The tour started at 9am, and since it was winter, the sun was only starting to rise at around 10am. Our tour guide was a fellow from France who fell in love with an Icelandic girl and moved to Iceland to be with her. Now he works as a tour guide and has aspirations to run his own tour company.

As a part of the tour, we got all the gear. Hiking boots with crampons, an icepick and a harness in case we fell and needed a rope to get back out. I didn’t have real waterproof pants, and the next best thing I had were water resistant bike pants with jeans underneath.

When we walked over large patches of ice, we’d have the crampons on, and when the terrain went back to rocks, we’d take them off. Along the way, I chatted with the tour guide and the other tourists. One guy was visiting from Dallas, Texas and does work in the film industry doing post processing work. I had no idea that kind of profession paid that much considering he was travelling around Iceland and talked about his Porsche!

After about 30 minutes of walking, we got to the first cave. The cave walls were made of ice, but were either black or blue depending on how much volcanic ash was inside the ice.

Here’s another cave.

And another.

For the last stop of the tour, we reached the coast and got an amazing view of the glacier touching the water.

Afterward, we walked back all the way to where we parked and drove back to the meeting point. We thanked the tour guide and wished him all the best in starting his tour company. Next, I drove back to Reykjavik in the snow.

That snow eventually turned into heavy heavy wind and rain. As chance would have it, that’s when I needed to fill up my car. I stopped by the gas station to fill up only to realize that my inferior American credit card wouldn’t work on those machines because my card didn’t have a pin set up. The gas station didn’t have an attendant either. Luckily I found another gas station further down the road, and I was able to fill up and continue the rest of my journey.

Photos: here

The museum focussed on German tank developments since the beginning: World War I. Definitely an awesome museum. I’d recommend it for anyone interested in the subject.

During the interwar period and World War II, the Germans took the tank concept and built it into a very effective war machine. This museum is paradise for tank nerds like me.

This museum is also paradise for mechanical engineers too. Here is an interactive exhibit on the tank’s transmission. Yanking on the lever let you shift gears and one can see how the gears move around through the clear covering. Definitely real cool for people who are into that sort of stuff.

There are lots of tanks here. This is only one of the many rooms.

There’s also an exhibit showing how kids learn how to play war at a young age and it questions the morality whether or not this is okay. Ironically, when we were there, a group of children were going through the whole museum screaming about how the stuff in the museum was the coolest stuff ever.

Right behind that, was an exhibit of guns and how humans engineered death.

The exhibit on how armour piercing rounds work was especially cool.

And also the cool cross-sections.

What’s a tank musum if you can’t actually go inside one?

And of course, one can’t look at tanks without thinking of margaritas and Katy Perry…

After visiting the museum, we stopped in Hamburg to grab a bite to eat. We ate at this restaurant with a mysterious set menu where we knew neither the price nor what we would be served. We ended up eating different kinds of seafood over a few courses (swordfish, among them!), and it was ~40 euros!

Link to photo album: 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 idea that an absolute right and wrong existing is false. The only “right” and “wrong” are what one values and believes. Everyone’s opinions toward something differs and everyone has reasons for why they are “right”. In the show, one of the conflicts that the characters had was who really owned the brand name in the moon cake business. For easy naming in this discussion, I will name the two parties Family A and family B. Family A had been using the name Jia Hao Yue Yuan (家好月圓) for decades, while Family B alleges that Family A allowed Family B to use this brand some time ago in the past. But Family A denies this and accuses Family B of swindling the brand name from them. This conflict eventually went to court. Each lawyer made their case with valid reasons. The conflict lay in who was better at convincing the judge using logic and reasoning. A good example that doesn’t relate to the show that many people know is the ending of Inception. Everyone had an idea for whether Cobb stayed in the dream or not in the end. There were reasons for both. Here are some more examples on a more serious note. The Iraq War, gay marriage, abortion, and stem cell research. These are all real controversies, and after looking at the arguments on both sides, they all have valid points. Both parties believe they are right, and that the other party is wrong.

A “right” and “wrong” way to live life exists too. Using the same names for the two families as before, Family A and B are both after happiness. But Family A believes this happiness can only be achieved through a loving family and not by how much money they have. Chinese people have a phrase that says, “人在天堂; 錢在銀行”, which means “The person is in Heaven, but their money is in the bank.” Family B believes that money makes them happy. They believe that by having lots of money, they can buy their way to happiness through material goods. During the show, they see Family A’s true happiness and togetherness as a family and feel jealousy towards them and made it their goal to ruin the happiness they enjoy. This part of the show shows the age old theme that “money can’t buy happiness”, but at the same time they add on to this. They show how to achieve happiness. The way to do it is by loving your family and spending time with them. In Chinese, we call this “家庭溫暖”, which literally means “family warmth”. Throughout the entire show, Family A can be seen to always be happy at the dinner table, when the whole family is together for dinner. Money never mattered to them, so long as the family was together.

Although the family lifestyles in the show are written like that, I still envied their happy lifestyle and togetherness as a family. It gives people something to work towards. It’s true that some people aim to make lots of money, but the amount of money is irrelevant. The important thing is to live happily. Despite everything I said, this is after all, only my perception of what is “right”. I’m sure some people will disagree and also have their own reasons to back up their point of view.