Submarines have existed since the late 16th century but became increasingly important weapons in World War I and II when German U-boats wreaked havoc on Allied ships. During this time, submarines evolved from hand-powered vessels to diesel-electric and eventually nuclear-powered ships. The first nuclear submarine, USS Nautilus, launched in 1954 and could stay submerged for long periods without needing to surface. Modern submarines use sonar and periscopes for navigation and targeting systems to fire torpedoes or missiles at enemy vessels from long distances. Life onboard is difficult, with cramped conditions and no sunlight for months during long deployments.