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

Beginning of the Competition

On the first day of the competition, there was a work day for all the teams to use to get their robots ready again after a long flight to Canada.  As the current mechanical team lead for the Thunderbots, I too had to get our own robots ready to play.  The mechanical systems had already been completed some weeks ago, but unfortunately, even now, the electrical board testing and firmware coding still had not been completed yet and some parts that we needed were still not in.  For the next day and a half, the team was scrambling to get everything finished in preparation for the first game on Sunday.  Because, the only critical tasks remaining were the electrical testing and coding, only the electrical team had the know-how to tackle those tasks.  The mechanical and software teams could only wait for results.  As the electrical team worked, everybody else on the team became more and more stressed.  We all kept wondering whether the team would have working robots for the first game.  We were all helpless in this situation.  The electrical team worked throughout the day and night trying to finish.  Some of the other team members stayed in anticipation while others went home to rest hoping for results in the morning.

Throughout this work day, the Chinese team continued testing their robots on the field.  They seemed like the most ready team.  The German team however, had lots of work to do as well.  Their flight to London from Germany was delayed and as a result, they missed their flight from London to Vancouver.  They arrived in Vancouver on Saturday night.  They  had even less time than we did to get their robots working.  When each team set up their work space, they each made sure to put up their mascots.  For the Chinese team, they had a panda plush of about 1.5 ft tall and the Germans had a full size German flag.

Game Days

On the game day, I woke at up 5:30 AM and arrived bright and early on campus at 8 AM.  When I arrived, the electrical team was still at it and seemingly not even close to finishing.  This led to a change in the team’s strategy to the competition.  We would try to repair the electrical boards from last year’s robots.  These old boards had a different size than the new ones and had different mounting holes, but luckily, somebody on the team had the great idea of including mounting holes for these old boards for this year’s robots.  Otherwise, we would have had a really hard time hacking that together.  Given only the few hours we had to hack this set up together, the mech team and I worked as fast as we could to finish.  We each probably ran up and down the stairs at the UBC Engineering Design Center about 20 times that day looking for tools and delivering robots.

The first game was supposed to be at 9:30 AM, but my team certainly was not ready.  It seemed like the other teams weren’t completely ready either, so the game was postponed until the afternoon.  The Thunderbots was supposed to play the first game, but due to our lack of readiness, China and Germany played each other instead.  When it became our turn we play, we managed to get three robots out of six on the field.  None of these robots had a working break beam sensor (the sensor on the robot that is designed to detect ball possession).  Without break beams, the robots did not know they could kick the ball, since it would never know if it had ball possession.  The robots did not have a controller that worked well either (the controller determines how much voltage to apply to each of the motors such that the robot can move smoothly from A to B).  A controller that didn’t work well meant the robots drove about on the field seemingly confused.  “Derp” is probably the best word to describe it.  Despite the shortcomings of these three robots, they played their best against ZJUNLIct from China and the Thunderbots were defeated 10-0.

On the following few days, the mech team tried to help the electrical team the best they could with tasks such as building extra connectors.  We also tried to get the old break beam sensors working again.  It was something that had to be on the robot if it were to ever kick the ball properly.  After toiling for a few hours, we managed to get two out of three of them working.  We probably could have gotten more if we knew more about the electrical design.  There was little to go on in terms of the wiring schematic and spare parts.  It was also hard to troubleshoot since ambient lighting largely affected the sensor.  If it worked upstairs in our work space, it wouldn’t work downstairs on the playing field.  It took us a while to figure that out.

In our second game, we played against ER-Force from Deutschland.  For this game, we still only had three robots, but this time they were a little bit better equipped.  Even then, the robots still had trouble kicking because the lights being used on the field emitted too much infrared light, which obstructed the break beam sensors.  It was very frustrating to see the robots not knowing when to kick even though they were handling the ball perfectly. But somehow, we still managed to score a goal.  In the end we lost the game 6 to 1.

In the final game between China’s ZJUNLict and Germany’s ER-Force, the Chinese team was victorious.  Both teams had a full fleet of robots to play six on six.  A modest crowd of spectators also watched the whole game being played and in general people were quite impressed at this engineering feat.

Team Social

To allow the teams to better know one another, there was a social event planned by the organizers of the North American Open.  There, I met a lot of the members of the German and Chinese teams.  It was nice that that I could talk to each team in their native languages.  Although my German wasn’t that good to keep up a conversation for a long time, it was enough to get the Germans wondering how I knew it at all.  The last thing they’d expect is for a Chinese guy to start speaking German to them.  My Mandarin was at a level that I could talk to people in it, but there were still some occasions where I didn’t understand what they said.  It was probably because of me not having a lot of practice with Mandarin (I speak Cantonese normally) and them having an accent from their region that I didn’t recognize.

Press Conference

The organizers made sure to invite as much of the press as they could.  More publicity meant that the team could potentially get more money in sponsorship.  More money means better robots.  The administrative members of the team were in the spotlight and talked to most of the people from the press, while the technical members of the team continued to do their work.  The team leads from mech, software and electrical also had a brief interview with the 24 Hours Vancouver newspaper.  The team was also featured in the Ubbyssey here and on MacLean’s magazine here.

The Chinese team also put on a show for the press by putting all 12 of their robots on the field so they could they play against themselves six on six.  The performance went quite smoothly as there were not random break downs and the press were very impressed.

Engineering Failures

As with these student projects, an accident was bound to happen.  This one was with a battery.  There was have been a defective battery that the Chinese team unknowingly brought and when they charged it, the battery started puffing up – not a good sign for a battery.  One of our team members was quick to notice and instantly dunked it in soap water and disposed of it.

For our team, we had problems where the solenoid kicker would get stuck after being used repetitively.  Heat from the power dissipation in the solenoid windings would heat up the whole assembly and cause the solenoid housing to permanently deform.  The solenoid was produced out of stacked layers of poly-carbonate sheets.  This stacking of layers allowed each layer to deform individually.  To fix this problem, we printed out new housings made of ABS plastic.  By having one solid solenoid housing, it was more difficult for it to deform.

The German team had some problems with the turf getting dug out of the carpet and getting everywhere inside the problem and also with their robot shells not staying on properly.  The turf inside the robot meant that gears could get stuck intermittently and could also get in the way of other mechanical components.  Their solution solution for now was to clean it all out every game.  During games, the shells of the robot would pop out randomly whenever there was an intense impact with a ball or another robot.

Getting Ready for Mexico

On the Friday before all three teams left for Mexico City, everybody had to pack up all of their things.  The German and Chinese teams could pack everything easily since they had packed everything once before when they had to fly to Vancouver.  For us, our tools were scattered all over the place.  It took us about 4 hours to find all tools to pack into the the luggage containers.  The approach to packing was that we would pack any tool that was ours and was already lying out on the table.  This is because if we took it out of the tool closet, it meant that the team used it for something.  Naturally all of the hex keys, screw drivers and the like were packed.  All spare parts were packed.  Every tool that we had sitting around was packed.  Even electrical equipment like a power supply and an oscilloscope was packed.  We had everything we needed for RoboCup 2012 in Mexico City.  Even though not everything was done in time for this competition, everybody was confident that things would be better in the competition in Mexico.

More photos here

The Fix

The fix involves disabling the shell extensions, so disabling them is not recommended if the user makes use of these features.

1. Download ShellExView from http://www.nirsoft.net/utils/shexview.html
2. Disable the following items:
   • SLDASMIcons Class
   • SLDDEWIcons Class
   • SLDPRTIcons Class
   • SldShellExtension Class
   • Solidworks Document Thumbnail Handler
   • SolidWorks file Info Tips Class
   • SolidWorks file Preview Class

Once these items are disabled, SVN should work properly.

These two keys toggle the full-width (double-byte), and the half-width (single-byte”) character sets when typing with the Chinese IME.  Full-width characters look like “ｔｈｉｓ “ while half-width is what people are normally used to.  The default key combinations are easy to press by accident in situations such as capitalizing a title.  Therefore, it is beneficial to remove this hotkey.

Solution

Because changing the key settings manually through Windows does not work, one must go through the registry.  The following fix applies to the current user that is logged in.  Apply the following registry keys and then restart the computer.

Windows Registry Editor Version 5.00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys]

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000010]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000011]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000012]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000070]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000071]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000072]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000201]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000202]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

[HKEY_CURRENT_USER\Control Panel\Input Method\Hot Keys\00000203]
“Virtual Key”=hex:ff,00,00,00
“Key Modifiers”=hex:00,c0,00,00
“Target IME”=hex:00,00,00,00

In the registry, one can also navigate to “HKEY_CURRENT_USERControl PanelInput MethodHot Keys” and see a list of folders with names that have eight numbers in them with leading zeroes.  Each folder here represents a particular hotkey related to an IME.  Clicking on one of these folders will show data for these keys.

Setting “Key Modifiers” to “00 c0 00 00” removes the use of the Ctrl and Alt key for the hotkey.
Setting “Virtual Key” to “ff 00 00 00” sets the key to nothing.
The key “Target IME” can be left as is.

In the case of the “Shift+Space” hotkey, “Shift” is the key modifier and “Space” is the virtual key.

It is unclear which folder corresponds to the key that toggles the character shape, therefore this fix is a blanket approach.

If the Above Still Fails

Try combining the fix with an installation of Microsoft Office IME 2010, which can be downloaded here: http://www.microsoft.com/downloads/zh-tw/details.aspx?FamilyID=60984ecd-9575-411a-bd38-2294f17c4131&displaylang=zh-tw.  Despite the name, it does not require Microsoft Office to be installed. After installing, apply the registry keys and restart.

EDIT:  I also realize that my prose has also been somewhat affected.  The average length of sentences seems to have decreased.

EDIT2: My eyes also feel like they’re on fire.