FeedIndex
Filter: 112 sunspots  view all
The Hayward Fault runs through the center of the UC Berkeley campus, famously splitting the university's football stadium in half from end to end. It has, according to the 2008 Uniform California Earthquake Rupture Forecast, a thirty-one percent probability of rupturing in a magnitude 6.7 or greater earthquake within the next thirty years, making it the likeliest site for the next big California quake.

Nonetheless, for the majority of East Bay residents, the fault is out of sight and out of mind—for example, five out of six Californian homeowners have no earthquake insurance.


The Hayward Fault trace superimposed onto a map of the University of California, Berkeley, campus, as seen in the USGS Hayward Fault Virtual Tour.

Meanwhile, three-quarters of a mile north of Memorial Stadium, and just a few hundred yards west of the fault trace, is the office of Ken Goldberg, Professor of Industrial Engineering and Operations Research at Berkeley.

Goldberg's extensive list of current projects includes an NIH-funded research initiative into 3D motion planning to help steer flexible needles through soft tissue and the African Robotics Network, which he launched in 2012 with a Ten-Dollar Robot design challenge.


Three robots from the "10 Dollar Robot" Design Challenge organized by the African Robotics Network.

Alongside developing new algorithms for robotic automation and robot-human collaboration, Goldberg is also a practicing artist whose most recent work, Bloom, is "an Internet-based earthwork" that aims to make the low-level, day-to-day shifts and grumbles of the Hayward Fault visible as a dynamic, aesthetic force.


Screenshot of Bloom, 2013, by Ken Goldberg, Sanjay Krishnan, Fernanda Viégas, and Martin Wattenberg.

Venue stopped by Goldberg's office to speak with him about Bloom and the challenge of translating invisible seismic forces into immersive artworks.

Our conversation ranged from color-field art and improvisational ballet to the Internet's value as a vehicle for re-imagining the relationship between sensing and physical reality. The edited transcript appears below.

• • •


A Bay Area seismograph. Photograph by Marcin Wichary.

Nicola Twilley: When did you start working with seismic readings in an artistic context, and why?

Ken Goldberg: Well, I had just finished grad school, I had started teaching at USC in the Computer Science department, and I was doing art installations on the side. And I was building robots.

I had just completed an installation for the university museum when I stumbled onto this, at the time, brand new thing called the World Wide Web. My students showed me this thing and I realized: this is the answer! The Web meant that I didn’t have to schlep a whole bunch of stuff to a museum and fight with all their constraints and make something that, in the end, only 150 people would actually get out to see. Instead, I could put something together in my lab and make it accessible to the world. That’s why we—I worked with a team—started developing web-based installations.


The Telegarden, 1995-2004, networked art installation at Ars Electronica Museum, Austria. Co-directors: Ken Goldberg and Joseph Santarromana Project team: George Bekey, Steven Gentner, Rosemary Morris Carl Sutter, Jeff Wiegley, Erich Berger. Photo by Robert Wedemeyer.

We actually built the first robot on the Internet, as an art installation. It got a lot of attention—tens of thousands of people were coming to that. Then we did a second version called The Telegarden, which is still the project I’m probably best known for. It was a garden that anyone online could plant and water and tend, using an industrial robotic arm, and it was online for nine years. I actually just found out that there’s a band called Robots in the Garden, which is exciting.

What was really interesting to me about The Telegarden was this idea of connecting the physical world, the natural world, and the social world through the Internet. I was interested in the questions that come up when the Internet gives you access not just to JSTOR libraries and to digital information, but also to things that are live and dynamic and organic in some way.

That really drove my thinking, and my colleagues and I began to do a lot of research in that area. I registered some patents and won a couple of National Science Foundation awards, formed something called the Technical Committee on Networked Robots, and wrote a lot of papers. From the research side of it, there are a lot of interesting questions, but, from the art side, it also led to a series of projects that look at how such systems were being perceived, and how they were shaping perception.

I worked with Hubert Dreyfus on a philosophical issue that we call “telepistemology,” which is the question of: what is knowledge? What counts as objective distance? In other words, people were interacting with this garden remotely, and that raised the question of whether or not, and how, the garden was real, which is the fundamental question of epistemology.


The Telegarden, 1995-2004, networked art installation at Ars Electronica Museum, Austria. Co-directors: Ken Goldberg and Joseph Santarromana Project team: George Bekey, Steven Gentner, Rosemary Morris Carl Sutter, Jeff Wiegley, Erich Berger. Photo by Robert Wedemeyer.

Epistemology has always been affected by technologies like the telescope and the microscope, things that have created a radical shift in how we sense physical reality. As we started thinking about this more, we became interested in how the Internet is causing an analogous shift, in terms of, hopefully, reinvigorating skepticism about what is real and what is an artifact of the viewing process. I edited a book on this for MIT Press that came out in 2000.

In the middle of all that, then, I moved here and met someone from the seismology group. They agreed to give me access to this live data feed of movements on the Hayward Fault, a tectonic fault that cuts right through the center of Berkeley—in fact, right through the middle of campus, not far from here. I was really interested in this idea of connecting to something that was not just the contained environment of a garden, but something much more dynamic and naturally rooted and global.

I guess I should add, as well, that a big factor for me was when I moved up here and became intrigued by the total amnesia and denial that people here have about their seismic situation. I would ask people, “What do you have in your earthquake kit?” And they would reply, “What? What are you talking about?” Now, of course, twenty years later, I don’t have an earthquake kit, either. [laughs]

Manaugh: I think that’s quite a common scenario. When we first moved out to California, we bought several gallons of water, a few boxes of Clif Bars, extra flashlights, and even earthquake insurance, and the native Californians I knew here just looked at us like we were paranoid survivalists, hoarding ammunition for Doomsday.

Goldberg: It was that sort of reaction that got me thinking a lot about how people are not conscious of the fault, or about earthquakes, in general, and I began wondering how you could make that more visually present. Also, the old seismograph was an interesting visual metaphor for me. Everyone recognized that form, but I wanted to play with it. I thought we could make a live, web-based version, which you can actually still see online.

Twilley: What form did that take?

Goldberg: The very first version was just a simple trace across a black screen. It was called Memento Mori and it was meant to be super-minimalist. In fact, when I showed it to the seismologists, they said, “Oh, where’s the grid? How can we quantify this without a scale?” I had to say, no, no, it’s not about that. We’re just showing a sense of this—a visible signal. We actually wanted people to make an analogy with a heart monitor.



Screenshots from Memento Mori, 1997-ongoing, Internet-based earthwork, Ken Goldberg in collaboration with Woj Matuskik and David Nachum.

What’s also interesting is that the trace mutates quite a bit. You come in at different times of the day and the signal is very different. It’s sort of like the weather. The fault has different moods. When there is an earthquake, people will see big swings of activity with rings, because it goes on for days and days afterward. In fact, when there’s a big earthquake in Turkey, you can pick it up here. It strikes the earth and then a signal comes around at the speed of sound, and then it goes all the way around again, and you get these echoes for weeks. Very small echoes can go on for months. And, every time there is a tremor, we get a huge spike in traffic.

I also liked the idea of making a long form artwork, like Walter De Maria’s Earth Room, online.


The New York Earth Room, 1977, Walter De Maria. Long-term installation at 141 Wooster Street, New York City. Photograph via.

Manaugh: Like a seismic Long-Player?

Goldberg: Exactly.

Part of this, I think, is that as an engineer, I’m really intrigued by the challenge of how you make the system stay on. A lot of times we have robotic projects, but they work once or twice, and then that’s it. I feel like that’s deceiving, because people may see them, or watch a video, and then they take away a certain sense of what robotics is. You have to be careful, because it sets false expectations. The kind of robotics in which you really build a system that can stay online and also take the kind of abuse that happens over the Internet is quite a challenge. I’m very big on this issue of reliability and robustness.

In any case, we put the Memento Mori system online and, after a year or two, Randall Packer, a composer here, approached me and said, “What about adding an auditory component?”

The actual signal frequency is too low—it’s inaudible. If you just attach a speaker to it, nothing comes out. What you want to do is use it to trigger sounds, so that, essentially, the signal becomes like a conductor’s baton, triggering this orchestra of sounds. Through that process of sonification, you can create a very auditory experience that’s still driven by the seismic signal.

Twilley: So you could be using the signal to trigger a laugh track if you wanted to?

Goldberg: Exactly—the sounds don’t have to be notes. Packer did it with a lot of natural sounds, like waterfalls and lightning and thunder—things like that—so it was very earthly. But by no means does it have to be musical. In fact, that’s where we are now with Bloom, which is my most recent project.

We renamed the new auditory version Mori. We got a commission to do a project in Tokyo, at the ICC. They actually gave us a good amount of funding, so we ramped up and built this whole seismic installation with an acoustic chamber that was about fifteen feet square and had extremely powerful subwoofers underneath the plywood floor. The whole idea was that you could walk in and you could lie on the floor. We amplified the signal a lot, and there was this real sense of immersion, like you were essentially inside the earth. What was important is that it was live. Obviously, you could do this prerecorded, but it was essential to us that this signal was coming directly from the earth in real-time.


Mori Seismic Installation, 1999-ongoing, Ken Goldberg, Randall Packer, Gregory Kuhn, and Wojciech Matusik. Photo taken at the Kitchen, New York City, April 2003, by Jared Charney.

That was started in 1999, and, as it traveled around Japan and then to the The Kitchen in New York, we got closer and closer to the one-hundredth anniversary of the 1906 earthquake. I got this idea that I wanted to do a performative version. I wanted to do it in a very big space where everybody could experience it together at the time of the one-hundredth anniversary.

About a year before the anniversary, by chance, I was seated at a table next to a dancer—actually, the dancer—from the ballet. She was the principal dancer at the San Francisco Ballet—Muriel Maffre. After a couple of drinks, I got the courage up to ask her, “Would you ever consider dancing to the sound of the earth?” Amazingly, she said yes.

So Muriel, who is just an astounding artist and performer, took this on as a project. The idea was quite radical—that she would take a live seismic signal and respond to it on stage. And it’s improv, because you don't know what’s going to happen. We worked together for about a year, and we convinced the ballet to actually perform it in the opera house. It was about a week before the actual anniversary, in the end. She performed it on stage and it was about three minutes long. She did a phenomenal job. It was just a beautiful thing.


Muriel Maffre performing Ballet Mori, image via Ken Goldberg.

Twilley: How did you connect the signal to her, on stage?

Goldberg: We connected to the signal via the Internet, and we did the sonification right there on site, feeding it into their speaker system. She was just responding to the sound on stage.

What’s so interesting about how the ballet works is that they do all these rehearsals and, then, when they actually set up for the performance, it all has to be done that same afternoon. There’s no advance set up, because the space is in so much demand. You only have a few hours to get the whole thing tuned.

In this case, we were really cranking it—telling them to just turn up the volume. It was amazing to watch this old opera house, which actually was destroyed in the 1906 earthquake and then rebuilt, start to vibrate. That was actually a big concern—were light fittings and so on going to fall?


Ruins of City Hall and the Majestic Theater in San Francisco, following the 1906 earthquake.

Manaugh: That reminds me of the artist Mark Bain, who actually got permission to install a massive acoustic set-up in a condemned building in the Netherlands; it got so loud, and the bass frequencies he was using were so extreme, that the building risked collapse—which, of course, was the entire point of Bain’s performance—but the organizers had to shut it down.

Goldberg: The facilities guys actually said to me, “We don’t want to drop the chandelier on people’s heads! What if there’s a spike in the earth’s motion that would cause the sound levels to blow up?” I don’t know if that’s even feasible, but we put a clip on it so, if there was a sudden event, the system wouldn’t be overwhelmed.

From there, I went on to do a limited series of the original Memento Mori piece that collectors could purchase. There was an artist’s edition that would always be publicly available, but people who bought their own edition got their own version that they could label, and that included some private data. But, in the course of developing that, I started thinking, why does it have to be so grim? When I originally conceived it, I was really into the minimalist aesthetic. It was just black and white and about mortality. But I started thinking: why? It started seeming very dark.

So I started thinking about what else this signal could be used to generate, something that would be more visually stimulating and more engaging. That’s what gave rise to my new project, Bloom. Bloom is meant, in some sense, to invoke something that’s more natural and organic. It still references mortality, but in a much more positive way. Maybe it’s because I’m getting a little older or something like that!


Screenshot of Bloom, 2013, by Ken Goldberg, Sanjay Krishnan, Fernanda Viégas, and Martin Wattenberg.

Bloom is basically the idea that all flesh is grass, and that we can look at natural plant growth and organic material as outgrowths of the Earth. The seismic signal is a representation and reminder of this organic substrate, so I thought: let’s use it to trigger the growth of forms. I’m just going to play it for you. [launches beta version of Bloom]

Manaugh: What are we actually seeing right now? What scale of seismic activity do these blooms represent?

Goldberg: What you’re seeing right now is just normal variation. For example, when a big truck goes up Hearst Avenue, which is not far from the seismometer, there’s a signal from that. And then, at any given time, there are actually lots of tremors going on around the world, so you’re picking up all the echoes of those. It’s actually really rich to try to do signal-processing in order to extract signals from the noise, because there are also resonant elements from, for example, the beating of the surf on the California coast.

There’s actually a huge amount of information coming through here. What’s interesting is that this display is so different to what earth scientists are used to looking at. They study plots and seismographs, and so on. We’re actually going to have a meeting with them to talk about their perceptions of this and how they respond to it. My sense is that they probably won’t find it that valuable, because there’s no real scientific benefit to it—although it would be interesting to see if someone who really understands the signal could look at this thing for a while and actually start to read it.

For us, it’s really more of an abstraction.








A sequence of screenshots of Bloom, 2013, by Ken Goldberg, Sanjay Krishnan, Fernanda Viégas, and Martin Wattenberg.

Twilley: Can you explain how the blooms’ particular colors and forms are generated?

Goldberg: The blooms are triggered from left to right, so there’s still this idea of temporal progression, and they are triggered depending on whether the signal is switching. The relative size of each bloom is generated by the size of the signal change. The color choices come from a feed from Flickr—a search for flower images to pull up a data set that we can use to source the color variations.

I’m working with these two wonderful data visualization folks, Martin Wattenberg and Fernanda Viégas. They are amazing: Martin has a Math PhD from Berkeley and went off to work at IBM. He’s done a huge number of these visualizations for data of all kinds—most famously, for baby name data. All of his interfaces are just fantastic and we’ve been friends for a long time. He then started working with someone I knew from MIT, Fernanda, who is a painter by training. The two of them started to do all these amazing projects with IBM, and they had their own lab, which they eventually took private. Then they got bought by Google, but Google seems to give them pretty free rein to do whatever they want. We started working on this about a year ago.


Mysteries: Afloat, 2000, Kenneth Noland.

I should also explain the reference to Kenneth Noland. I’ll confess to you—I didn’t really know his work when I began this project. I gave a talk to some art historians, and they said, “Oh, it’s so nice that you’re referencing Kenneth Noland in this way!” I was like, “Who?” They were a little horrified. [laughter]

Noland was a New York color-field painter, whose work is a lot like what we had started generating with Bloom—so I dedicated the project to him. We wanted to play with that reference. What’s amazing is that he passed away just a year ago.


Screenshot of Bloom, 2013, by Ken Goldberg, Sanjay Krishnan, Fernanda Viégas, and Martin Wattenberg.

In any case, we’re still fine-tuning things, including the fades and the way that the colors are derived from the data and how it’s going to be installed in the gallery and so on. The experience in the museum is always more immersive and hopefully more dramatic than it is online. The ideal situation for me is that you would come in on a kind of balcony and you could look down twenty or thirty feet and see all of the colors blooming there below you.


Bloom installed at the Nevada Museum of Art

Bloom is currently on display at the Nevada Museum of Art, Venue’s parent institution, through June 16, 2013.

According to Jack Chambers, proprietor of the Sonoma Valley Worm Farm and a former Delta Air Lines pilot, when he got in the cockpit of a 747, "the other guys would have second homes and boats and be into golf. But I was the worm guy."


Venue visited Chambers on a sunny September afternoon, and, as he showed us around the farm, he explained that his worm obsession began, straightforwardly enough, as a gardening hobby. A friend told him about a local farmer who had earthworms for sale, and so, twenty years ago, in 1992, Chambers paid a visit to Earl Schmidt, a former mink rancher, enthusiastic angler, and bait worm farmer.

Five days and one 5 gallon bucket of Red Wigglers (Eisenia fetida) later, Chambers' home compost pile was a rich, deep black color with a crumbly texture that he'd never been able to achieve before. He started hanging out with Earl, helping out in return for a chance to learn about worms.


As they picked worms side-by-side over the next three months, Earl told Chambers that he was looking forward to retirement and finally having the time to fish. Chambers, "without really knowing what I was getting into," found himself offering to buy the place.

A crash course in all things worm quickly followed, including a carefully scheduled layover in Vigo, Spain, to attend the World Worm Conference, and conversations with vermiculture pioneer and Ohio State University professor, Clive Edwards. Trial and error also played a role, with Chambers reminiscing about the "worm volcano" he accidentally created by experimenting with cornmeal as a feed — 50,000 disgusted worms all crawled over the sides of the bin at once, in a scene worthy of a horror movie. "Now, if I'm trying something new," explained Chambers, "I only add it to quarter of the bin, to leave room for escape."

Chambers credits his pilot's appreciation for standard operating procedures and checklists for many of the technical improvements he's introduced over the past twenty years. For example, in order to pre-compost the manure source and kill any pathogens or weed seeds before feeding it to the worms, Chambers arrived at his own design for a three-bin forced-air system, complete with a rigorously optimized schedule of turning, blowing, and releasing gases. "If I've done anything with worms," he says, "it's that."


That is certainly not all, though. As we moved under the corrugated steel sheds that house the farm's four million worms, Chambers explained that he realized early on that, in fact, "the vermicompost is the big deal, not the worms." In other words, rather than simply feeding worms in order to harvest them for sale to sport fishermen and gardeners, Chambers focused on marketing their castings, particularly to the region's high-end grape-growers.

To do so, he has built four ninety-foot long continuous flow vermicomposting bins, based on an original blueprint by Clive Edwards, but improved over the years to the point that he now has a patent pending on the design.


"This is high-tech for worms," explained Chambers, as he demonstrated his most recent iteration, the VermiComposter CF40. In sixty days, pre-composted manure will make its way from top to bottom of the four-foot deep bins through a continuous conveyor-belt system of worm digestion.

The raised bins are fed from the top twice per week, and harvested from the bottom once weekly using an automatic breaker bar. A wire mesh tumbler then separates the worms from their excretions; the worms go back in the bins and the remaining black gold is sold for a dollar a pound.


Earthworms are easy to overlook, but among those who do observe their work, they seem to inspire extreme devotion, counting among their historical fans both Aristotle and Charles Darwin. Chambers is equally enthusiastic. As we dug our hands into the warm, soft compost and watched the worms we had disturbed wriggle back into the darkness, he expounded on the mysteries of worm reproduction as well as numerous studies that have shown vermicompost's beneficial impact on germination rates, disease suppression, flavor, and even yield (up to a twenty percent increase for radishes, according to Clive Edwards' colleagues at Ohio State).


Vermicompost is typically used as a potting medium — Chambers' advice is to "put one cup in the hole with your seed or transplant" — or it can be brewed at 73 degrees for 24 hours to make a "compost tea" that can be sprayed onto the soil or plant directly. Although it is between four and fourteen times more expensive than regular compost, Chambers argues that, like a high-end skin product, vermicompost's benefits and economy of use make it well worthwhile:

I tell vineyards to think of it like insurance. After all, a vine costs about $3, and some vineyards lose as many as twenty percent of their new plantings. With our vermicompost, they usually lose less than one percent.


Chambers and his wife even planted four hundred vines of their own, losing only two, and they attribute their ongoing victory over powdery mildew to regular applications of compost tea. They make a very good "Worm Farm Red," that we were lucky enough to sample and that even won a gold medal in the amateur category at the 2008 Valley of the Moon Vintage Festival.

Sonoma Valley Worm Farm already makes more than 200,000 lbs of vermicompost a year, but Chambers took early retirement from Delta last year, and has big plans for the business. The day we visited, he had just finalized the agreements for a new facility that will more than double his capacity, as well as incorporate several new improvements to his existing equipment.


As we examined the architectural plans in Google SketchUp, Chambers described his vision for the next generation VermiComposter CF 40, which will include electronic moisture and temperature monitoring and automated feeding.

While he waits for the new facility to be built, he's already experimenting with feeding the worms an extra inch of compost per week, to see whether he can increase their productivity. Meanwhile, in response to interest from California's berry giant, Driscoll's, he's started working with compost tea-kettle manufacturers on a unit that could brew up to 250,000 gallons at a time. In fact, Chambers' only concern as he scales up, he told us, was what he would do when the worms' demand outstripped the manure supply of the organic dairy farm (Straus Family Creamery) that he currently works with.


Given that, last year, the EPA estimated that thirty percent of annual landfill contents could have been recycled through composting, and that California's dairy cows produce 30 million tons of manure annually, much of which is stored in waste lagoons where it risks contaminating groundwater, it seems as though feeding four or five million new worms is not going to be much of a challenge at all. The fact that those worms will not only remove that waste from the environment, but also transform it into something that scientists are calling "pretty amazing stuff," as well as "the next frontier in biocontrol," is even better.

Chambers told us that he is convinced that "worms are going to be the next big thing in agriculture." If we're smart, it will be.
 
  Getting more posts...