
S.W .
.
dead reckoning
100ft E.
50
ft N
. E.
uses distance and direction to determine position
Digital Note Taking
With the addition of a camera, mic, and speaker it is possible to take notes and pictures on the trip, tagging them to the route by location.
take pictures
[to recognize landmarks later]
record notes
[to document your trip]
sensor
[tucks under shoe laces]
Direction 2
Waypoint Navigating
This device would allow a caver to set waypoints and find them again.
Key Components
37ft
A compass, accelerometer , altimeter, and other instruments are used to trace your path from a starting point.
147ft until next
until next waypoint
waypoint
10
14
waypoints to entrance
100ft E.
waypoints to entrance
ft 75
37ft
49ft
S. E
depth from surface
depth from surface
50
ft
S.W .
.
dead reckoning
100ft E.
50
ft N
. E.
uses distance and direction to determine position
The Advantage
By bringing the caver into the navigating process, a self relience is created in case of power failure. going in
[mark each turn or landmark]
D-I-Y Attitude This is a tool to aide a caver’s navigation, instead of doing it for them.
sensor
[tucks under shoe laces]
coming out
[follow the arrow back to each successive waypoint]
Implementations
How to apply it Each of these concepts could be used by the caver in a variety of ways. The placement of the device is vary important, it needs to be safe from damage yet easily accessible.
Helmet mounted
Wrist mounted
Carabiner
Pack clip
protected out of the way voice command H.U.D.
convenient versatility easy access
always accessible generally safe from harm
close to body quick access
Arm band
protected out of the way easy access
Ideation.
as the popularity of the sport rises, aided by new technology, cavers discover about 100 miles of caves each year... ...almost all of which are navigated by memory.
the structure the terrain
the dark
human error
chaotic
rugged
narrows view
mix-up landmarks
complex
damp
distorts Time/distance
panic
3D
preservation concerns
poor depth perception
fatigue
The Problems.
memory
maps
GPS
string
path marking
reliability varies
not descriptive enough
can’t get signal
used in underwater caves
damages environment
route based
innaccurate
creates user dependency
limits range
human error
sensory navigation
2D surface navigation
2D - lacks detail
creature interference
The Methods Now.
TRAVERSE
a watch for navigation. anywhere.
The Traverse is a navigation watch designed to guide you through the toughest environments. And because it doesn’t rely on GPS, it will work anywhere, even caves, mountains, or city streets.
2 1
The motion tracking sensor goes under your laces for accurate results
The information is transmitted to the watch via blutooth to monitor your route
The Interface.
picture viewer
reference your pictures to verify where you are
full route map
shows the entire path, including checkpoints and elevation markings
local area map
displays your immediate surroundings
detailed info
gives the numbers on your current location
watch mode
for everyday use
The Design. Protective Gorilla
gyroscopic
Energy efficient E-ink
similar to those in a smart phone
Durable machined
placement in shoe lets it track: walking running crawling climbing
motion sensor
records a three dimensional path Pressure sensor
transmits data to watch display
Plastic housing
Rugged rubber
Rechargeable
2.25 inches
Device circuit board/ blutooth sensor
Record the trip into the cave, then follow it out
Download trips to follow Yellowstone Park trail #4 Yellowstone Park trail #5 Yellowstone Park trail #6 Yellowstone Park trail #7 Yellowstone Park trail #8 Yellowstone Park trail #9 Yellowstone Park trail #10 Download
The Watch (to show the way)
Share routes with others Zoe // 10:36
Ran this campus lap in 18m 26s. Beat That!
The Sensor
(for accurate tracking)
Frank // 10:37
You’re on! send it.
Zoe // 10:38
route#12.path
a watch for navigation. anywhere.
about
100 miles of caves are discovered each year
the worlds largest cave vault wasn’t discovered until
2010
Caves remain the most unexplored terrain on earth because only recently have new technologies (batteries, oxygen tanks, climbing gear) allowed for more dangerous expeditions
cold water caves
vertical descents
preservation
mountain/glacial
cave diving
rushing water
extreme temperatures
delicate crystals
narrow tunnels
dangerous ice passages
mud and dirt
Problem Caving is dangerous because it is difficult to receive aide when it’s needed most. Once you are underground you can’t call for help, ask for directions, or get out quickly.
Possible Directions navigation get out safely rescue when things go wrong, how do you get out gear keep things from going wrong in the first place diving the most dangerous type of caving
Focus
Cave Gear and Navigation My main focus is on caver gear, specifically the gear related to navigation and way-finding.
Included Areas navigation devices
packs
path marking
climbing gear
mapping
lighting
communication
protective gear
User Groups
Novice Cavers
[3 types]
My final product should fall into the advanced user group, as they are likely to buy a product and are numerous enough to be a profitable target audience
are new to the sport borrow or rent gear require a guide to navigate caves aren’t likely to buy a dedicated product
Advanced Cavers The core group of the caving world have their own gear go on a regular basis often serve as guides to less experienced cavers Marion Smith
number of people
novice
advanced caver
buys the best gear Historian by profession goes caving every few weeks often takes novice cavers with explores non-public caves
advanced
Elite Cavers elite amount of experience
go to uncharted and unexplored caves includes photographers, scientists, explorers use the very best gear only a handful world-wide
A Caver’s Gear
The average caver pack needs to be waterproof, lightweight, and have a flat profile. This is what the typical caver pack consists of.
what they carry
extra light helmet
trash bags cave map
pack headlamp
cover alls
glow sticks
matches
batteries
flash light harness gloves
water carabiners
rope
notepad
pads urine bottle
multi-tool
boots
first aid
food
Gear Breakdown This is a breakdown of the standard equipment used by cavers with an average price range.
ascenders $50-200
helmet $50-150
descenders $15-235
headlamp $30-400
carabiners $5-30
harness $20-150
extra light x2 $10-60
pack $50-150
rope 10m $5-30
other gear waterproof notepad food and water first aid kit plastic trashbag knife/multi-tool protective clothing/pads camera gear overnight gear research equipment
Cave Types
[four types]
Cold Water Caves (solutionable caves)
are the most common caves. They are formed by water from the surface eroding a soluble rock such as limestone, they are usually not as complex, but are still dangerous because they can flood quickly
Thermal Caves (primary caves)
are formed by hot water, usually in areas with volcanic activity. The water rises from underground, leaving labrynths and few connections to the surface. But they stay dry even when it rains, and are distinguished by having no stalagtites
Glacial Caves
form in arctic regions, They beautiful but unpredictable, especially in the spring season when the cave sweats.
Old Mining Shafts
are very dangerous and precarious. They are prone to collapses and it is strongly recommended to avoid such caves.
Thermal Glacial Cold Water Mine Shafts
Why we get lost in caves 3 dimensional environment lack of common references different going in than coming out structure light (or lack thereof) distorted time other cavers
from
we are only used to navigating in 2 dimensions on the surface
no sun or stars
hence the “look back rule”
we live in rectilinear buildings and cities, underground is chaos
only see whats in front of us, no peripherals, shadows are no longer directional clues, distorts sense of distance, affects perspective without the sun time is often measured in distance, which is hard to judge
a slow caver affects a fast cavers sense of distance, back of the line has a limited perspective of the cave
Wayfinding in Caves - A Proposed Curriculum for a Short Course in Self Rescue by Dave Lemberg, UC Santa Barbara
Wayfinding
Reorientation
avoid getting lost
landmarks
pick out and label landmarks as you go
find your path again don’t panic
relax and assess the situation, panic will only serve to get you more lost
look back
caves look very different going out than going in
breathe
caves can be cool, the steam from your breathe will flow towards an exit
use all senses
See distinguishing features Hear dripping, water rushing, wind blowing, and echoes Smell the clean rock and water or guano, sulfur, etc Feel the texture of the rock and mud and temperature
watch for animal life
a scared bat will always try to flee the cave. But be careful if you are blocking the path, it will attack
go upstream
other senses
balance, exertion, pace, distance
develop a system
be systematic and consistant
in cold water caves the water flows from the surface, but be wary this is not the case with thermal caves
sit tight
If all else fails, sit tight and wait for a rescue team reorientation techniques from caving expert Lazlo Turi
“Most cavers never attain map knowledge of a cave. Fortunately, route knowledge is all that is necessary to avoid major disorientation in cave”
- Dave Lemberg, UC Santa Barbara
Other Forms of Navigation wayfinding in the rest of the world
Maps
are available for most public caves but because they are 2 dimensional they are not very descriptive of the terrain
GPS
has the same 2 dimensional issue as maps but also can’t receive signals underground
Path Marking
can be an effective form of navigation but is frowned upon in the caving community. Marking a path by either leaving something behind or chalking a wall damages the pristine environment of most caves
String
is often used by cave divers, but is limiting on the range of an expedition. Also, cave creatures like to destroy any non-synthetic materials.
Dead Reckoning
as used in other fields
Marine Navigation
Dead Reckoning refers to navigating based on something that is ‘dead’ in the water. It was the primary means of navigation prior to the 19th Century how marine navigation works start with a know position or ‘fix’ record heading, speed, time plot course to find current position
Animal Navigation
Migratory animals use dead reckoning or ‘path integration’ to find their way home.
“We aren’t exactly sure how they do it, but it’s thought that geese use magnetic north to continously keep track of their location relative to their home.” “Sea turtles, salmon, and other migratory sea creatures are another matter, they taste in the water the familiar currents of home, and then follow those back to their native river or beach.”
Aviation and Rocketry
Rocket Scientists such as Robert Goddard and Wernher Von Braun developed Inertial Navigation Systems (INS) in the 1950s. These systems allowed their navigation systems to function even when gps was interrupted. How INS works accelerometers, gyroscopes, altimeters, and spedometers track the progress from the launch point, providing the current position.
Chris Brahos
Purdue School of Veterinary Medicine
Inertial Navigation System for EFA Typhoon
“Roadbooks”
a Core77 series on navigation
“No Place Like Home” gps shoes
by Dominic Wilcox
Wrist Watch Map
this 1920’s device allowed travelers to have turn by turn directions while driving
Rally Car Racers
use these instructions for how to navigate each obstacle or turn in lieu of directions
“No Place Like Home”
by Dominic Wilcox uses gps and indicators on the shoes to provide distance and direction to your destination
Technology
potentially useful tech Components
Uses a combination of accelerometers, gyroscopes, and a compass to track motion, direction, and distance
Common Uses
built into car gps devices Nintendo Wii Remotes cell phones tablets, etc
Affordable
This technology is affordable with prices ranging from $7 to $17
The Tacit Project
A hand mounted device, the Tacit guides the visually impared with sonar
Handheld Sonar Device
This tool is used by clearance divers to sense objects that they cannot see in the water. It could be used to find paths in cave systems
3D Laser Scanning Dead Reckoning Modules
Microelectromechanical Systems (MEMS) that can be integrated into a number of products. This is basically a commercial grade INS that is manufactured by a number of companies.
often used in dry mining operations, this process can create accurate three dimensional maps of caves
What it doesn’t
What it needs
product specifications
things to avoid
it should withstand anything durable
it should be consistant and reliable dependable
it should be easily carried portable
it should survive water and mud waterproof
it should last longer than necessary long battery life
it should guide a caver to safety at least route knowledge
organic materials it shouldn’t decay in the cave
product dependency it shouldn’t create a dependency
high price tag it shouldn’t cost too much
complexity it shouldn’t be too complicated
high power consumption it shouldn’t drain battery life
getting in the cavers way it shouldn’t hinder a cavers agility
Concepts
exploring a variety
Waypointing
LiDAR Helmet
Path Marking
Air Sampler
Dead Reckoning
Traverse Compass
Echo Location
Digital Note Taking
Digitally mark each turn, the arrow will point your way back
Uses sensors to digitally trace the path taken and displays it to follow out
Uses a rear mounted LiDAR scanner to accurately map the cave on the way in.
Based on a 15th century sailors tool, this lets you mark the direction heading at each turn
This alternative doesnt damage the cave because you collect them on your way out
Uses Radar technology to map the surounding area, much like the native cave animals
This device test the oxygen, humidity, and airflow of the cave, and points to the surface
Involves the caver in the mapping process by taking pictures and notes of the path
Direction 1
Dead-Reckoning Nav
This device would create an accurate path that the caver can easily follow out.
Key Components
A compass, accelerometer , altimeter, and other instruments are used to trace your path from a starting point. 100ft E.
ft 75 S. E 50
ft
S.W .
.
dead reckoning
100ft E.
50
ft N
. E.
uses distance and direction to determine position
Digital Note Taking
With the addition of a camera, mic, and speaker it is possible to take notes and pictures on the trip, tagging them to the route by location.
take pictures
[to recognize landmarks later]
record notes
[to document your trip]
sensor
[tucks under shoe laces]
Direction 2
Waypoint Navigating
This device would allow a caver to set waypoints and find them again.
Key Components
37ft
A compass, accelerometer , altimeter, and other instruments are used to trace your path from a starting point.
147ft until next
until next waypoint
waypoint
10
14
waypoints to entrance
100ft E.
waypoints to entrance
ft 75
37ft
49ft
S. E
depth from surface
depth from surface
50
ft
S.W .
.
dead reckoning
100ft E.
50
ft N
. E.
uses distance and direction to determine position
The Advantage
By bringing the caver into the navigating process, a self relience is created in case of power failure. going in
[mark each turn or landmark]
D-I-Y Attitude This is a tool to aide a caver’s navigation, instead of doing it for them.
sensor
[tucks under shoe laces]
coming out
[follow the arrow back to each successive waypoint]
Implementations
How to apply it Each of these concepts could be used by the caver in a variety of ways. The placement of the device is vary important, it needs to be safe from damage yet easily accessible.
Helmet mounted
Wrist mounted
Carabiner
Pack clip
protected out of the way voice command H.U.D.
convenient versatility easy access
always accessible generally safe from harm
close to body quick access
Arm band
protected out of the way easy access
Ideation.
as the popularity of the sport rises, aided by new technology, cavers discover about 100 miles of caves each year... ...almost all of which are navigated by memory.
the structure the terrain
the dark
human error
chaotic
rugged
narrows view
mix-up landmarks
complex
damp
distorts Time/distance
panic
3D
preservation concerns
poor depth perception
fatigue
The Problems.
memory
maps
GPS
string
path marking
reliability varies
not descriptive enough
can’t get signal
used in underwater caves
damages environment
route based
innaccurate
creates user dependency
limits range
human error
sensory navigation
2D surface navigation
2D - lacks detail
creature interference
The Methods Now.
TRAVERSE
a watch for navigation. anywhere.
The Traverse is a navigation watch designed to guide you through the toughest environments. And because it doesn’t rely on GPS, it will work anywhere, even caves, mountains, or city streets.
2 1
The motion tracking sensor goes under your laces for accurate results
The information is transmitted to the watch via blutooth to monitor your route
The Interface.
picture viewer
reference your pictures to verify where you are
full route map
shows the entire path, including checkpoints and elevation markings
local area map
displays your immediate surroundings
detailed info
gives the numbers on your current location
watch mode
for everyday use
The Design. Protective Gorilla
gyroscopic
Energy efficient E-ink
similar to those in a smart phone
Durable machined
placement in shoe lets it track: walking running crawling climbing
motion sensor
records a three dimensional path Pressure sensor
transmits data to watch display
Plastic housing
Rugged rubber
Rechargeable
2.25 inches
Device circuit board/ blutooth sensor
Record the trip into the cave, then follow it out
Download trips to follow Yellowstone Park trail #4 Yellowstone Park trail #5 Yellowstone Park trail #6 Yellowstone Park trail #7 Yellowstone Park trail #8 Yellowstone Park trail #9 Yellowstone Park trail #10 Download
The Watch (to show the way)
Share routes with others Zoe // 10:36
Ran this campus lap in 18m 26s. Beat That!
The Sensor
(for accurate tracking)
Frank // 10:37
You’re on! send it.
Zoe // 10:38
route#12.path
