rivers and off the coast. It has been argued that boats suitable for a significant sea crossing were necessary for people to reach Australia an estimated 40,000-45,000 years ago. With the development of civilization, vessels evolved for expansion and generally grew in size for trade and war. In the Mediterranean, galleys were developed about 3000 BC. Polynesian double-hulled sailing vessels with advanced rigging were used between 1,300 BC and 900 BC by the Polynesian progeny of the Lapita culture to expand 6,000 km across open ocean from the Bismarck Archipelago east to Micronesia and, eventually Hawaii. Galleys were eventually rendered obsolete by ocean-going sailing ships, such as the Arabic caravel in the 13th century, the Chinese treasure ship in the early 15th century, and the Mediterranean man-of-war in the late 15th century. In the Industrial Revolution, the first steamboats and later diesel-powered ships were developed. Eventually submarines were developed mainly for military purposes for people's general benefit. Meanwhile, specialized craft were developed for river and canal transport. Canals were developed in Mesopotamia BC. The Indus Valley civilization in Pakistan and North India (from c.2600BC) had the first canal irrigation system in the world. China's canal system, whose greatest accomplishment was the Sui Dynasty's 7th-century Grand Canal between Hangzhou and Beijing, was an essential aspect of its civilization, used for irrigation, flood control, taxation, commercial and military transport, and colonization of new lands from the Zhou Dynasty until the end of the imperial era. Canals were developed in the Middle Ages in Europe in Venice and the Netherlands. Ramps for water were made in 1459. Pierre-Paul Riquet began to organise the construction of the 240 km-long Canal du Midi in France in 1665 and it was opened in 1681. In the Industrial Revolution, inland canals were built in England and later the United States before the development of railways. Specialized craft were also developed for fishing and later whaling. Maritime history also deals with the development of navigation, oceanography, cartography, and hydrography. Trade Often cities as well as their surrounding agricultural areas are typically are not self-sufficient for agriculture. Because of this, people living in these regions had forced to trade with either other cities, nomads, or other pastoralists. People would usually trade one another for things like raw materials, (such as metals like tin, bronze, copper, or iron ore) or animals. An "intercontinental model" of world trade, "between 1500 and