The Stork Highway of Ancient Rome

Walking through Selçuk’s streets during the ongoing heat wave, we couldn’t help but notice the most unusual sight: massive white storks perched confidently atop Roman aqueduct ruins and modern utility poles alike. These aren’t just random visitors – they’re part of an annual migration pattern that has turned this historic town into Turkey’s unofficial stork capital.

Every March, storks return to Selçuk from their winter homes in sub-Saharan Africa. The storks choose the highest points available for their nests, including the remnants of Byzantine aqueducts that once supplied water to ancient Ephesus. Local authorities have even installed special platforms on utility poles to prevent the birds from electrocution while preserving their traditional nesting sites.

Mysteries of the Multi-Breasted Goddess

Our visit to the Ephesus Museum revealed one of archaeology’s most debated artifacts: a towering statue covered in what appears to be dozens of breasts. This is the famous Artemis of Ephesus, but those protuberances might not be what they seem.

The 292-centimetre-tall statue actually represents a fascinating scholarly controversy. While traditionally interpreted as multiple breasts symbolizing fertility, many experts now believe these oval objects are bull testicles, hung as offerings during sacrificial ceremonies. Some scholars even suggest they could be bee larvae, as bees were sacred to Artemis. What makes this debate particularly intriguing is that none of the “breasts” have nipples – a detail that ancient sculptors, masters of human anatomy, would hardly have overlooked.

This statue likely stood in the Temple of Artemis, one of the Seven Wonders of the Ancient World, making it a tangible connection to one of antiquity’s most celebrated structures. The temple’s destruction by 401 CE means this museum piece represents our closest link to understanding how the ancient world venerated this powerful goddess.

Where Emperors Built Upon Apostles

The ruins of the Basilica of Saint John dominate Ayasoluk Hill, their weathered stones telling a story of imperial ambition, religious devotion, and inevitable decay. Emperor Justinian I commissioned this massive structure between 548 and 565 CE, designing it as both a pilgrimage destination and a worthy monument to house the tomb of John the Apostle.

The basilica measured 428 by 213 feet, making it potentially the seventh-largest church in the world if reconstructed today. Justinian modeled it after the Church of the Holy Apostles in Constantinople, creating a cruciform structure crowned with six domes. The builders incorporated materials from the nearby Temple of Artemis and other Ephesian ruins, recycling ancient marble and stones into Christian architecture.

The basilica’s decline began with Arab raids in the 7th and 8th centuries, which forced the construction of defensive walls around the structure. By 1304, invading Seljuk Turks converted part of the building into a mosque, and in 1402, Tamerlane’s Mongol army destroyed it during their invasion. Earthquakes in the 1360s completed the devastation, leaving the impressive ruins we see today.

A Castle Built on Sacred Ground

Crowning Ayasoluk Hill above the basilica ruins stands a fortress that represents the practical realities of medieval defense. The Ayasoluk Castle, built during the Byzantine era around the 6th century CE, incorporates stones from dismantled Roman buildings, including materials from Ephesian structures.

The castle’s strategic position made it valuable to successive rulers. Seljuk Turks expanded it after conquering the area in 1090, and Ottoman forces later added their own modifications. The fortress enclosed fifteen towers connected by 1.5 kilometres of walls, protecting a small community that included a mosque, cisterns, baths, and residential quarters.

What makes this castle particularly fascinating is its relationship with the basilica below. Rather than destroying the Christian site, medieval builders incorporated it into their defensive strategy, using the basilica’s walls as part of the lower fortress complex. This created unique architecture where Islamic military architecture literally rests upon Christian sacred space.

Divine Intervention at the Neighbourhood Mosque

Our exploration of Selçuk’s religious landscape led us to the İsa Bey Mosque, a remarkable example of 14th-century Anatolian architecture. Built between 1374-75 by Syrian architect Ali ibn el-Dimişki, this mosque demonstrates the transitional period between Seljuk and Ottoman architectural styles.

The mosque’s segregated prayer areas for women represent traditional Islamic practice, though such arrangements can appear restrictive to visitors from different cultural backgrounds. These architectural divisions reflect religious interpretations that prioritize modesty and separate worship spaces, practices that have shaped Islamic religious architecture for centuries.

During our visit, we discovered that the mosque offers free Quran copies to interested visitors – a practice that connects contemporary Islamic outreach with the site’s long history as a religious centre. While there, we met a local man who was especially eager to talk to us about Islam. He explained that he hadn’t actually planned to visit the mosque at that time; he was on his way to complete some errands, but on a whim decided to stop by and pick up a Quran for a friend. Instead, he ran into us and was convinced that our meeting was no coincidence, telling us he believed it was divine intervention.

Our conversation quickly turned philosophical. He earnestly shared his belief that the Quran contains the answers to every question in life, presenting it as the ultimate guide to truth. At one point, he shared a rather striking perspective: he said that people who believe in God are the highest tier of lifeforms, followed by animals, with people who don’t believe, especially those who “act like they are their own god”, ranking below animals. I couldn’t help but laugh internally, realizing that by his definition I must be beneath the neighborhood cats lounging in the sun! He meant no offense, his words were offered with sincerity and a desire to share his worldview. Still, I got the impression he didn’t realize we weren’t religious ourselves, or how his ranking might sound to an outsider.

Echoes of the Population Exchange

Our journey to Şirince village, perched on a hillside 8 kilometres from Selçuk, revealed one of Turkey’s most poignant historical legacies. This mountaintop settlement, originally called Çirkince (meaning “ugly” in Turkish), was supposedly named by its Greek founders to deter other settlers from discovering their mountain paradise.

The village prospered under its Greek Orthodox Christian population, who spoke primarily Turkish despite their religious identity. By 1908-09, over 1,000 houses sheltered Greek families who cultivated vines, tobacco, figs, and olives while maintaining their distinct cultural traditions.

The 1923 Population Exchange between Greece and Turkey devastated Şirince’s established community. This compulsory transfer, formalized in the Convention Concerning the Exchange of Greek and Turkish Populations, displaced approximately 1.6 million people based solely on religious affiliation. Greek Orthodox Christians from Turkish territories moved to Greece, while Muslims from Greece relocated to Turkey. The abandoned houses we encountered represent this traumatic displacement.

The Grandeur and Complexity of Ancient Ephesus

The archaeological site of Ephesus, directly connected to modern Selçuk, represents one of the Mediterranean’s most significant Roman cities. As we walked among its ruins during the intensifying heat wave, the scale and sophistication of this ancient metropolis became immediately apparent. A local restaurant owner’s joke about Efes beer – suggesting we walk a few kilometres toward ancient Ephesus since “Efes” is simply the Turkish name for the ancient city – highlighted how thoroughly this archaeological site integrates with the culture. The beer’s naming represents a modern commercial connection to ancient prestige.

The Temple of Artemis ruins, reduced now to a single reconstructed column, still commanded respect as the remains of one of the Seven Wonders of the Ancient World. Though little survives of this massive structure, which once measured 137 metres long and featured 127 columns each standing 18 metres high, the site’s significance resonates across millennia.

Ephesus declined through a combination of geographical and political factors. The Küçük Menderes River gradually silted up the harbour, cutting the city’s vital connection to maritime trade routes. Natural disasters, including a devastating earthquake in 614 CE, damaged infrastructure repeatedly. The rise of Christianity displaced traditional pagan worship, while Gothic invasions in 262 CE destroyed much of the city, including the Temple of Artemis.

I was captivated by how Ephesus’s grandeur was engineered. The ancients combined brute force and technical innovation. Iron pins and lead clamps held massive marble slabs together, damping seismic shocks and locking the city’s great structures in place (though unlikely they knew how well that method would stand up to an actual earthquake).

Workers used wooden cranes, pulleys, and earth ramps to raise monolithic columns, guiding tonnes of stone into precise positions.

We realized that knowing Latin wouldn’t have helped us decipher most Ephesian inscriptions. The city’s later inscriptions switched entirely to Greek, the region’s lingua franca after Alexander the Great’s conquest. An odd feeling – usually we lament not knowing Latin, but this time, it wouldn’t have helped at all. Amid these weighty ruins, we saw samples of the ichthys fish symbol (colloquially known as the Jesus fish symbol), scratched into ancient stones, symbolizing early Christianity. In Greek, it’s written as ΙΧΘΥΣ, and is sometimes seen abbreviated using a symbol resembling a pizza cut into eight slices.

The Temple That Bridged Empires

Among Ephesus’s countless architectural treasures, the Temple of Hadrian stands as a masterpiece of cultural synthesis. This elegantly proportioned structure, built around 117 CE, demonstrates how Roman architects embraced and transformed Eastern design traditions through its distinctive Syrian arch.

The temple’s facade tells multiple stories through stone. Tyche, goddess of city fortune, crowns the keystone wearing walls as her crown, symbolizing her protection over Ephesian prosperity. Above the inner doorway, a relief of Medusa emerges from acanthus leaves, not the terrifying monster of myth, but a protective figure surrounded by the Mediterranean vegetation that inspired Corinthian column designs.

Roman Domestic Life Preserved in Paint

The Terrace Houses of Ephesus shattered our expectations of ancient Roman domestic architecture. These luxury residences, inhabited by wealthy families from the 1st to 7th centuries CE, revealed that Roman homes were far more colourful and sophisticated than typical stone ruins suggest.

The houses featured extensive frescoed walls with floral motifs, geometric patterns, and figurative scenes painted directly onto plaster surfaces. Archaeologists have carefully restored many of these paintings, revealing the artistic sophistication of domestic Roman decoration. The mosaic floors display intricate geometric and figural designs, demonstrating the high level of craftsmanship available to Ephesian elite. These restorations represent authentic ancient artwork, not modern interpretations.

The houses incorporated sophisticated engineering, including hypocaust heating systems that circulated warm air beneath floors and within walls, and plumbing that provided both hot and cold running water. These amenities matched those available in Roman public baths, demonstrating the luxury standards of Ephesian wealthy families.

The Library That Conquered Death

The Library of Celsus stands as Ephesus’s most iconic structure, and deservedly so. This magnificent building, constructed between 110-135 CE, served the dual purpose of housing scrolls and honouring the dead. Tiberius Julius Aquila commissioned the library as a memorial to his father, Tiberius Julius Celsus Polemaeanus, who had served as Roman consul and proconsul of Asia. The building functioned as both a repository of knowledge, holding approximately 12,000 scrolls, and as Celsus’s mausoleum – his marble sarcophagus rests in a crypt beneath the building.

Fire destroyed the library’s interior around 262 CE, though the façade survived until earthquakes brought it down in the 10th or 11th century. Austrian archaeologists reconstructed the façade between 1970 and 1978, creating the impressive sight that draws crowds today for both daytime visits and evening light shows.

As we left, we saw people lined up for hundreds of meters lining up to see the evening light show – many of them coming in from cruise ships.

See more images from Selçuk and Ancient Ephesus

For best results, training should be considered a full time job. One’s entire lifestyle must be directed towards this objective. This lifestyle will also require following the correct training program religiously over time.

All athletes are limited more by their minds more than their bodies

One needs to develop a winning attitude. One needs to combine physical fitness with mental fitness.

This chapter touches on a few mental opportunities for success:

• Motivation – Competitive cycling demands an inner drive to excel. Everything in your life must be focused on the goal
• Dreams, goals, and missions – high performance starts with a dream. This turns into a goal, and ultimately the mission. Are you willing to make any sacrifice, ride any number of miles, or do any workouts deemed beneficial to achieving the goal?
• Believe to achieve – there are bound to be setbacks. One needs to remain confident, patient and mentally tough to power through. Relive each day’s wins, big or small to boost self-confidence
• Mental toughness – when we’re at our limits, fatigue sets in, and the mind tries to make compromises. A fully committed rider gets through it
• Patience – success won’t come quickly. We can introduce incremental change, like: sleeping 30 minutes earlier each day, cutting out 10% of junk food from our diets, etc.
• Commitment and tenacity – there are moments where fatigue says to stop, but the fully commited and tenacious rider finds a way to keep going
• Consistency and routines – the mind and body like regular and standard schedules. Things like jobs, families, and other responsibilities may interfere
• Your high-performance team – surrounding each champion is a network of family, friends, teammates, coaches, etc.

This topic can get rather deep, so there is value in reading other books on the subject and speaking with other successful professionals from all walks of life.

By improving one’s mental approach to cycling, their training and racing will benefit greatly too.

Next: Chapter 2 – Physical performance
Chapter list: Chapter summaries

This post is not so much an expert chef cooking something, but more so the chronicles of a noob trying to learn the art.

I knew I wanted to sous vide it (what is it?). I wasn’t going to mess around with baking temperatures and times and what not. The sous vide would make the texture and consistency perfect. So I went ahead and looked for recipes.

I found these two:

I pretty much did a hybrid of those 2 videos. Both of them show similar content as to how to season the lamb, but the first one finishes it in the oven and deep fries some herbs for additional aromatics, while the second one uses a blowtorch. I didn’t want to deep fry anything, and I didn’t have a blow torch. So this is what I did:

Ingredients for the seasoning

• 1 tbsp salt
• 2 tsp black pepper
• 80g Colman’s dry mustard powder
• 5 sprigs of rosemary

Ingredients for the glaze

• Leftover juices from the bag after the sous vide process
• 200 mL balsamic vinegar (could be more or less according to taste)

Instructions for cooking the lamb

1. Score the lamb (in a grid pattern with each cut around 0.75″ to 1″ apart)

2. Mix the mustard powder, salt, and black pepper together

3. Rub over the lamb generously
4. Put lamb and rosemary into the sous vide bag

5. Sous vide at 55 °C / 131 °F for 24 hours. Throughout the process, juices from the lamb will collect in the bag. Be sure not to dump the juices since it will be used laterPreheat oven to 232 °C or 450 °FTake the lamb out of the bag and put it into the oven. When putting the lamb in the oven, it helps to prop up the lamb with something like a steaming rack that can go into the oven so the bottom doesn’t get soggy. Alternatively, propping it up with tin foil also works.

6. Cook the oven for 10-15 minutes. The timing here isn’t so important so long as the meat has the right “look” that you want since it’s already cooked from the sous vide.

Instructions for the glaze

The glaze can be applied on the lamb or on the side. I opted to do it on the side since I didn’t know how the glaze would turn out.

1. Mix the juices from the bag and the balsamic vinegar
2. Cook it over medium high heat until it reduces to the point where when you put a spoon into the glaze, the liquid coats the back of the spoon instead of sliding off

The lamb was a fine addition to the rest of the meal we had!

Overall, the meat tasted great. The doneness and tenderness were spot on due to using the sous vide. Some parts of the lamb were unexpectedly gamier, but I think the rub wasn’t as evenly spread as I thought. Also, I think I left the lamb in the freezer too long since the quality of the meat itself had deteriorated a bit, making the lamb meat a bit rougher. The glaze itself added a bit of acidity to the savouriness which was welcome. So I think this was somewhat of a success!

The ICE is amazing, but it’s pretty expensive. It costs around ~120 euro to go across the country.

Back at Robocup, I got to see the robots in action once again! I also got to reconnect with a few of the people I used to know at Robocup too.

I also got a bit of time to walk around the city center. Downtown Leipzig isn’t very big, and since I went there on a Sunday, everything was closed and there was almost no one on the streets.

I spent about half a day there, and after that I went back to Berlin.

Link to photo album: here

A few days ago, I had the opportunity to go back to my old high school and present to students about studying engineering (link to presentation below), and to help guide them with their career choices.  The idea was to communicate:

• What engineering is as a profession
• What engineering is about
• That they should consider it as a career

At the same time, it wasn’t meant to “persuade” them to study engineering, but more like show them what it’s about so that they can make a more informed decision when they choose their university majors.  I also wanted to tell them this as general advice:

• Do what you’re interested in
• Nothing worth doing is ever easy
• Don’t do it just for the money

Overall, the students seemed to be receptive to what I had to say, and had good questions to ask me about my experiences.  Hopefully, I helped guide them to make a career choice for themselves!

Link to the presentation: here

Unlike Shinto shrines in other places, these ones are quite simple in their architecture.

These people were trying to “listen” to the tree. I thought stethoscopes were needed to do that. Anyway, that tree trunk was huge.

Random chicken on the road. Doesn’t seem to be afraid of people.

And of course, lunch! Ise is famous for its udon, so that’s what we had at a restaurant called Ise Udon Okunoya. My lunch also came with a rice bowl with sashimi from local fish.

And I also had one piece of sushi that costed ¥1,000 (~$10). The main ingredient: Matsuzaka beef, a kind of beef that rivals even Kobe beef in quality. The beef is very soft and tender. When I put it in my mouth, I felt it melting apart by itself. $10 well spent.

Oharaimachi is a street with many traditional buildings and restaurants. There also lots of shops that sell different types of sake, and local foods for tourists.

Played this game where I shot a gun that shot out a small cork at towers of candies. Whatever I knocked down, I got to keep. Went home with a bag of candy

Links to photo albums: here

As I sat on the plane, my mind began to wander. I had this weird fear that something might go wrong like I would get mugged or something or maybe there was some fundamental mistake in my trip planning.  I was reminded of the time my wallet was stolen in Brussels and I certainly didn’t want anything like that to happen again.  And then I thought about how much fun I had when I lived in Stuttgart.  I have very fond memories of my experience in Germany.  I then felt a slight rush of emotion and almost reliving some of my experiences in my head.  Then I figured I just had to be confident with my trip preparations and let myself have fun on this trip.  After all, not many people get an opportunity like this.

Print Volume

This is the amount volume that the printer is able to print in.  Generally, the measurement is given by the three dimensions of a rectangular prism.  The thing to watch out for here is that just because a printer has a large print volume, it does not mean the printer can reliably print in all of it.  Say the design calls for a thin flat plate.  If the plate is too wide, then the edges of the plate will peel/warp during the print and the flat shape that was intended will be slightly curved.  To visualize what warping is, imagine a flat plate lying on the print bed as it is being printed.  Warping is when the corners of the plate start peeling off the base during a print.  Warping will be explained in a little more detail later on.

Resolution

This describes the accuracy of the nozzle’s positioning.  It is usually measured in microns or inches.  Clearly a smaller value means that the printer will be more accurate in its position.

Layer Thickness

Because the printer works by extruding layers of plastic, thinner layers allow for more fine details.  However, more layers means that the part will take longer to print (all other things being equal).

Print Speed

3D printing is generally a slow process, but a faster print speed could definitely help offset that.

Nozzle Diameter

A small nozzle diameter means that the extruded plastic will be narrow and thus allow for fine details.  It also improves the smoothness of the printed object.

Ease of Removing Parts off the Platform

Because during a print, the base of the part (ideally) should be firmly adhered to the print bed, one must take care when removing the part from the print bed.  In some cases, removing a part requires a little bit of force to pry the part off the print bed.  This application of force may affect the alignment of the print bed relative to the nozzle.  In lower quality printers this can permanently affect the alignment or require frequent re-calibration   Seeing how “rigid” the print bed assembly can help assess how the machine accuracy can be affect during part removal.  For example, if the print bed is mounted on really large support structure, then the affect of misalignment is less of a problem than a machine where the print bed is mounted in a smaller support.

Enclosure

Some printers enclose the part to be printed in a box and some don’t.  The reason an enclosure exists is so that the machine is able to prevent the part being printed from losing too much heat during print.  Loss of heat during a print negatively affects the adhesion of the printed plastic.  Also a larger temperature difference means the part will warp more.  Without an enclosure, heat is able to freely transfer to the ambient.  High quality printers generally have an enclosure.

Variety of Printed Materials

A common material to print with is ABS.  Other materials such as PLA can be printed as well.  The use of the particular material can be quite dependent on the application of the printed part.  The cost of material also differs.  It is worthwhile to determine what material will be printed.  In many cases, ABS should be sufficient.

Warping

This is probably one of the biggest limitations of 3D printing.  Because of the use of heat during print, it is natural for the part to shrink as it cools down.  The problem is that the shrinkage is not uniform.  Some parts of the model shrink more than others and most of the time it is very unpredictable.  While there are some general guidelines that designers can follow to reduce warping, there are definitely some machine features that are good to have to help reduce warping even further.  Because the nature of the way the printer prints is that plastic is extruded layer by layer, the plastic layer at the very bottom is the first to cool down.  Cooling down means shrinkage.  This also means that as the bottom of the model shrinks, the printer is still printing on top of a slightly shrunken part.  Sometimes the shrinkage can be so bad that the part pulls itself off the print bed.  When the part is no longer securely adhered to the print bed, the part may slide around and ruin the entire print.  Warping is the enemy of 3D printing.

Below are some qualities of a machine that help reduce shrinkage:

• Heated print bed – a heated print bed keeps the plastic hot during the print and does not let the base cool down as much as if there were no heated print bed
• Enclosure – described above

There are more ways to reduce warping that the designer can do, but that is outside the scope of this article.

Number of Nozzles

A lot of printers just have the one print nozzle, but there are some with multiple.  This allows printing with multiple colours or in some cases printing with a water soluble support material.  Generally, support material has to be manually removed from the printed part, but if the support material is water soluble, this saves a lot of the manual labor involved in cleaning up the model.

Nozzle Maintenance

Through extended use, the nozzle can become quite dirty, that is black gunk starts building up on the surface of the nozzle.  If one is not careful, this can clog the print nozzle.  It is worthwhile to find out how often the nozzle needs to be replaced.  There are also other factors that may result in the need to replace a nozzle.  This is a recurring cost of maintaining the printer.  Some nozzles are cheaper and more common than others and it is worth it to see how often the nozzle needs to be replaced and how much it will cost each time.  Machines may come with extra nozzles.

Lubrication

Over time, moving parts may have to be lubricated.  Printers should come with a maintenance manual to help instruct the user how to do this.  It is also helpful to know the cost of the lubricant and how often it will be required.

Machine Lifetime Cost

Aside from the cost of the machine, operating a 3D printer can also incur the following costs:

• Shipping
• Insurance
• Brokerage fees
• Tools for removing support material
• Currency conversion
• Sales tax
• Print material (recurring)
• Replacement nozzles (recurring)
• Lubricants for moving parts (recurring)

As it can be seen, the extra costs can be quite significant.

Conclusion

Hopefully this has given a good general overview of some of the considerations in buying a 3D printer.  Different people will value different things in the printer and hopefully this subset of possible considerations for buying a 3D printer helps people make a decision as to what to look for in a printer.

Flying to Mexico City

When we got to Dallas Airport, we had a stopover of few hours, so we decided to have some Texan steak – or at least as Texan as we tried to get without leaving the airport.  We ended up at TGI Fridays.  It was the first steak that I’ve had in a long time, and I definitely could use another one.  The steak even came with “Jack Daniel’s Sauce”, which made it that much better.

After eating, we met up with two others on the team who had flown from San Jose and Toronto.  After a four hour flight to Dallas, and other few hours of stopover there, we had to fly for another two and a half hours to get to Mexico City.

As my friend said, “it’s like China happened”.  The Benito Juárez International Airport was probably the most disorganized airport I’ve ever seen.  It’s as if every single flight landed at the same time.  The lineup to grow through customs took at least forty-five minutes.  During this whole time, everyone was tired and wanted get their sleep.  A lot of the people on the team hadn’t slept the night before (rather than sleep 2 or 3 hours to wake up early for the flight right?).  While in this lineup, we saw a couple of other RoboCup teams landing as well (Skuba, MRL, among others).  After finally getting through customs and a security check, we got a ride to our hostel via transportation that we organized with the hostel prior to our departure.

Hostel Mundo Joven Catedral

The hostel we stayed had very nice staff that really cared about making its guests feel safe there.  It’s a common feeling among travelers to think that Mexico City is definitely not one of the safer places to travel to.  To combat that, the hostel had its own security guards, security cameras, and they even called legitimate taxi’s for its guests.  They even told us which direction to walk when leaving the hostel to avoid going to the shadier parts of town.  Furthermore, it was situated in the historic center of Mexico City, within walking distance of the Metropolitan Cathedral of the Assumption of Mary of Mexico City and the Plaza de la Constitución.  From some of the rooms at the hostel, there was a nice view of the cathedral.

Work Day

We spent the next day working on the robots to make sure none of the mechanical parts had been affected during the flight from Vancouver.  We had packed all the robots in a regular suitcase with packing foam all around it to protect it.  Looking over the mechanical parts, everything was in order.  The main things we had to fix were tightening screws, adjusting the wiring etc.  The software team had very little to do because they’ve written all the code they could, and just needed robots to test with.  The electrical team on the other hand, toiled tirelessly to troubleshoot all the boards and make sure they were all functioning properly.

RoboCup Begins!

We arrived at the competition venue, the World Trade Center at 8 AM to find a slew of other teams patiently waiting to register.  After probably an hour long wait, we all finally moved in and set up our work places.  When we looked at the field the robots would be playing on, we noticed that the organizers hadn’t yet set up the cameras yet (required for the robots to “see” where they’re going).  This meant that no teams could test.  Teams that were ready could only wait until the organizers got those set up.  Because of this delay, the games had to be delayed as well.  This gave us more time to get the robots ready.  For the next little while, we were the first team to arrive and the last team to leave everyday.  The electrical team needed all the time they could get to finish everything.

Because we had already finished most our maintenance work the day before, there wasn’t a whole lot we could do.  The electrical team had to continue working on their stuff to get as many robots ready as possible.  For the next day and a half, we let the electrical team do their work and we’d help them along the way by replacing parts that were broken (encoders and such).  Otherwise, there wasn’t much we could help with.

Food for the next Week

When we got hungry during the competition, we did a little bit of exploration to find food.  Eventually, all the teams wound up at the same shopping mall for food.  There was a supermarket downstairs to buy water and a food court upstairs with a variety of foods.  We went to this mall pretty much everyday for as long as we were at the World Trade Center.  One day we’d try Mexican food, other days we’d try plain-old hamburgers and other days we’d try even Chinese food (at least the white person’s interpretation of it).  It wasn’t really healthy for us, but we figured it was only for a week.

For dinner, most teams ended up ordering pizza from the nearby Domino’s.  We ate it so much that everybody got sick of having pizza.  Sometimes, we’d have dinner with other teams at our hostel restaurant so we could get to know them a little bit better.  After all, the competition is more about mutual learning and robotics advancement rather than about winning.

Let the Games Begin

Because our team wasn’t that ready to begin with, we had to forfeit our first game against the Immortals from Iran.  By the time we got three robots up and running, we played against the RoboJackets from Georgia Tech.  They only fielded five robots out of the total six.  For most of the game, both teams played pretty evenly, despite their two-robot advantage.  All was going well until one of the opponent’s robots chipped the ball that hit the top of one of our robots, bounced off and rolled into the goal.  In that particular situation, the referee had called an “indirect free kick”, meaning the shot, even if it went in the net, would not count.  But unfortunately, that rule was not applicable because it hit off of another robot.  It was an unlucky goal for us, and we definitely could not score a goal to tie up the game.  We ended up losing one-nil.  For the next few days, we kept complaining about that goal.

In our third game, we played against RoboFEI from Brazil.  There were so many good scoring chances in this game from both our teams that made this game so intense.  Even though we were only watching machines play, everybody cheered them on.  We had four robots on the field this game and they all worked like a charm.  The mechanical system, electrical system, and the artificial intelligence worked so well together.  It was a great feeling for everyone on our team – to see our design work.  After almost a year of hard work, this was it.  We saw our robots move, intercept balls, shoot on the goal, etc.  A lot of the robot shortcomings from the North American Open were also dealt with, such as the problem of the break beam sensors not working, and the robot not moving accurately on the field.  When we scored, we cheered so loud that every single person in the room could hear us (there were probably about 1000 people in that room).  We all got an immense feeling of satisfaction in seeing our working robots score their first goal.  A few minutes later, the other team scored a goal.  It didn’t matter to us, we were still high in the clouds in terms of our mood.  The game ended 1-1.  Despite the tie game, everyone on the team was so happy in seeing our robots work, it didn’t matter what the result was.

This was a great morale boost for the team because for our forth and last game, we played against BRocks from Turkey.  This time, we had our full fleet of robots.  We played our first six on six game.  Yet again, we saw our robots work.  Nothing broke down during the game and everything just worked.  It was quite rare for us to just put our robots on the field and have nothing go wrong.  At one point, our robot shot the ball into the opposing robot and a piece fell off of it.  We knew our design worked when stuff like this happens.  This game was less intense for us than our previous game, but we did end up winning.  That put our record at 1 win, 1 tie, and 2 losses – a total of 4 points.  Unfortunately, this wasn’t enough for us to advance to the next round of the competition and as a result we finished 13th out of 20 teams in the league.  Not so bad for having zero working robots when we got to Mexico.

After the official games, we played a couple friendly games with other teams.  The first game we played was against the Mannheim Tigers.  The game was going well, until we found problems where some of the screws on the robot weren’t tightened sufficiently.  As a result, things well off the robot when we played.  It was quite embarrassing to see.  At least it was only  something minor like putting in a screw, and not something major like a design problem.  In our second friendly game, this time against ER-Force from Erlangen, we found some electrical parts frying randomly on the board, which wasn’t good either.  Out of six working robots, we now had three – still a net gain I guess.

After we were done playing, we watched the other teams play for first place.  From watching their games, it was clear that they played on a way higher level than we did.  Everything that their robots did were way better than ours.  Shooting was faster, chipping went further, robots moved faster, kicks were more accurate, etc.  Everything about their robots was just better.  There is definitely a lot we could learn from these teams.  The final winner of this year’s competition ended up being Skuba from Thailand, who beat ZJUNLict from China.  Both teams analyzed each others strategies for days, but only one team could come out on top.  And now for the fourth year in a row, Skuba remains the undefeated winner of the competition.

Other Leagues in RoboCup

During our idle time, we walked around the other rooms to see how the other teams were working.  RoboCup has many different competitions under its name, while our Small Size League competition is only one small part of it.  Leagues range from soccer robots, rescue, simulation, to even home care robotics.  In the home care robotics league, the competition involved a robotic navigating through a mock house to perform certain chores such as picking up objects to hand to people, speaking and hearing instructions, etc.  It was an admittedly difficult task to do for these robots, but many teams were quite successful at it.

Accidents Happen

Just like in the North American Open, there was yet again another accident involving batteries.  Except this time, nobody noticed and the whole battery lit up in flames.  Somebody just yelled “fire, fire!” and started trying to pat it down with something.  Knowing that I was too far away to do anything, I just took out my camera and snapped a picture of the whole thing.  Eventually, someone just poured lots of water over it to put our the fire.  In retrospect, that might not have been a good idea since water in an electrical fire is not really a good thing.  Nobody got hurt though, which is good.  Afterward, the organizers didn’t let us charge batteries nearby our work space anymore.

Some Design Shortcomings

Knowing that our ball kicker would be able to withstand impacts of the ball, what we had forgotten to analyze was how well the kicker would hold up if it hit a object fixed to the ground.  We found out the hard way at the competition after a few games when we discovered that our robot kicker head was bent out of shape.  We also had a lot of turf buildup inside the robot that was enough to slow down the wheel during the game.  This turf had to be cleaned out after every match.

For the kicking mechanism, the robot uses a solenoid/plunger mechanism.  Activating the coil would cause the plunger inside the core to move quickly to hit the ball.  A rubber band secured to the end of it would allow the plunger to return to its initial position.  The problem with this setup was that the rubber band would easily break and had to be replaced after every game.  When we took out the rubber band, we could always see cut marks along it.  In another instance, a chipper solenoid on a robot almost popped out.  It’s not really clear why this happened at all, but it could have been a screw that was not very tight to begin with.

RoboCup Closing

To close the competition, there was a soccer game where humans played against the middle size league robots.  It was pretty funny to see the robots struggle to take the ball away from people who could handle the ball way better.  At the same time, the humans were really scared of the robots since if a human ever got hit by the kicker head from the robot, it would break bones.  The robot goalie however, proved quite competent in blocking shots – better than the human goal from what I saw.  Or maybe the human goalie wasn’t trying very hard.  I’m not sure who won the game since I didn’t watch the whole thing, but it was still really interesting to see.

Afterward, all the teams packed up their things and waited for the closing banquet.  At the closing banquet, they served a standard meal for everyone.  It was a really good chance for teams to celebrate their achievements and finally relax a little bit after the competition.  Everyone deserved a rest after all of that.

First Real Tour of Mexico – Teotihuacan

After the competitions ended, most teams stayed an extra day or two to see the sights in Mexico City.  The organizers of the Small Size League were nice enough to organize a tour for everyone the day after the competition ended.  Most of the SSL teams went with us to the Aztec pyramids in Teotihuacan.  The tour first showed us how their predecessors used different plants and minerals to make tools such as knives and sewing thread.  That part was interesting at first, but I think what a lot of us really wanted to see were the pyramids.  Afterward, the tour guide led us to the gift shop.  For some reason, most of the people were so interested there, it took about an hour for everyone to finish so that we could move on with the tour.  After the gift shop, we finally made it to the pyramids.

After walking up and down the pyramids, we had lunch and went back to Mexico City to see the Basilica of Our Lady of Guadalupe.  This was one of the most visited Catholic shrines in the world.  But because I had already visited so many churchs and cathedrals from my tour around Europe, this part of the tour was less interesting for me.

Historic City Center

The team would fly back to Vancouver on the day after visiting the pyramids.  But before leaving, we made sure to visit the Metropolitan Cathedral of the Assumption of Mary of Mexico City and the Plaza de la Constitución.  In the plaza, hung a giant flag of Mexico.  This is where the city center used to be, at least during the 19th century.

Going Home

After 10 days in Mexico, we all longed to go home.  It had been a long week – full of stress, adrenaline pumping excitement and overall a good experience.  But after all that, we were ready to go.  We flew out in the afternoon from Mexico City.  Apparently, at around the same time that we were at the airport in Mexico City, three cops had been shot to death.  While we were there though, we didn’t hear anything of it.  We safely arrived in Dallas for a brief stopover and arrived back in Vancouver at about 8:30 PM, just in time to go home, wash up and go to bed.

More photos here

On Thursday, the day before we went to Rome, I learned from a colleague at work that the organization that ran the U-Bahn would go on strike on Friday. Knowing that we had to go to the train station the next day, we had to figure out an alternative route.  It just so happened that the nearby town of Ditzingen was only about 3 km away and from there we could take the S-Bahn (these ones weren’t on strike) to the main train station.  It took about 40 minutes to walk there, but it was necessary.  Along the way, we walked past a bunch of farmland that connected the two towns.  It seemed like we didn’t have to walk very far to reach the rural area.

We arrived at the main train station about an hour earlier than we needed to be so we just sat down for beer before beginning our trip.  Our train to the airport in Baden-Baden took about 2 hours and flying to Rome from there took about an hour and a half.  We arrived at the hostel pretty late in the evening, so we didn’t do much sightseeing except go to the nearby Piazza della Repubblica.  Since Rome was so hot, we were sweaty all over and it made good sense to take a shower when we got back to the hostel.  The worst part about it was that the water was freezing.  For some reason, the hot water didn’t work.  We talked to the reception about it and they said we’d have hot water by morning.

We didn’t get hot water in the morning either.  I followed my friend’s strategy for taking cold showers that he used during this stay in Uganda.  It pretty much worked by standing in the cold shower for as long as possible and then getting out.  It was really uncomfortable.  I didn’t really feel clean, but that had to do.  When we got ready, we took the metro to Vatican City and that’s where the real sightseeing started.

When we got on the metro at Termini Station, we couldn’t help but notice these people standing against the wall of the metro tunnel in the area where people got on the train.  It seemed as if these people were scoping potential victims for pickpocketing.  My friend let me borrow a pouch that I could tie around my body and was hidden under my shirt, so I wasn’t worried about getting pickpocketed.  I noticed that these people kept staring at other people as they walked by.  It seemed super suspicious to me.  In order to avoid these people even more, we boarded the metro at the end of the train, where there’d be the least concentration of people.

Vatican City

When we walked out of the metro and walked toward St. Peter’s Square in Vatican City, we could see into it a little bit, and it kind of prepared us for getting our minds blown when we saw the whole thing.  From the plaza, we could see the Apostolic Palace and St. Peter’s Basilica.  As I expected, my mind was totally blown away by how awesome the place looked.  We proceeded to the line up to see the inside of the basilica.  At that time, I thought the line up we were at was for the Vatican Museums, but apparently that was somewhere else.  It was only after we waited in line that I realized that we were in the wrong place.  We had an online reservation for 11 and we only figured out where we needed to be at about 10:50, so in those 10 minutes, we walked about a kilometer around the outside of the Vatican in the burning heat just to make that deadline.  We got in though.

We had bought tickets for the Vatican the day before so we didn’t have to wait in line for tickets when we were there.  Even if it cost us an extra 4 euros each, it was totally worth it.  The line up looked like it was going to take hours.

Inside the Vatican Museums, it looked like people just wanted to see the Sistine Chapel and the other exhibits didn’t really interest them.  I can understand since a lot of the statues and busts that they showed there are of people that are of no particular significance to most people.  Most people probably don’t even understand the paintings everywhere.  I know I don’t.  To me, these exhibits just look really cool and that is about it.  I don’t know the history behind them at all.  Maybe the only painting there that I sort of knew was the one of Euclid.  The painting of him showing off geometry in the street is in pretty much every single math textbook.

The museum was set up such that there was a linear path for everyone to follow and near the end of the path would be the Sistine Chapel, the highlight of the visit.  In this part of the museum, guests were not allowed to take any photos and also had to be silent in the area of worship.  Most tourists obeyed these rules except for a select few who insisted on taking photos (myself included).  Every now and then the guards would call out for everyone to be silent and many guards patrolled around the crowd telling people to put their cameras away.  I too got caught by one of the guards when I tried to take a photo, but all he did was tell me to put my camera away.  Some tourists though, kept using the flash and made it so obvious that they’re taking photos.  Little do they know that they were slowly destroying the paintings.  At least I know how to take photos without the flash.

On the ceiling of the Sistine Chapel, was the famous painting of the Creation of Adam where God can be seen giving the spark of life to Adam.  I was surprised that this painting blended in so well with the others.  I had originally thought that this painting would be much more prominent.  It seemed that way because the painting was so famous.

After finishing up the Vatican Museums, we went back to St Peter’s Square to see the basilica.  By now, all the tourists were out and about and as a result it took us about an hour of waiting in line to reach the security checkpoint for the basilica.  It sucked because it only took us about 15 minutes when we were there earlier.  We had pretty much already waited, but were forced to wait again.  We found that the church required a certain attire to get in.  People wearing shorts, tank tops, and short skirts weren’t allowed in.  Luckily, I had jeans on and that was allowed (although it was awful wearing them in 30+ Celsius weather).

The wait was worth it though because St. Peter’s Basilica was the best church I had ever seen.  When we got inside, we immediately noticed how beautiful everything was decorated.  To make it all better, the position of the sun was just right so that the light shone into the church as glory rays.

It seemed like every single part of the church had some sort of decoration.  There was hardly any section of white space.  There was always a statue or some sort of engraving.  I was totally blown away by this sight.  I tried my best to capture the beauty of the glory rays.  In the ray of light, I could see small particles of dust floating around that I never managed to capture with my camera.

The sight of this church instantly made me believe that the look of all the churches I’d seen to simply be inferior.  It’s almost as if I no longer see a point in visiting any other church when I know that this one is just going to be the nicest looking one.

Walking through the Town in the Evening

After leaving the Vatican, we went to the Spanish Steps to meet the walking tour that we learned about from our hostel.  The tour wasn’t very good for me since I had so much trouble understanding the tour guide’s English.  He didn’t speak very loudly either.

From the Spanish Steps, we walked to Piazza Navona. Along the way, we saw some Roman ruins and also the most beautiful fountain ever – the Trevi Fountain.

The Roman ruins we saw were of the Pantheon and the Temple of Hadrian.  Over the years, much of the Temple of Hadrian had collapsed and the only remaining parts were just the pillars. 

Next was the Pantheon.  We couldn’t go in at the time because there was a service going on, but we went back later once it ended. 

Our next stop was the Piazza Navona, the location of a very beautiful city square.  It was surrounded by very traditional Italian architecture and a very beautiful church with an Egyptian obelisk in front of it.

Once the tour ended, we went back to the Pantheon to wait for the service to finish.  We knew when it ended and timed it so that we only had to wait a few minutes.  Many other tourists knew this too, so the crowd of tourists just waited outside and just stormed in when it was time.  When we went in, the smell of incense was still in the air and it gave the Pantheon a good smell.

After all the walking around we got really hungry and ate at a restaurant in the nearby city square of Campo de Fiori.  At that restaurant, we got to try some delicious Italian pasta and beer.  That beer tasted so good at relaxing.  Definitely needed after walking in the baking heat all day.

After eating, we revisited some of the sights along the walking tour at night before heading back to the hostel.  The next day, we would visit the Coliseum and the surrounding Forum Romanum.

More photos here