Water Works Final Report
Water Works is a project that I created for the Creative Code Fellowship in the Summer of 2014 with the combined support of Stamen Design, Autodesk and Gray Area.
Water Works is a 3D data visualization and mapping of the water infrastructure of San Francisco. The project is a relational investigation: I have been playing the role of a “Water Detective, Data Miner” and sifting through the web for water data. My results of from this 3-month investigation are three large-scale 3D-printed sculptures, each paired with an interactive web map.
The final website lives here: http://www.waterworks.io/
Stamen Design is a small design studio that creates sophisticated mapping and data-visualization projects for the web. Combined with the amazing physical fabrication space at Pier 9 at Autodesk, this was a perfect combination of collaborative players for my own focus: writing algorithms that transform datasets into 3D sculptures and installations. I split my time between the two organizations and both were amazing, creative environments.
This report is heavy on images, partially because I want to document the entire process of how I created these 3D mapping-visualizations. As far as I know, I’m the first person who has undertaken this creative process: from mining city data to 3D-printing the infrastructure, which is geo-located on a physical map.
My directive from the start of the Water Works project was to somehow make visible what is invisible. This simple message is one that I learned while I was working as a New Media Exhibit Developer at the Exploratorium (2012-2013). It also aligns with the work that Stamen Design creates and so I was pleased to be working with this organization.
Underneath our feet is an urban circulatory system that delivers water to our households, removes it from our toilets, delivers a reliable supply firefighting and ultimately purifies it and directs it into the bay and ocean. Most of us don’t think about this amazing system because we don’t have to — it simply works.
Like many others, I’m concerned about the California drought, which many climatologists think will persist for the next decade. I am also a committed urban-dweller and want to see the city I live in improve its infrastructure as it serves an expanding population. Finally, I undertook this project in order to celebrate infrastructure and to help make others aware of the benefits of city government.
On more personal note, I am fascinated by urban architecture. As I walk through the city, I constantly notice the makings on manholes, the various sign posts and different types of fire hydrants.
About a year ago, I had several in-depth conversations with employees at the Department of Public Works about the possibility of mapping the sewer system when I was working at the Exploratorium. We discussed possibilities of producing a sewer map for museum. For various reasons, the maps never came to fruition, but the data still rattled around my brain. All of the pipe and manhole data still existed. It was waiting to be mapped.
Three Water Systems of San Francisco
When I was awarded this Creative Code Fellowship in June this year, I very much about the San Francisco water system. I soon learned that the city has three separate sets of pipes that comprise the water infrastructure of San Francisco.
(1) Potable Water System — this is our drinking water, comes from Hetch Hetchy. Some fire hydrants uses this.
(2) Sewer System — San Francisco has a combined stormwater and wastewater system, which is nearly entirely gravity-fed. The water gets treated at one of the wastewater treatment plants. San Francisco is the only coastal California city with a combined system.
(3) Auxiliary Water Supply System (AWSS) — this is a separate system just for emergency fire-fighting. It was built in the years immediately following the 1906 Earthquake, where many of the water mains collapsed and most of the city proper was destroyed by fires. It is fed from the Twin Peaks Reservoir. San Francisco is the only city in the US that has such as system.
Follow the Data, Find the Story
From my previous work on Data Crystals, I learned that you have to work with the data you can actually get, not the data you want. In the first month of the Water Works project, this involved constant research and culling.
I worked with various tables of sewer data that the DPW provided to me. I discovered that the city had about 30,000 nodes (underground chambers with manholes) with 30,000 connections (pipes). This was an incredible dataset and it needed a lot of pruning, cleaning and other work, which I soon discovered was a daunting task.
Lesson #1: Contrary to popular belief, data is never clean.
What else was available? It was hard to say at first. I sent emails to the SFPUC asking for their the locations of the drinking water data — just like what I had for the sewer data. I thought this would be incredible to represent. I approached the project with a certain naivety.
Of course, I shouldn’t have been surprised about that this would be a security concern, but in no uncertain terms I received a resounding no from the SFPUC. This made sense, but it left me with only one dataset.
Given that there were three water systems, it would make sense to create three 3D-printed visualizations, once from each set. If not the pipes, what would I use?
In one of my late-night evenings research, I found a good story: the San Francisco Underground Cisterns. According to various blogs, there are about 170 of these, and are usually marked by a brick circle. What is underneath?
In the 1850s, after a series of Great Fires in San Francisco tore through the city, 23 cisterns* were built. These smaller cisterns were all in the city proper, at that time between Telegraph Hill and Rincon Hill. They weren’t connected to any other pipes and the fire department intended to use them in case the water mains were broken, as a backup water supply.
They languished for decades. Many people thought they should be removed, especially after incidents like the 1868 Cistern Gas Explosion.
However, after the 1906 Earthquake, fires once again decimated the city. Many water mains broke and the neglected cisterns helped save portions of the city.
Afterward, the city passed a $5,200,000 bond and begin building the AWSS in 1908. This included the construction of many new cisterns and the rehabilitation of other, neglected ones. Most of the new cisterns could hold 75,000 gallons of water. The largest one is underneath the Civic Center and has a capacity of 243,000 gallons.
The original ones, presumably rebuilt, hold much less, anywhere from 15,000 to 50,000 gallons.
* from the various reports I’ve read, this number varies.
I searched for a map of all the cisterns, which was to be difficult to find. There was no online map anywhere. I read that since these were part of the AWSS, that they were refilled by the fire department. I soon begin searching for fire department data and found this set of intersections, along with the volume of each cistern. The source was the SFFD Water Supplies Manual.
The story of the San Francisco Cisterns was to be my first of three stories in this project.
Autodesk also runs Instructables, a DIY, how-to-make-things website. One of the Instructables details the mapping process, so if you want details, have a look at this Instructable.
What I did to make this conversion happen was to write code in Python which called Google Maps API to convert the intersections into lat/longs as well as get elevation data. When I had asked people how to do this, I received many GitHub links. Most of them were buggy or poorly documented. I ended up writing mine from scratch.
Lesson #2: Because GitHub is both a backup system for source code and open source sharing project, many GitHub projects are confusing or useless.
The being said, here is my GitHub repo: SF Geocoder, which does this conversion. Caveat Emptor.
Mapping the San Francisco Sewers
This was my second “story” with the Water Works project, which is simply to somehow represent the complex system that is underneath us. The details of the sewers are staggering. With approximately 30,000 manholes and 30,000 pipes that connect them, how do you represent or even begin mapping this?
And what was the story after all — it doesn’t quite have the uniqueness character of the cisterns. But, it does portray a complex system. Even the DPW hadn’t mapped this out in 3D space. I don’t know if any city ever has. This was the compelling aspect: making the physical model itself from the large dataset.
Building a 3D Modeling System
In addition to looking for data and sifting through the sewer data that I hand, I spent the first few weeks building up a codebase in OpenFrameworks.
The only other possibility was using Rhino + Grasshopper, which is a software package I don’t know and not even an Autodesk product. Though it can handle algorithmic model-building, several colleagues were dubious that it could handle my large, custom dataset.
So, I built my own. After several days of work, I mapped out the nodes and pipes as you see below. I represented the nodes as cubes and pipes as cylinders — at least for the onscreen data visualization.
This is a closeup of the San Francisco bay waterfront. You can see some isolated nodes and pipes — not connected to the network. This is one example of where the data wasn’t clean. Since this is engineering data, there are all sorts of anomalies like virtual nodes, run-offs and more.
My code was fast and efficient since it was in C++. More importantly, I wrote custom STL exporters which empowered my workflow to go directly to a 3D printer without having to go through other 3D packages to clean up the data. This took a lot of time, but once I got it working, it saved me hours of frustration later in the project.
I also mapped out the Cisterns in 3D space using the same code. The Cisterns are disconnected in reality but as a 3D print, they need to one cohesive structure. I modified the ofxDelaunay add-on (thanks GitHub) to create cylindrical supports that link the cisterns together.
What you see here is an “editor”, where I could change the thickness of the supports, remove unnecessary ones and edit the individual cisterns models to put holes in certain ones.
I also scaled the Cisterns according to their volume. The pre-1906 ones tend to be small, while the largest one, at Civic Center is about 243,000 gallons, which over 3 times the size of the standard post-earthquake 75,000 gallon cisterns.
Story #3: Imaginary Drinking Hydrants
In the same document that had the locations of all of the San Francisco Cisterns, I also found this gem: 67 emergency drinking hydrants for public use in a city-wide disaster.
Whoa, I thought, how interesting…
I dug deeper and scouted out the intersections in person. I took some photos of the Emergency Drinking Hydrants. They have blue drops painted on them. You can even see them on Street View.
I found online news articles from several years ago, which discussed this program, introduced in 2006, also known as the Blue Drop Hydrant program.
I then published a link to the map onto my Twitter feed. It generated a lot of excitement and was retweeted by many sources.
The SFist — a local San Francisco news blog ended up covering it. I was excited. I thought I was doing a good public service.
However, there was a backlash…of sorts. It turns out that the program was discontinued by the SFPUC. The organization did some quick publicity-control on their Facebook page and also contacted the SFist.
The writer of the article then issued a statement that this program was discontinued and a press statement by the SFPUC.
He also had this quote, which was a bit of a jab at me. “It had sounded like designer Scott Kildall, who had been mapping the the hydrants, had done a fair amount of research, but apparently not.”
In my defense, I re-researched the emergency drinking hydrants. Nowhere did it say that the program was discontinued. So, apparently the SFPUC quietly shuffled it out.
The key quote by Emergency Planning Director Mary Ellen Carroll is:
“When it comes to sheltering after a emergency, we don’t tell people ahead of time, ‘This is where you’ll need to go to find shelter after an earthquake’ because there’s no way to know if that shelter will still be there.
This makes sense that central gathering locations could be a bad idea. Imagine a gas leak or something similar at one of these locations. So a water distribution plan would have to be improvised according the the desasters.
We do know from various news articles and by my own photographs that there was not only a map, but physical blue drops painted on the hydrants in addition to a large publicity campaign. The program supposedly costs 1 million dollars, so that would have been an expensive map.
They SFPUC never pulled the old maps from their website nor did they inform the public that the blue drop hydrants were discontinued.
I blame it on general human miscommunication. And after visiting the SFPUC offices towards the end of my Water Works project, I’m entirely convinced that this is a progressive organization with smart people. They’re doing solid work.
But I had to rethink my mapping project, since these hydrants no longer existed.
When faced with adverse circumstances, at least in the area of mapping and art, you must be flexible. There’s always a solution. This one almost rhymes with Emergency — Imaginary.
Instead of hydrants for emergency drinking water, I ask the question: could we have a city where we could get tap water from these hydrants at any time? What if the water were recycled water?
They could have a faucet handle on them, so you could fill up your bottle when you get thirsty. More importantly, these hydrants could be a public service.
It’s probably impractical in the short term, but I love the idea of reusing the water lines for drinking lines — and having free drinking water in the public commons.
So, I rebranded this map and designed this hydrants with a drinking faucet attached to it. This would be the base form used for the maps.
Creating Mini Models
I wanted to strike a balance with this data-visualization and mapping project between aesthetics and legibility.With the data sets I now had and the C++ code that I wrote, I could geolocate cisterns, hydrants and sewer lines.
These would be connected by support structures in the case of cisterns and hydrants and pipe data for the sewers.
I decided that the actual data points would be miniature models, which I designed in Fusion 360 with the help of Autodesk guru, Taylor Stein. The first one I created was the Cistern model.
I went through several iterations to come up with this simple model. The design challenge was to come up with a form that looked like it could be an underground tank, but not bring up other associations. In this case, without the three rectangular stubby pieces, it looks like a tortilla holder.
After a day of design and 3D print tests, I settled on this one.
And here you can see the outputs of the cisterns and the hydrants in MeshLab.
Here is the underside of the hydrant structure, where you can see the holes in the hydrants, which I use later for creating the final sculpture. These are drill holes for mounting the final prints on wood.
The manhole chamber design was the hardest one to figure out. This one is more iconographic than representational. Without some sort of symmetry, the look of the underground chamber didn’t resonate. I also wanted to provide a manhole cover on top of the structure. The flat bottom distinguishes it from the pipes.
One of my favorite aspects about being at Stamen is that four days a week, they provided lunch for us. We all ate lunch together. This was a good chunk of unstructured time to talk about mapping, music, personal life, whatever.
We solidified bonds — so often shared lunch is overlooked in organizations. In addition to informal discussion on the project, we also had a few creative brainstorm sessions, where I would present the progress of the project and get feedback from several people at both Stamen. Folks from Autodesk and Gray Area also joined the discussion.
I hadn’t considered the idea of situating these on a map before, but they suggested integrating a map of some sort. Quickly, the idea was birthed that I should geolocate these on top of a map. This was a brilliant direction for the project.
Stamen provided be with a high-resolution map that I could laser etch, which came later, after the 3D printing. Now, with this direction for the project, I started making the actual 3D prints.
Mega-prints with lots of cleaning
After all the mapping, arduous data-smoothing, tests upon structural tests, I was finally ready to spool off the large-scale 3D prints. Each print was approximately the size of the Object 500 print bed: 20″ x 16″, making these huge. A big thanks to Autodesk for sponsoring the work and providing the machines.
Each print took between 40 and 50 hours of machine time, so I sent these out as weekend-long jobs. Time and resources were limited, so this was a huge endeavor.
I was worried that the print would fail, but I got lucky in each case. The prints are a combine resin material: VeroClear and VeroWhite (for the Cisterns and Hydrants) and mixes of VeroWhite and VeroBlack for the Sewers.
When the prints come off the print bed, they are encased in a support material which I first scraped off and then used a high-pressure water system to spray the rest off.
It took hours upon hours to get from this.
To this: a fully cleaned version of the Sewer print. This 3D print is of a section of the city: the Embarcadero area, which includes the Pier 9 facility where Autodesk is located.
For the Sewer Works print, the manhole chambers and pipes are scaled to the size in the data tables. I increased the elevation about 3 time to capture the hilly terrain of San Francisco. What you see here is an aerial view as if you were in a helicopter flying from Oakland to San Francisco. The diagonal is Market Street, ending at the Ferry Building. On the right side, towards the back of the print is Telegraph Hill. There are large pipes and chambers along the Embarcadero. Smaller ones comprise the sewer system in the hilly areas.
Map-Etching and Final Fabrication
I’ll just summarize the final fabrication — this blog post is already very long. For a more details, you can read this Instructable on how I did the fabrication work.
Using a cherry wood, which I planed and jointed and glued together, I laser-etched these maps, which came out beautifully.
I chose wood both because of the beautiful finish, but also because the material of wood references the wood Victorian and Edwardian houses that define the landscape of San Francisco. The laser-etching burns away the wood, like the fires after the 1906 Earthquake, which spawned the AWSS water system.
The map above is the waterfront area for the Sewer Works print and the one below is the full map of the city that I used as the base for the San Francisco Cisterns and the Imaginary Drinking Hydrants sculptures.The last stages of the woodwork involved traditional fabrication, which I did at the Autodesk facilities at Pier 9.
I drilled out the holes for mounting the final 3D prints on the wood bases and then mounted them on 1/16″ stainless rods, such that they float about 1/2″ above the wood map.
And the final stage involved manually fitting the prints onto the rods.
Here are the three prints, mounted on the wood-etched maps.
Below is the Imaginary Drinking Hydrants. This was the most delicate of the 3D prints.
These are the San Francisco Cisterns, which are concentrated in the older parts of San Francisco. They are nearly absent from the western part of the city, which became densely populated well-after the 1906 Earthquake. This is the Sewer Works print. The map is not as visible because of the density of the network. The pipes are a light gray and the manhole chambers a medium gray. The map does capture the extensive network of manmade piers along the waterfront. The Website: San Francisco Cisterns and Imaginary Drinking Hydrants
The website for this project is: waterworks.io. It has three interactive web maps for each of the three water systems
The aforementioned Instuctable: Mapping San Francisco Cisterns details how I made these. The summary is that I did a lot of data-wrangling, often using Python to transform the data into a GeoJSON files, a web-mappable format.
Fortunately, I also received help from the designers at Stamen on the graphics. I only have so many skills and graphic design is not one of them.
The Website:The Website: Life of Poo
The performance on Leaflet bogged down when I had more than about 1500 markers in Leaflet and the sewer system has about 28,000.
I spent a lot of energy with node-trimming using a combination of Python and Java code and winnowed the count down to about 1500. The consolidated node list was based on distance and used various techniques to map the a small set of nodes in a cohesive way.
In the hours just before presenting the project, I finished Life of Poo: an interactive journey of toilet waste.
On the website, you can enter an address (in San Francisco) such as “Twin Peaks, SF” or “47th & Judah, SF” and the Life of Poo and then press Flush Toilet.
This will begin an animated poo journey down the sewer map and to the wastewater treatment plant.
Not all of the flushes works as you’d expect. There’s still glitches and bugs in the code. If you type in “16th & Mission”, the poo just sits there.
Why do I have the bugs? I have some ideas (see below) but I really like the chaotic results so will keep it for now.
Lesson 3: Sometimes you should sacrifice accuracy.
I worked very, very hard on this project and I’m going to let it rest for awhile. There’s still some work to do in the future, which I would like to do some day.
I’d like to improve the Cistern Map as I think it has cultural value. As far as I know, it’s the only one on the web. The data is from the intersections and while close, is not entirely correct. Sometimes the intersection data is off by a block or so. I don’t think this affects the integrity of the 3D map, but would be important to correct for the web portion.
Life of Poo
I want to see how this interactive map plays out and see how people respond to it in the next couple of months. The animated poo is universally funny but it doesn’t behave “properly”. Sometimes it get stuck. This was the last part of the Water Works project and one that I got working the night before the presentation.
I had to do a lot of node-trimming to make this work — Leaflet can only handle about 1500 data points before it slows down too much, so I did a lot of trimming from a set of abut 28,000. This could be one source of the inaccuracies.
I don’t take into account gravity in the flow calculations, so this is why I think the poo has odd behavior. But maybe the map is more interesting this way. It is, after all, an animated poo emoji.
This is where the project gets very interesting. What I’ve been able to accomplish with the “Sewer Works” print is to show how the sewer pipes of San Francisco look as a physical manifestation. This is only the beginning of many possibilities. I’d be eager to develop this technology and modeling system further. And take the usual GIS maps and translate them into physical models.
Thanks for reading this far and I hope you enjoyed this project,
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