At the time we went, Iceland was one of the few countries in the world that allowed vaccinated foreign visitors. All that was needed was proof of vaccination – not even a pre-entry COVID test. The fact that most people were vaccinated meant that most people were not wearing masks in the city, but this was before even the Delta variant – it seems like so long ago now.

I had been itching to go travel somewhere since the pandemic began, and this was a very welcome nudge towards normalcy. Flying with Icelandair was the same as before: the seat and leg room is pretty comfortable, but there’s no food included with the airfare. The only difference is the extra bureacracy related to COVID, which increased how long it took each person to get through immigration, resulting in long lines after the plane. It didn’t help that we arrived so early in the morning that the food places weren’t even open yet and we had to wait in line while hungry. Eventually, we picked up the rental car and drove into Reykjavik for breakfast. We took the day easy by just exploring Reykjavik on foot, and took a nap in the afternoon when the jet lag caught up to us.

That night, we had probably the most memorable meal we’ve ever had at Tapas Barinn. The great thing about tapas is that as tourists, we get to try a little bit of everything as opposed to ordering entrées.

I even got to try some Flóki single malt whiskey. The smokiness from the whiskey actually comes from the barley smoked using sheep dung, a traditional cooking method. I also got to try some more brennivin like my last trip to Iceland – it’s essentially a grain alcohol (40%) and flavoured with caraway seeds, which gives it a sweeter flavour than something like vodka.

I had visited Iceland a couple years ago, but it was in the winter where there was only 4 hours of light per day, and even then the sky looked like dusk.

This time, travelling there in the summer, I didn’t see the night sky the entire time I was there. I could more clearly see and appreciate the nature around me, like the endless fields of moss growing on the rocks, and sheep freely roaming the fields.

It is thought that the Icelandic sheep were introduced to Iceland by the Viking settlers. Farmers allow them to freely roam around in the summer months, and as winter comes, they round them all back up again.

Like my previous trip to Iceland, we travelled along the Ring Road to see the waterfalls, and the volcanic beaches.

This is what the view at Seljalandsfoss looks like in the summer versus the view I saw in the winter. I had no idea Iceland could be so green. In the summer, people can even walk behind the waterfall, between the rock and the falls itself, but in the winter, the trail is closed because of ice.

Skógafoss looks about the same between summer and winter, except the vegetation is greener in summer.

A kitty even came out to hang out with us! As we were walking, the cat just walked up to us and stopped, expecting pets as a payment to pass through. After that, off it went.

Unlike travelling to Iceland in the winter, there were no restrictions (4WD) to drive up to Dyrhólaey in the summer. As we drove up, I could see why. The road was a set of steep switchbacks on gravel roads that were only a little more than two cars width – and there were no guardrails.

From the top, one can see the endless mountains, or watch the waves crash against the beaches of volanic sand.

The next day, we took a Superjeep tour to see ice caves on an active volcano known as Katla. The reason why it’s called Superjeep is because it can deflate its tires (for icy roads), and inflate them back up again depending on the terrain, but otherwise it looks like your typical Ford Excursion but with big tires.

The ice caves were located a ways in from the glacier. In summer, a lot of the ice had melted, revealing the volanic sand and rock underneath.

Only just now as I was writing this, did I realize we were travelling on a literal volcano, but I suppose it’s safe.

As we headed up the volcano, the lush, green vegetation quickly disappeared, revealing a rocky landscape with a mix of ice and black volcanic rock. Grey clouds covered the sky and it began to rain.

Eventually, the tour guide parked the truck, and we began our volcano hike. He brought his ice pick with him and used it several times to cut steps in the ice.

Despite the summer season, the temperature still felt like a mild winter. But it still meant the ice caves would not be as fully developed as in the winter season, and this could clearly be seen when comparing the ice caves from this trip versus the previous one. In fact, the winter ice cave was really more of a tunnel, while the picture of the summer ice cave was taken from the end of the cave with the camera pointing out.

The ice on top of the volcanic rock looked so alien that several movies used this place as a location for another planet. Rogue One was filmed in the area for the opening scene where young Jyn Erso hides from the stormtroopers. The movie doesn’t show the whole cave, but the similiarity is clear. If the movie had shown the whole cave, one would see why people call it the “Yoda Cave”.

It was nice staying in the cave for a bit as a brief respite from the rain. We made the mistake of wearing jeans for a multi-hour hike in the rain, and our wet clothes just made us even colder. We also got the chance to chat a bit with others on the tour. We met an orthodonist who practised in Greece by the name of Thanos (I wonder if he was aware of the MCU), and another who claimed to be a “voodoo priestess”, whatever that means.

The next morning, the plan was whale and puffin watching. It turned out to be an incredibly bad idea because I apparently get seasick, and didn’t get to see a lot. Even those who did see whales could really only see a small fin barely capturable on camera. Only a small percentage of people get to see the whale flying out of the water and crashing back down. Good thing the puffin watching was on a separate tour so I got to recover from the seasickness, but we decided not to go and instead gave the tickets away to another group that we overheard looking for tickets to the same tour.

Instead, we went to go get some Icelandic hotdogs for lunch. The key things that set it apart are the condiments, and the sausage. In addition to ketchup, and sweet mustard, they also add “remoulade”, similar to mayo with added herbs. The sausage uses lamb, as opposed to chicken/pork/beef.

Next, we headed to the Reykjanes Peninsula and the Blue Lagoon. We reached the tip of the peninsula and stood on the cliff watching the waves crash against the shore. If there was such a thing as the end of the earth, this was it. Despite strong gusts of wind, thousands of birds nested on the side of the cliff. From far away they look like white specks, but one can see them clearly with a good set of binoculars.

Next, we went for a relaxing soak at the Blue Lagoon, a man-made spa fed by water used by a nearby geothermal plant.

The water forms a milky blue colour from the high silica mud, and is supposedly good for the skin. They even sell super overpriced skincare products at the gift shop.

The area is beautiful with all the steam slowly rising from the hot springs with the light cool breeze. It would have felt like a whipping biting wind if not for the hot spring. You just submerge yourself until you feel not too hot and not too cold, and then relax with their cleansing silica face masks and a drink.

After leaving Blue Lagoon, we’d learned there was an active eruption happening at the nearby Fagradalsfjall volcano, and was happening slow enough such that it was OK to go see it.

A short walk from the parking lot led us to the lava flow. The trail continued upstream of the lava flow to the mouth of the volcano.

There were warnings for people to not walk too close to the lava flow because of risks of toxic fumes, but many did it anyway (as did we). Many curious hikers threw rocks on it just to find out that the lava flow had already hardened, even though there were still visible fumes coming out.

The hike turned out to be really long, and we weren’t really prepared to do a multi-hour hike at 20:00 in the cold, wind, and rain. As we reluctantly turned around, we saw people pointing the other and when we looked, we managed to catch a glimpse of the volcano spewing lava from afar. It makes sense now why people call it the “land of ice and fire”

It was surprising to see how watery the lava looked. I expected molten rock to be more viscous. The lava just spewed out in a splash. I felt super lucky to have seen such a sight.

As we walked back, I noticed these hexagonal patterns in the ground. Maybe this is how basalt columns form? From what I’ve read, under certain conditions, the cooling magma can cool in a way that forms these hexagonal shapes.

By the time we reached the parking lot, we were wet and cold (seemed to be a recurring theme by this point). Luckily there was a food truck at the parking lot selling hot soup.

The next morning before heading out to the Golden Circle, we started the day off with a nice brunch at Sandholt.

The unexpected star of the breakfast was the bread. As an amateur baker myself, this is the bread I aspire to make – it’s soft, light and airy with a crisp crust.

Next step along the Golden Circle was Geysir. The geothermal heat creates pressure underground causing the water to explode upward every few minutes. The entire area is filled with geothermal pools, some of which are so hot they’re bubbling from the heat and pressure.

It’s cool just to just stand in anticipation of the eruption. From looking at it, there’s no indication that it’s going to explode at all, and then it just does. At one point, the wind carried the water toward us and got us all wet, but luckily by the time the water hits the ground, it’s cooled down.

From the Geysir, we drove to Gullfoss. Unlike other waterfalls, this one has a unique feature where the water does a zig zag before hitting the bottom.

There were attempts in the past to build a hydroelectric plant here, but those efforts have not succeeded, and since then, the waterfall is now under government protection.

The last destination of the Golden Circle was Kerið crater. It’s believed that the crater formed through volcanic activity. Once the magma chamber emptied, it collapsed, forming the crater. The accumulation of water is not formed by rainfall, but is actually ground water.

On our last day before we left, we got the chance to try more Icelandic dishes. This time we had some lamb soup, dried fish, fermented shark, and some Einstök white ale, a local craft brew.

It’s not often that I would rave about soup, but I liked it so much I’ve been trying to recreate the flavour at home. It’s savoury soup with vegetables, lamb, and herbs/spices. I can’t say I was a huge fan of the dried fish and fermented shark though. The dried fish is served with butter and its flavour reminds me of super tough beef jerky with a light fish flavour, while the fermented shark has a texture of a ham with a soury tang. Perhaps it’s an acquired taste. The beer was great though.

That’s pretty much it for Iceland. We got the chance to try all sorts of local delicacies, and see a piece of nature we wouldn’t normally see in our part of the world. At the airport duty free, I even got to pick up some Brennivin, and a bottle of the Flóki sheep dung whiskey!

See more pictures of my trip to Iceland here

Within the city, the Tomb of Salim Chishti enshrines the burial place of the Sufi Saint, Salim Chisti. The tomb itself is built out of marble and includes inscriptions from the Quran. Because of it’s Muslim background, I was given a cap (I think it was this) to cover my head before entering.

Within the mausoleum, people perform rituals to ask for a blessing and fulfillment of their wishes. Inside the mausoleum, people tie thread along the walls and it is believed that this is a reminder to the saint of their wishes – maybe my wish will come true!

More pictures of Fatehpur Sikri here

It was built by the Mughal emperor Shah Jahan to house the tomb of his wife (and then later the emperor himself) and was built out of marble. The different colours on the building are purely a consequence of different varieties of marble from different parts of the world that have different colours. Artisans from all over were employed to do this work.

What’s also interesting, is that the minarets (the four tower structures) are tilted slightly outward to prevent them from crashing onto the dome in the event of an earthquake.

I’d seen pictures of Taj Mahal in the past, but I never really paid much attention to them – it was hard to tell that the building was built out of marble, so it just looked like a white structure to me. Upon seeing it in real life, I definitely had a much much greater appreciation for its beauty.

Links to photos here

1.0 Motors

The chosen motors are:

• Finger grasping – Cytron IG32E-264K at a cost of USD $57.03 from RobotShop
• Finger sliding – Cytron MO-SPG-30E-20K at a cost of USD $22.58 from RobotShop

Both motors meet the torque speed requirements for this project.

1.1 Finger Grasping Actuation

From the initial budget, the budget set for actuators was set at $325.  The torque requirement needed for gripping was also calculated and each finger would require 4 Nm at its output to lift a 4 kg object using only the fingertips.  The evaluation criteria states that the device grasp as fast as possible and that the client would have the highest satisfaction if the device cost was less than $700.

Looking on several websites that sold motors, the following DC motor was chosen: Cytron IG32E-264K at a cost of USD $57.03 from RobotShop.  The specifications are as follows:

At 12 V with gearing included, the stall torque would be 20.7 Nm (without consideration of mechanical efficiency).  A motor with a high stall torque is also beneficial because it lowers the gear ratio required, which leads to the use of less space for gearing.  The motor also comes with its gearing, which contributes to its high torque.  Given the high stall torque of this motor addition gear reduction is not required.  During grasping, the motor will be exerting high torque at low speeds and therefore, the motor will be operating near the stall torque.  The torque here is more than sufficient even with mechanical efficiency losses accounted for.

For finger actuation before grasping occurs, there is a low load and therefore the motor will be operating closer to the no load speed.  The no load speed with gear reduction is 27.7 rpm (without consideration of mechanical efficiency).  Split among three output shafts, the speed would be 9.21 rpm.  Even with the load of the fingers accounted for, this is still acceptable. based on requirements and evaluation criteria.

While the torque is a lot higher than required, this motor was only more expensive than a motor of one size smaller by less than three dollars.  The electrical characteristics were also identical.  With a higher motor torque, the grasper would be comfortable in lifting objects even heavier than 4 kg, which is another benefit based on the evaluation criteria.

1.2 Finger Sliding Actuation

The motor required here does not require a large torque since motion in this degree of freedom is not expected to handle heavy loads.  This motor only requires enough torque to overcome the friction of the finger on the power screw that it is mounted on.  Therefore, a low-cost motor (relative to the grasping motor) will suffice.  The DC motor of choice is the Cytron MO-SPG-30E-20K at a cost of USD $22.58 from RobotShop.

The specifications are as follows:

The consistency of the stated specifications do not match the previous motor because the information that was provided by the manufacturer was not consistent.

An initial estimate of two 200 g fingers sliding on a 1/2” diameter power screw with a steel-steel sliding interface (friction coefficient of 0.8) shows that only 20 mNm of torque is required.  Therefore, this motor meets the requirement.  The power screw also has 13 threads per inch, and at the rated 185 rpm, the power screw would slide linearly at 6 mm/s.

1.3 Motor Type

DC and servo motors are motors that are suitable for the project.  An investigation between DC and servo motors showed that many manufacturers of motors did not provide the necessary specifications for choosing a servo motor in terms of the values of the no load, stall torque, and stall current.  While servos generate a lot of torque relative to their size when compared to DC motors, it is not feasible to use a servo motor because of the unknowns in the specifications.  It is possible to buy several servos and test them, but this is costly and time consuming.  At this stage in the project, the team is not able to commit the time to investigate further.

Comparison of the cost of the grasping motor relative to motors from Maxon Motor, a supplier of motors for UBC Thunderbots, shows that the price of a motor of the same power output costs approximately the same amount.  However, a fundamental difference is that the motor from Maxon does not include a gearbox, while the chosen motor for this project does.

2.0 Microcontroller

The microcontroller of choice is the Arduino Diecimila.  The primary motivator for using this board is because the UBC Thunderbots team already has this board and is currently unused.  The Thunderbots team has generously provided the board for use on this project.

The MCU will allow the turning the motors on and off, changing motor direction, changing motor speed, and reading encoder feedback.

3.0 Voltage Regulation for Encoders

Since the power supply is likely going to be run at 12 V, the encoders will require voltage regulation down to 5 V (the operating voltage of the encoder for the motors).  The chosen voltage regulator is the MC78L05A at a cost of USD from Digikey.  According to the typical application diagram of the datasheet, two capacitors will also be required (0.33 μF and 0.1 μF).  The cost of these are less than $1.

The voltage regulator will be wired up in this way as the datasheet shows:

The input will be from the 12 V source, and the output will be to the encoders.

4.0 Motor Driver

To control the motors, an H-Bridge is to be used.  However, due to the different current flows for each motor, one motor driver will require a high current capacity while the other one will not.  The high current capacity motor driver consists of a driving circuit using two half-bridges.  The low current capacity motor driver is made up of 1 IC.

4.1 Finger Grasping Motor Driver

To design the H-Bridge for controlling the motor, an L6205 motor driver will be used.  Each of them costs USD $11.36 from Digikey and can withstand a continuous current of 2.8 A and a peak current of 5.8 A and can be interfaced with the microcontroller with PWM inputs.  The driver can also be run in a parallel mode to double the current ratings by using both of its full bridges together.  The datasheet provides an application circuit as follows:

Output pins from the Arduino can turn the motor on and off through the enable pins.  Direction is controlled by adjusting the voltage polarity between IN1 and IN2.

There are also two output pins for current sensing.  By using it to measure the current draw, the microcontroller program can determine what the torque is through the use of the motor curves provided in the motor specifications.

4.2 Finger Sliding Motor Driver

The motor driver of choice is the L293D and each one costs $2.50 from Digikey.  Bidirectional control of a DC motor can be achieved by adapting the application circuit from the datasheet:

The 1A and 2A pins determine the direction of the motor or the motor deceleration.  A truth table is provided in the datasheet.

5.0 Power Supply

To power the grasper, a power supply plugged into the wall will be used.  It is expected that the future robot will have a power source of its own which will power the hand as well.  Therefore, for the purposes of testing the grasper for this project only a wall power supply will be required.

Looking at the maximum electrical power consumption of the two motors, the total comes to ~65 W (12 V * 5 A + 12 V * 0.41 A).  The other components also consume power and so the final power consumption will be higher.  To compensate, a 12 V power supply with a maximum wattage and current of 84 W and 7 A was selected.  The part number is CENB1090 and each costs USD $70.48 from Digikey.

6.0 Power Supply Connector

The power supply chosen has one port that uses a Molex Mini-Fit Jr. Receptacle.  Therefore, a proper receptacle must be used so that proper wire routing can power all the circuitry.  This also means that the future robot will also require a matching plug for this receptacle.

7.0 Fuses

Fuses will also be used as a redundant mechanism to stop the motor in case the current draw is too high.  The primary method of stopping the motor is through the current sense pins on the motor driver.

This guide presents how to mimic the system used in professional karaoke establishments at home.  The software this system uses revolves around a Taiwanese program called JetKTV.  Much of the content from this guide was drawn from Chinese language websites discussing the usage of this program (scroll all the way down for References).    There is little literature on this subject in English and so this guide presents basically an English version of the reference sites plus a few added notes.

The program used is in Chinese, so people who are not fluent in Chinese may have a hard time navigating through the software.  Those who are brave enough to continue or have a basic knowledge of Chinese with better English fluency may find it helpful to see English instructions.  The Chinese sites on this subject are also written for older versions, and the setup procedure for those older versions are slightly different.

Contents

• Proposed Setup
• Setting Up JetKTV2010
• Inserting A New Song
• Inserting A New Artist
• Testing
• References

Proposed Setup

The proposed setup of all the hardware (TV’s, amps, computer, etc.) is in the diagram below.

The computer will play the chosen Karaoke videos and transmit the video signal to the TV (via extended display like in a dual monitor set up).  The computer’s audio will go to an amplifier or a mixer, which is then transmitted to a set of speakers.  Microphones are plugged into the amplifier/mixer is well so that the speakers can also play the sound picked up by the microphones.  Depending on the hardware, the cables could be different (some TV’s may not have HD output etc.)The  computer is the source of all the signals transmitted to the other devices and must be set up with the Karaoke software.

Setting up JetKTV2010

The PC will use the following software:

• JetKTV2010 (link)
• SongMgr (optional – not helpful on English language PC’s – more on that topic later)

It is helpful to set up the software using a dual monitor setup.  That way, it is easier to test without having to go and plug the computer to the TV each time.

Unzip the contents of the JetKTV2010 program in a folder and open JetKTV2010.exe.  The GUI buttons are for searching through the database (by looking for the artist, song name, etc.) to find the wanted song. Once a song is selected, it will be added to the list of songs to play just like the software at actual Karaoke establishments. The video will play in full screen on one monitor and the song picker GUI will say on another monitor.  To close the program, click on the top left corner of the GUI (hidden button).

Some of the software features in addition to searching and adding songs:

• Skipping songs
• Fast forwarding, pausing, etc.
• Switching from one audio channel to both audio channels (alternating between vocal on/off)

This program reads from a database that contains the song names, artists, language, etc.   Therefore, it does not come with songs.  Songs must be downloaded separately and added on.  These can come from existing DVD’s or YouTube.  The next section will explain how to populate the database.

Populating the Database

The SongMgr program mentioned above can add/remove contents from the database, but there are problems with it when using it on English language PC’s due to problems in encoding some of the Chinese characters.  Even Microsoft AppLocale fails to rectify the problems.  The solution is to use Microsoft Access to open up the database file directly and make changes.

Adding one song can seem like a lengthy process at the first try, but it will get easier as one becomes more familiar with the system.

Inserting A New Song

To insert a new song, one must navigate to the table where the songs are stored and then add an entry to it.

1. Open Song.mdbin the JetKTV program directory
2. When prompted for a password, input “tmwcmgumbonqd” without quotes
3. Navigate to the table Tbl_Song.  This is the table that records all the song entries.

Below is an explanation of each column:

• Song_ID: numerical identifier for each song (the program lists them as 5 digit numbers starting at 10000)
• Song_Title: song title
• Song_Singer: each singer has a unique number associated with them (see next section)
• Song_Singer (2nd one): the name of the artist in text
• Song_Word: number of characters in the song name
• Song_Type: a number representing a language (Mandarin,Taiwanese,Cantonese,Hakka Chinese,English,Japanese,Movies,Cartoons,Other  in that order starting from 1)
• Song_Volume: song volume, but not sure what units they are in.  Default value is 70.
• Song_Channel: the audio channel that does not have the vocal track. (1-Left, 2-Right, 3-Both)
• Song_FileName: filename of the video without the directory
• Song_Path: the directory to the file (could use absolute pathing only, but unsure of whether relative paths work)
• Song_Create: the time that the song was added in
• Song_Count: the play count of a song
• Song_Juyin: the Zhuyin characters representing the song title
• Song_Stroke: number of strokes in the first character of the song name

Some of the columns can be left out, but that means that it will not be possible to find a particular song using the omitted information.  For example, Song_Juyin can be left out for those who dont use the Zhuyin system, and that feature won’t be used for song searching anyway.

To add a song, fill out the following information at the minimum on one row:

• Song_ID (must be a unique number and should have five digits)
• Song_Title
• Song_Singer
• Song_Volume (70 is the default)
• Song_Channel
• Song_FileName
• Song_Path

For the Song_Singer information, refer to the next section.

Inserting A New Artist

Artist information is stored on a different table called Tbl_Singer

1. Open the table called Tbl_Singer
2. Fill out an entire row to add a new singer (see below for the reference for each information column)

Below is an explanation of each column:

• Singer_ID: unique identifier for each singer (this is the unique ID that is to put inserted in the Song_Singer column in Tbl_Song)
• Singer_Sex: singer gender (0-Female, 1-Male, 2-Group/Band)
• Singer_Name: artist name in text
• Singer_Juyin: the Zhuyin characters representing the artist name
• Singer_Stroke: number of strokes in the first character of the artist’s name

Testing

One a song or two has been entered into the database, one can test it by opening up the JetKTV program and trying to pick a song.  It is working when one screen shows the video playing and another screen showing the JetKTV GUI.

One can also try clicking the button labeled “導唱” to test if the audio channels are set up properly (toggling it turns on and off the vocals).

The next step would be to plug in the computer with all the television components and then trying it again.  Once everything works, the system is ready.

References

All reference sites are in Chinese

[1] 動手打造窮人 KTV <http://www.jetktv.ktvdiy.com/> [Update 2022 October: JetKTV seems to be defunct]

[2] [影音相關] JetKTV 輕鬆打造免費 KTV 點唱機 (進階設定篇) <http://www.soft4fun.net/video-related/%E5%BD%B1%E9%9F%B3%E7%9B%B8%E9%97%9C-jetktv-%E8%BC%95%E9%AC%86%E6%89%93%E9%80%A0%E5%85%8D%E8%B2%BB-ktv-%E9%BB%9E%E5%94%B1%E6%A9%9F-%E9%80%B2%E9%9A%8E%E8%A8%AD%E5%AE%9A%E7%AF%87.htm#doublescr>

[3] 峰網誌 JetKTV-DIY電腦點歌機..軟體篇 <http://www.wretch.cc/blog/Linpy/4853370>

Paragraph Spacing

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This goes in the preamble of the document (after the document class stuff, but before the begin document line).

Removing Page Numbers

thispagestyle{empty}

This gets rid of page numbers for that particular page, but the numbering sequence continues on the next page.

Adding Unnumbered Sections into the TOC

section*{Introduction}
addcontentsline{toc}{section}{Introduction}

By default, unnumbered sections do not appear in the table of contents and therefore they must be added manually.

Defining a New Style with fancyhdr

fancypagestyle{plain}{%
fancyhf{}}% clear all header and footer fields

New style definitions should go before the very last curly brace.

Unnumbered Sections Not Working with leftmark and rightmark

section*{Introductionmarkboth{Introduction}{}}

For some reason, unnumbered sections don’t play nice with fancyhdr and don’t get treated as real sections when the leftmark and rightmark commands are used.  By using markboth, it fixes the problem.  Now my headers show the correct section name.

Bulleted List

begin{itemize}
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Numbered List

begin{enumerate}
item Here is item one.
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Referencing Sections by Name

section{MyFirstSection} label{marker}
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Requires the hyperref package!  Put the line below in the preamble.

usepackage{hyperref}

Linking to a Website

href{http://www.example.com}{Link}

Umlauts

"{o}

That gives an o with an umlaut.  Just replace the letter to get an umlaut on a different character.

Flight to Barcelona

I woke up at around 3:30am to get ready for the flight to Barcelona.  I had slept at around 10:30pm the night before in order to not feel absolutely terrible in the morning.  We took the first train out to the airport at 4:40am and got there about an hour before our departure at 6:45am.  While going through security, I forgot to take of my belt and because of that, the security personnel checked me with the metal detector wand all over the place.  For some reason, he seemed to also have a huge suspicion that I was hiding something in my pants.  Once he let me go, we were on our way.  On the plane ride there, I tried by my best to take a nap, but this little kid cried for the whole duration.

Sagrada Familia

After dropping off our stuff at the hostel, w went to the Sagrada Familia, an unfinished church that began construction in 1882.  When I saw it, I thought it was really weird that the construction crew used modern cranes to build architecture of the old style.  We tried to go inside, but there was a huge line up.

After wandering around town a little bit, we came across this market that sold all sorts of things.  Apart from pretty normal items like clothing, vendors there sold N64’s, used power tools and even military regalia.  A lot of that stuff was probably stolen.  We walked around some more and then headed down to the beach.

Barceloneta

The area we were in, the Barceloneta, was a stretch of beach coastline looking into the Mediterranean Sea.  It had the nicest beach water and sand – even better than what I saw in Volos.  Looking around the beach, I learned that it was legal for women to sunbathe topless. It was actually quite prominent.  The weather was really hot too – perfect beach weather I suppose. 

I lay down under an umbrella on a beach towel while the others went for a swim.  I ended up falling asleep.  I suppose that made up for not having a good sleep on the plane.  After spending about an hour and a half at the beach, we went on a walking tour.

The Walking Tour

The first destination in the tour was in the Gothic Quarter.  We reached the memorial for Eulalia of Barcelona, a 13 year old girl that was brutally subjected to torture from the Romans for refusing to give up Christianity.  She died from the 13th and final torture that involved her being put inside a barrel with blades shoved inside it and then having that barrel rolled down in incline.  It is said that a dove flew out of her dead body as she ascended to Heaven.

The next destination was the oldest synagogue in Europe (as opposed to the one in Prague, which is the oldest active synagogue).  From the outside, it doesn’t look anything like a synagogue.  It just blends in perfectly with the buildings around it and the building itself doesn’t have any valuable looking ornaments or decorations either.  The only things that separate it from the other buildings is sign in Hebrew on the doorway and some signs for tourists to know that it’s there.  In this Jewish district, the tour guide mentioned the expulsion of Jews during the Spanish Inquisition.  I thought it was kind of amusing when I was caught by surprise at the mention of it – kind of like that quote from Monty Python.

Afterward, we went to Plaza de Sant Felip Neri.  The significance of this place was that the plaza was the site of a air attack from Italian bombers during the Spanish Civil War.  Shrapnel damage from the bombs still scar the walls of the plaza.  On another side of the plaza, the bomb damaged was repaired but one can still see the slight difference in colour between the bricks which shows how much of the wall had been destroyed.

One thing about the streets in the Gothic Quarter of Barcelona is that a lot of them are really narrow – probably only about 10 feet wide.  We walked through these streets for most of the tour.  In one of those streets, we came across a mosaic of Space Invaders.  Apparently, there is an artist who goes all over the world putting them up.

The next destination was the Placa Nova, which used to be the location of the city gates back when the Romans lived in Barcelona.  The remnants of the gate and the aqueduct still exists.  Across from the gate is the City Architecture School, which has a joke drawing by Picasso splattered over it.

After walking some more we saw the Barcelona Cathedral which housed the tomb of Eulalia of Barcelona and also the Placa del Rei, the historical location where Christopher Columbus reported his discovery of the Americas to the Spanish royalty.  We also saw some Roman ruins after climbing a mountain with a height of 16.9 meters (that’s what a plaque actually said) as well as the Placa de San Jaume, the political center of Cataluña (the area of Spain that Barcelona belongs to).

The tour guide also talked about the origins of the flag of Catalonia (Cataluña is the name in Catalan).  It is said that a great warrior Wilfred the Hairy, after being wounded in battle, drew stripes along a copper shield with his blood-stained fingers, hence the four prominent red stripes on the Catalan flag.

We also walked along La Rambla, a popular tourist street in the city.  The tour guide also showed us a city square that featured some of buildings designed by an architect named Gaudi.  Apparently, his designs are all over the city.

Next was the Placa George Orwell.  As a memorial to him (he was involved during the Spanish Civil War), the city named a city square after him.  Ironically enough, this plaza used to be under 24 hour surveillance kind of like Big Brother in his book “1984”.

We finished the tour at a bar and socialized with other people in the tour group for a little bit and drank Sangria.  I got to talk to these people who used to work at the same hostel we stayed at in Hamburg.  It was such a coincidence.

Barcelona’s Skateboarding Fame

After that, we walked around the city to look for the skateboarding spots that Barcelona was so famous for among skateboarders.  I’m not a fan, so I could not recognize the place from skateboarding videos, but it was cool to see a lot of skateboarders in one place showing off their tricks.

Tapas

For dinner, we tried Tapas, a Spanish delicacy.  Tapas are basically a small appetizer dish, but patrons generally order a few of them for a full meal.  Along with Tapas, Paellas are another Spanish delicacy that’s also really delicious.

Sangria is Evil

That night, we spent a little bit of time at the hostel bar.  We all drank Sangria and the thing about that drink is that it tastes a lot like juice, which means it is really easy to drink too much.  And that’s what I did.  I puked a bunch and got a pretty bad hangover the next morning.  I never intended to drink that much in the first place.

While we were drinking, we talked with this black dude and he always had racist jokes to say.  He went on about how white people could never get away with saying racist comments, which was so true. 

Park Güell

I spent the next morning puking too which sucked a lot.  We went to the beach again that morning, but I felt so bad at that time that I decided to go back to the hostel to rest up a bit before doing anything.  I felt a lot better in the evening and so we all continued sightseeing and went to Park Güell.

Park Güell was basically a park that featured a lot of Gaudi’s architectural exploits.  Since he hated the use of right angles in his work, much of the design had curvy edges.  Spanish architecture here was so different from the architecture I’d seen everywhere else.  It was really distinct and unique.

A Less Intense Night (at Least for Me)

After visiting the park, we went to the hostel bar like the night before.  Except this time, I didn’t do any crazy drinking.  We met the same black dude from the night before again and this time he went on about how much he loved eating fried chicken, which just made me crack up so hard.  He perpetuated that stereotype.  Once the hostel bar quieted down, my friends went out for clubbing while I stayed at the hostel and went to sleep.

Mini-Sandwiches

I found out later that they returned at around 6 am.  Two of them were really high on weed apparently when they came back too (weed is legal in Barcelona so long as one possesses less than 50g).  They missed the hostel breakfast that morning and slept in until 12pm.  Once we all got ready, we went out for lunch at a mini-sandwich restaurant. 

The place had so many varieties of mini sandwiches and they all looked and tasted delicious.  I wanted to try all of them, but I was pretty certain that I couldn’t eat that much since I wasn’t hungry for lunch yet.

Montjuïc

After eating, we went up to Montjuïc.  The mountain had a lot of really nice architecture, just like a lot of places in the city.  Also on the mountain was the site of the 1992 Summer Olympics in Barcelona.  We walked around the Olympic stadium and got a really good view of the city.

We walked further up the mountain and reached the fortress at the top.  At the time, we didn’t know there was a gondola that took us up there, so we walked the whole way, which was super tiring in the intense heat that day.  Fortunately, seeing the fortress was worth it.  From there, we got a really good view of the entire city, all the way around. 

After walking around so much, we all got really hungry and took the gondola back down and looked for a place to eat.

Paellas

After trying Tapas on the first day, we decided to try Paellas this time around.  Paellas are basically a rice dish and consists of either vegetables, seafood, or different varieties of meat depending on the type.  We ordered one with seafood and chicken in it. 

Being able to pick meat off bones and peeling the shell off of shrimp was so satisfying.  It was totally unlike the German dishes that involve none of that peeling whatsoever.

Writing at the Beach

We spent the rest of the night at the beach to get one last look at it before leaving the next morning.  When we got there, the sun was already setting so it was quite comfortable at the beach without the sun constantly cooking us. 

As the sun set, it actually got really cold.  While sitting at the beach, I started writing bits of this blog entry in my notebook.  Writing on the beach was really satisfying.

My Joint-Rolling Experience

When we got back to the hostel, two of the people I went with wanted to use up the rest of the weed that they bought.  I refused to do any weed when they offered it to me – even if it was legal here, but I did want to try rolling a joint.  They passed me some of the weed and rolling paper and then taught me how to do it.  In the end, I rolled a better joint than both of them and it was only my first try too.  They called me a “stoner prodigy” and said how I’d be a really good stoner if I ever did weed.  No way I’m going to smoke it for real though even if rolling a joint was an interesting experience.  When the others started smoking the rest of the weed, I returned to the hostel and went to bed.

Flying Back

The next morning we all woke up at 6 am to get to the airport for our flight back to Stuttgart.  For pretty much the entire trip home, our whole group barely talked.  We all had this zombie look on our faces from waking up way too early and not sleeping enough.  It took a few hours for us to return back to our normal state.  We all felt it was a good trip – except for the part where I had too much Sangria.

More photos here

From the Basilique du Sacre-Coeur, to the Notre Dame, the Eiffel Tower, the Musee du Louvre, and the Arc de Triomphe, it wasn’t very hard to take tons of photos in Paris because all the tourist attractions were just so beautiful.

After being in Europe for over 2 months, I finally visited Paris three days ago. Going to Paris is something that many people in North America (probably the world too) dream to do. I woke up early in the morning for my train from Stuttgart that left at 7 and met up with my friends from Bosch.

On the train, sitting together proved rather difficult because that went against the preassigned seating provided by the French TGV. We tried our best to find vacant seats, but in the end, two of us ended up sitting elsewhere. I managed to sit with the rest of the group for the duration of the train ride.

Along the way, the train passed through the French countryside. Only farm fields separated Paris and Stuttgart, with the exception of a few cities and towns. We joked about how the only things in France were farm fields and an Eiffel Tower. After a four hour journey, we arrived at the eastern train station in Paris.

The train station in Paris set my first impression the city. I didn’t see Paris in the beautiful setting that all the tourism advertisements showed. Seeing that the first place I go to in any city is often the train station, I ended up basing my first impression on that. To my surprise, the metro here lacked the maintenance that the trains in Stuttgart got. In general, the trains looked much dirtier and vandalized in more places. I saw graffiti in all of the train tunnels, and beside all the train tracks. In some areas, the station smelled like a dirty washroom. The trains themselves looked very old as well, but that’s just aesthetics. One of the trains even used tires and not train wheels, so it ran like a bus on train tracks. Despite this, the metro served as our only means of transportation within the city. We took the train to our first destination.

Our first destination was the Sacre-Coeur, a basilica located on the summit of butte Montmartre, the highest point of Paris. Unfortunately, the Sacre-Coeur was not exactly in the best part of town. The enormous amount of street performers, street vendors, and people trying to get me to donate money caught my attention right away. They really liked bugging the foreigners. I guess they think that if foreigners can afford to come to Europe, they must have lots of money. Some of them were like pushy salesmen that wouldn’t leave people alone. Some of them even know how to greet people in different languages. I heard them say phrases like “ni hao”, “konnichiwa”, and “arigatou”. I wondered about how many more of these people there’d be at the Eiffel Tower, when I already saw of many of these people at a lesser known landmark. I tried my best to ignore these people and focus on where I was, the Sacre-Coeur.

Looking at the basilica from afar reminded me of the Dom in Cologne, but this place was a little smaller. Unfortunately, the church did not permit photography, otherwise I’d post pictures of this place. I must say though, after seeing the Cologne Dom, this place didn’t seem that special to me.

When we left for the Notre Dame afterward, we passed through the poorer part of town. For some reason a big crowd of people stood outside selling prepackaged food that one could get from the supermarket. Why would they end up selling the food that they bought? Or maybe they never bought them at all.

Our next destination was the Notre Dame. The Notre Dame was one of those places that almost everybody knew, so many tourists visited it. In fact, there were so many tourists there that the city decided to post armed guards wielding FAMA’s at the site in case anybody tried to cause trouble. Like many other European churches, the church also had the old European design. The design here definitely rivaled the Cologne Dom.

The Notre Dame was situated beside the Seine River, so the natural next thing to do was to walk along the Seine. Unlike the Rhine River, the Seine was a lot more polluted. As we walked, I saw many more street vendors, but these ones sold retro photographs of Paris, post cards and various antiques. In the distance, we could see the Eiffel Tower. Before heading there though, we went to visit the outside of the Louvre. Seeing the pyramid in the courtyard instantly reminded me of The Da Vinci Code, when they revealed the location of the Holy Grail. Further outside the Louvre was the Arc de Triomphe du Carrousel which was a smaller arch that served the same purpose as the Arc de Triomphe. Further down the road, was an obelisk that Napoleon once took from Egypt during the Napoleonic Wars.

We walked along the Avenue des Champs-Elysees to the Arc de Triomphe, but before getting there, we had to hurry to the Eiffel tower so that we didn’t miss the time we reserved online. Because of our reservation, we didn’t have to wait hours like everyone else. Hundreds, if not thousands of tourists waited their turn. As I expected, there were a lot of street vendors here too, but the ones here weren’t as pushy.

In every picture I’ve ever seen the Eiffel Tower looked so small, so the sheer size of it total surprised me. At the base of the tower, I tried to take as many pictures as I could of the tower using the photography knowledge that I crammed the night before. Hopefully, my pictures turn out really well.

The view at the top of the Eiffel Tower totally struck me in awe. One could see as far as the eye could see. I pretty much saw all of Paris from here. In the distance, I could point out some of the landmarks such as the Louvre, Seine River, Arc de Triomphe, and Les Invalides. I also saw how the streets were laid out in the whole city. It differs a lot from the modern urban planning in the way that the roads don’t form grids. They seemed to go in random directions. No wonder it was so hard to find where we were going at times.

I could even see rain clouds slowly moving toward us. We didn’t choose the best day to go to Paris, but we couldn’t exactly predict the weather a month in advance. On the way down, it rained pretty hard, but it stopped about two hours later.

In the evening, we decided to go for a drink at a local cafe, since we were all so tired from carrying our things and walking around all day. Looking at the menu, I found that the price of beer is very high. In Stuttgart, I typically pay around 3 to 4 euro for half a litre of beer, but here, it costs 8 euros. That makes sense, I guess. Stereotypes do say that Germans are a lot more crazy about their beer than the French. I ended up trying a beer called Saint Omer. I don’t really know how to describe the beer so I can only really say that it tasted quite good, but not as good as German beer though.

After our little break, we went back to the Eiffel Tower to take pictures of it from afar. As the sky began to darken, the tower lit up. It must look even prettier at night. Unfortunately, we didn’t stick around to see it.

We went to the hostel since we were all so tired. For dinner, we ate baguettes that we bought from the local supermarket. And since we were in France, we had to have a bottle of wine. From the window, we could see the Sacre-Coeur.

After dinner, we went around some more to see what Paris looked like in the night. Because of the rain earlier, the wet cobblestone roads reflected the lights nearby. We stopped at a bar for a quick drink before heading home. This time, I ordered a beer called an Amstel. It had quite a strange after taste. By about 11:30 pm, we were all ready to sleep because we all woke up so early to catch the train and walked around so much, so we went back to the hostel where would recharge before continuing our journey the next day.

Little did we know when we organized our trip to Paris, this weekend would fall on the time change for daylight savings time, and as a result we had one less hour in Paris. We just slept one hour less to make up for it.

In the morning, we woke up early to get to the Louvre when it opened to avoid the enormous line up that we saw the day before. After passing the security check, we went to get our tickets. To our surprise, residents of the EU could get admission for free. I showed the ticket staff my work visa and got my free ticket. That saved me ten euros.

The main highlight of the Louvre was probably the Mona Lisa by Leonardo Da Vinci. I don’t think many people know why the painting is so famous, and I don’t either. Like everyone else, I went to see it purely because it’s famous.

The whole area we were in housed many Italians and Spanish paintings from the Renaissance. I didn’t understand any of the paintings, but I noticed that people back then really liked to paint about Christianity. A lot of the paintings showed Jesus on the cross. In other paintings, they really liked to paint naked people. Naked men, women and kids showed up in so many paintings.

The next group of exhibits we went featured art from the Americas, Africa, and Asia. They displayed mostly sculptures from various native groups living in the area a long time ago. It was quite interesting to see the difference in art among all these cultures.

Afterward, we looked at the section on Egyptian art. Here they showed various relics left over from the Ancient Egyptian civilization. They displayed various styles of sarcophagi used in the past and also urns of mummified remains. Among all the relics, the ones they showed the most were the stone tablets and papyrus paper with hieroglyphics written on them. I don’t know what any of it means, so for all I know the writing could just be something ordinary like, “today I went fishing by the river.”

At this point, we realized that the museum was so large that we wouldn’t be able to get through it all. So we looked at the map and chose to see what we wanted to see most.

We then arrived at the exhibit about French culture from the 14th to 17th century. The decorations in the rooms was decorated the same way as the old French style and it made the room look so beautiful.

Our next exhibit was Ancient Greece. The majority of items here were statues of the Greek Gods. These statues were pretty much everywhere, but they were all interesting too. It goes to show how devout the Greeks were when it came to worship.

The next item on our list was to find the Code of Hammurabi. Along the way, we went through the exhibit for Mesopotamia. Although not far from Greece geographically, their culture differed immensely.

When we arrived at the Code of Hammurabi, I saw a giant stone, but on it were a set of laws inscribed into it. It basically spoke of the consequences of actions that people did. A lot of it resembled the principle of “an eye for an eye”. For example, if a builder builds a house collapses on its owner, then the builder shall be put to death.

After being at the Louvre for about five hours, we were ready to leave. We didn’t even see half of the museum. I’m sure there are people that stay there for like ten hours or something. I even saw people sitting down with their artboards and drawing the sculptures they saw. As we left, we saw a huge crowd of people waiting to get in. I’m glad we went early. We barely waited at all.

After leaving the Louvre, we went to the metro to make our way to the Arc de Triomphe, located on the Avenue des Champs-Elysees, the rich district in Paris. It is a monument constructed for Napoleon to showcase his triumphs. It stands in the center of the Place Charles de Gaulle. The monument also honours the soldiers who fought and died for France during the French Revolution and the Napoleonic Wars. Also there is the Tomb of the Unknown Soldier from the First World War.

The flame at the Tomb of the Unknown Soldier is always lit. It serves as a memorial for all the soldiers killed in action who could not be identified during the First World War. I went up to the grave to pay my respects and gave him the traditional three bows that the Chinese typically give to the deceased.

Also there was a plaque of Charles de Gaulle’s famous BBC radio speech to the French people in 1940, telling them not to lose hope, and that the war does not only affect France, but rather the entire world.

The arc also named the major victorious battles of the Napoleonic Wars. The inside walls of the arc name most of the generals who served under Napoleon and the names of those who died are underlined.

When we were finished at the arc, we went back to the Eiffel Tower to get one last look of it before leaving. On the side of the tower were the names of famous French engineers. As an engineer, myself, I had to look at each name to see which ones I recognized. I ‘d say I knew about a quarter of them. They were people like, Lagrange, Carnot, Ampere, Fourier, Clapeyron and Laplace.

While we all took more pictures of the tower, we had the idea of getting our French friend to wear the stereotypical French hat and hold a baguette while we took pictures of him with the Eiffel Tower in the background. It was so stereotypically French that this teenage girl got so excited seeing that she wanted a picture with him. We joked that if working at Bosch didn’t work out for him, he could make a living taking pictures with tourists in Paris! We stayed there until it was time leave for our train back home.

Paris was quite a beautiful city to visit, especially in the tourist locations, but some parts of the city were quite dirty, especially on the metro. That part of the city I didn’t really like, but the rest was amazing.

On the train, I tried to go to my assigned seat, but unfortunately a family had taken up all the seats there. I didn’t want to make them all find new seats, since I knew how hard it was to get everyone to sit together as a group without reservations, so I went to find an empty seat instead.

On the way home, due to some technical difficulty, the train made an unscheduled stop in the middle of nowhere. This delayed us by about twenty minutes and we all wondered how we were going to catch our connecting train. We found out later that our connecting train was going to wait.

As we crossed the border, the police came by checking people’s passports. In the entire wagon, only one of my friends and I were checked for passports. They did that probably because of the fact that we looked foreign.

As the train got closer and closer to Stuttgart, I was reminded of the fact that I’d have to go to work the next day and that I’d return to my usual routine once again. At the same time, I felt really good about the fact that I can now cross off another place on my list of places to visit.

Photo album here

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