The image above is the Lotus Temple – the Bahá’í House of Worship. Within the lotus flower, structure has almost no rooms – it’s mainly a giant atrium filled with pews. It’s unique construction has won it many architectural awards and is one of the most visited buildings in the world.

The India Gate is like the Indian version of the Arc de Triomphe. It’s a memorial to the 70000 soldiers of the british Indian Army who died various wars (The Great War among them). Like the Arc de Triomphe, an eternal flame for the Unknown Soldier burns.

As someone who really enjoys eating meat, this place is like heaven. Imagine eating barbecued skewers seasoned with Indian spices. It works like a buffet, but with two parts, the “appetizer” which is the skewers, and the “main course”, which is the standard Indian food, i.e. curries, naan bread, etc. But the appetizer is so good that I would just only eat that. But of course while in India, one must try everything!

The food in India is so different from what I normally eat, it’s pretty much impossible for me to tell what anything is. At best, I can tell what’s chicken, lamb, chickpeas, paneer, etc., but I have no idea what spices are in what dish. But it doesn’t matter, because everything tastes good. Despite what a lot of people think, not all Indians eat with their hands.

People don’t really follow driving rules here. This is us driving in the oncoming lane. Everybody honks, nobody follows lane lines, and when there’s heavy traffic everybody bunches up bumper to bumper with only a few inches between each car. Cars peek left and right to find space to try to get ahead, but the problem is when everybody does it, it slows everyone down. Big trucks have signs saying “horn please” to encourage people to honk as they pass because of their blind spots.

Occasionally, traffic can slow to a halt just because of some cows blocking the street. Or traffic can be slow because some local townspeople decided to pour their own concrete on the road to build a speed bump – because the city didn’t do it. Roads are bumpy pretty much everywhere. Freeways are slowly being built, but a lot of driving is still done on these patchy roads. Oh, and people pee on the side of the road on a regular basis.

Buildings on the other hand range from giant mansions to literally five sheets of metal stacked together to form walls. The wealth gap is huge. Poorer neighbourhoods have ditches full of trash, while richer neighbourhoods have guards standing watch in the night. But despite having a big house, the power company is notoriously unreliable. Intermittent power outages happen on an almost daily basis, so those who can afford it have backup power in their homes. Some homes also have a water pump as a water supply for their home. It’s such a reversal from what people in the western hemisphere are used to.

Check out my pictures of Delhi and Meerut!

This post is about deploying an instance of Seafile using Docker on a non-standard port (i.e. not 80 and 443). The reason to deploy the app on a non-standard port is usually because there is already another webserver running on that port (in my case Apache 2). In such scenarios, it is necessary to set up a reverse proxy so the Seafile port can be exposed by Apache on ports 80/443. Under typical circumstances, deploying Seafile on a standard port would mean that the app would host itself without the need for Apache 2 at all. This post also assumes Ubuntu 16.04 as the operating system, but in theory should apply to other Linux OS’s.

The process can be split into multiple parts:

1. Setup Docker
2. Deploy Seafile
3. Configure Apache 2
4. Setup systemd
5. Setup e-mail (optional)
6. Backing up the image
7. Troubleshooting

Setup Docker

This guide won’t go into depth on how to setup Docker, but rather the setup guide and more information about what Docker is can be found here: https://docs.docker.com/get-started/

Deploy Seafile

The key page in the Seafile documentation for deploying Seafile within Docker can be found here: https://github.com/haiwen/seafile-docker. The command I used is as follows:

docker run -d --name seafile \
  -e SEAFILE_SERVER_HOSTNAME=seafile.example.com \
  -e SEAFILE_ADMIN_EMAIL=me@example.com \
  -e SEAFILE_ADMIN_PASSWORD=a_very_secret_password \
  -v /opt/seafile-data:/shared \
  -p 8000:80 \
  seafileltd/seafile:latest

I recommend setting up Seafile with an actual secret password because it’s not easy to change once it’s set up.

Note that the port argument shows 8000:80. It means that Docker will use the host port 8000 and the container will use port 80 – meaning that using Docker will interpret requests from my host OS on port 8000 as requests on port 80 in the container. 8000 was used on my setup because port 80 was already used.

Once the command is executed, the necessary files will be downloaded and the container will start and will be accessible on port 8000.

There is also an option to setup Seafile with an SSL cert from Let’s Encrypt, but I didn’t do this because I already had a cert that I wanted to reuse.

Once the server is up, navigate to https://seafile.example.com/sys/settings/ and change SERVICE_URL and FILE_SERVER_URL to match your domain name.

Configure Apache 2

Adding a reverse proxy on Apache 2 will allow Apache 2 to route requests to port 8000, which will go to port 80 in the container. The main reference for this section is this: https://manual.seafile.com/deploy/deploy_with_apache/. This is done by adding a new site to Apache 2. The following configuration assumes that a LetsEncrypt SSL certificate is used.

cd /etc/apache2/sites-available
sudo nano seafile.conf

<IfModule mod_ssl.c>
<VirtualHost *:443>
    ServerName seafile.example.com
    ServerAdmin me@example.com

    RewriteEngine On

    # ModSecurity does not process requests.  There is a hard limit of 1 GB
    # with ModSecurity.
    SecRuleEngine Off

    # Whitelist internal IPs for mod_evasive
    DOSWhitelist 192.168.1.*

    <Location /media>
        Require all granted
    </Location>

    # Stuff for seafile server
    ProxyPass /seafhttp http://127.0.0.1:8082
    ProxyPassReverse /seafhttp http://127.0.0.1:8082
    RewriteRule ^/seafhttp - [QSA,L]

    # Stuff for seahub
    SetEnvIf Authorization "(.*)" HTTP_AUTHORIZATION=$1
    ProxyPreserveHost On
    ProxyPass / http://127.0.0.1:8000/
    ProxyPassReverse / http://127.0.0.1:8000/

    ErrorLog ${APACHE_LOG_DIR}/seafile_error.log
    CustomLog ${APACHE_LOG_DIR}/seafile_access.log combined

    Include /etc/letsencrypt/options-ssl-apache.conf

    SSLCertificateFile /path/to/cert/file.pem
    SSLCertificateKeyFile /path/to/cert/key/file.pem
</VirtualHost>
</IfModule>

I’ve added my local domain to the whitelist so that mod_evasive doesn’t think my local host is a threat.

There are two sets of ProxyPass and ProxyPassReverse lines. The reason for this is that Seafile is split up into Seahub and Seafile, where one uses port 8082 (by default), while the other uses 8000. These two lines are essentially what allows Apache to read requests from port 443 and pass them on to the container.

Once the file is saved, execute the following

sudo a2ensite seafile.conf
sudo service apache2 reload

Navigating to the site at the Apache 2 defined port should now load Seafile without having to go to port 8000.

Setup systemd

systemd allows the Docker container to be started up on boot, and be controlled like this:

sudo service seafile start/stop/restart

The configuration is as follows:

sudo nano /etc/systemd/system/seafile.service

[Unit]
Description=Seafile Server
After=network.target mysql.service

[Service]
Type=oneshot
ExecStart=/usr/bin/docker container start seafile
ExecStop=/usr/bin/docker container stop seafile
ExecReload=/usr/bin/docker container restart seafile
RemainAfterExit=yes
User=root
Group=root

[Install]
WantedBy=multi-user.target

Once the configuration is saved, shut off the existing running instance of Seafile and then let systemd start it up for you.

sudo systemctl daemon-reload
sudo service seafile start

At this point, Seafile should start automatically on boot, with Apache 2 doing a reverse proxy to the true Seafile port.

Setup e-mail (optional)

Optionally, Seafile can be configured to send e-mails. The reference is here: https://manual.seafile.com/config/sending_email/. The config file should be under:

/opt/seafile-data/seafile/conf/seahub_settings.py

I happen to be using Gmail SMTP, so at the end of the file I’ve added

EMAIL_USE_TLS = True
EMAIL_HOST = 'smtp.gmail.com'
EMAIL_HOST_USER = 'me@example.com'
EMAIL_HOST_PASSWORD = 'password'
EMAIL_PORT = 587
DEFAULT_FROM_EMAIL = EMAIL_HOST_USER
SERVER_EMAIL = EMAIL_HOST_USER

Backing up the image

After setting everything up, you’ll probably want to backup the Docker image. First, print out the list of running containers

sudo docker ps

Then take a snapshot of the current running state:

docker commit -p <container ID> <whatever you want to call this snapshot>

Running this command lists all the images and should show this newly saved image:

sudo docker images

I don’t have a private docker repository, so I saved the image to the disk and backed up the file by doing the below. Just make sure to actually move the image to an actual backup location.

sudo docker save -o <whatever path you want>/<filename>.tar <the name used earlier>

The image should be backed up now. To restore the image, it’s a matter of running this:

sudo docker load -i <path to the backup file>

Listing the images as above should show that the image was successfully loaded. Running this starts it back up again.

sudo docker run <container name>

Troubleshooting

Seafile logs can be helpful if it doesn’t start up correctly. These can be found at:

/opt/seafile-data/logs/seafile

There may be a need to ssh into the Docker container. The command for that is:

sudo docker exec -it seafile /bin/bash

• Self hosted installations allow greater control over what plugins the blog uses, what domain name to use, monetization, among other things
• The cost is the added time required to tweak to do the setup and customisation

After I chose to switch to the self-hosted installation, I faced the problem of having to migrate all of my content, site stats, and followers.  I also had to set up proper URL redirection to the new website.  Most of the guides I read did answer how to migrate content, and set up URL redirects, but it was not so clear as to how to migrate my site stats and followers.

Content Migration

For migrating content, the WordPress.com blog allows exporting blog content into a file to be imported into the new WordPress installation.  Steps 1 to 3 in this guide illustrate the process: http://www.wpbeginner.com/wp-tutorials/how-to-properly-move-your-blog-from-wordpress-com-to-wordpress-org/

Migrating Site Stats and Followers

Migrating site stats and followers requires installing the Jetpack addon and linking it to the WordPress.com account (so that the self-hosted WP and the existing WP blog are connected).  Afterward, a support thread has to be made on WordPress.com to ask WP staff to do the rest of the migration (there seems to be no other way).  I found the information on how to do this at this site: http://wordpress.stackexchange.com/questions/161633/migrating-stats-from-wordpress-com-blog-to-self-hosted-wordpress-org-blog.  The post I made for my own site migration is here.

Setting Up URL Redirection

This part costs money unfortunately.  I paid ~$17 CAD for this so that my own URL would be redirected for the new one.  If redirection isn’t required, then there is no need to buy anything.  The setup is pretty straight forward.  After buying the redirect, it is just a matter of setting the destination WordPress site to go to.  Reference link here: https://en.support.wordpress.com/site-redirect/

It was quite quiet in the car on the way there as the two girls in the back slept while the guys in the front didn’t talk much (I was busy finishing up my homework for a course because I forgot to plan my time accordingly). We departed Vancouver at about 8 PM and arrived at my friend’s flat at about 10:30 PM. We spent the rest of the night having some beers and playing Pandemic on its hardest difficulty (it started out pretty mild, but the plague escalated quickly and went out of control).

Space Needle

The Space Needle is probably about the most iconic building in the entire city.

Around the vicinity, there are a lot other tourist attractions such as the Pacific Science Center, the EMP Museum (formerly known as the Science Fiction Museum), and plenty of green space.

We also visited the Amazon campus, which is where our friend was working at. What surprised me is that there wasn’t any huge signage that Amazon was there. The only Amazon sign I could was by staring really hard through the glass into the building lobby.

Just Chilling

We stopped to rest a bit at the lobby of a nearby apartment complex. While we rested, I learned how to play Shuffleboard (albeit badly) and played a game or two.

Seattle Underground

Our next destination was a tour of the underground portions of Seattle. To get to the tour location, we walked through a neighbourhood full of hobos that I would have otherwise avoided at night (it’s relatively mild compared to what East Hastings in Vancouver is like). On one occasion, a hobo asked me if I was ready for the Seahawks game where I promptly replied, “very readys”.

The tour guide told us that where we were in Seattle used to be a lot lower in terms of elevation. After a fire that destroyed the city, the city regraded the land and so all the buildings that used to be above ground were now underground. The tour took us around the underground sections to show the history of the area.

The picture below shows what people use the space for now – storage.

Because of the regrade, sidewalks had to be rebuilt one story higher than before, so city engineers added skylights onto the new sidewalks in order to illuminate the underground areas. On the surface of the sidwalks, one would be able to see the skylights from the other side at ground level.

In the past, the underground area was used for a lot of questionable activities, such as organized crime, speakeasies, prostitution, etc. Because of its history, this area of town is still considered by many locals as the sketchy part of town.

Pike Market

Pike Market feels like the market in Granville Island in Vancouver, but is a lot bigger. I can’t explain it, but for some reason I greatly enjoyed staring at all the seafood.

Sooo much fooood

By the water near the market, one can get a good view of the water. The Ferris Wheel adds a nice touch as well.

We happen to visit Seattle on the weekend where there was a football game between the Seahawks and the 49ers to see which team would go to the Superbowl and because of that all over the city, people put up flags with the number 12 in support of the team. This building must’ve been full of Seahawks fans.

Shiro’s

This restaurant is so popular that when we tried to walk in at 7, to get a spot, the waitress told us to come back at 9. We had heard really good things about this place, so we actually starved ourselves until 9.

My friends encouraged me to try and order in Japanese, so I did. I started by saying to the waitress that I’d try to speak Japanese (私は日本語を話してみます), and then I listed off the food one by one and then success! While it was nothing complicated to do, it was cool doing that anyways.

I’d say the food was definitely worth the wait. I’d definitely recommend this place to people who really like seafood and sushi.

Morning Walk

The next day, we woke up early to go to Pike Market to buy some groceries to make breakfast. We walked along the pier and got quite a nice view of it.

Serious Pie

For lunch, we went to a pizza place that also came highly recommended. When I looked at the menu, every item had at least one word that I didn’t know. I had no idea what I was ordering, but the pizza was really delicious!  I also recommend this place.

Back to Vancouver

After lunch, we stayed for a bit longer at our friend’s flat before heading back to Vancouver. Seattle was a much welcome change in scenery and it has further enforced my desire to travel around to different places.

Album link here

As we lifted off, I got a good aerial shot of Boundary Bay Airport

We happened to fly over SFU just because air traffic control instructed Matt to fly this way. Doesn’t quite look like the prison that everyone seems to think.

Then we flew over the Burrard Inlet toward North Vancouver.

We flew over the water for the next little while and got a view of the Coast Mountains.

And it turns out, Powell River is not a large city at all. According to Wikipedia, the city has a population of 13,165 (2011).

Since we arrived there on Sunday, there was almost nobody on the streets and nothing was open. We couldn’t go to the tourist info center because of it. It made the small town even smaller. I thought cities completely shutting down on Sundays was a European thing, but apparently not.

It looked like people were still working at the nearby lumber mill though.

We walked around the time randomly for a bit in the freezing cold, and then flew back as the sun set. I managed to capture a picture of rays of light coming through the clouds. If I knew how to work the DSLR better, I might have been able to capture an even better picture.

On the coast of Vancouver Island, I managed to snap a picture of some low lying clouds in the distance over some small islands.

Another shot of the sunset on our way back.

On the way back, Matt even let me take control of the stick for a bit. This time I was a lot more comfortable using the joystick unlike last time. I managed to maintain the desired altitude without the plane screaming at me and I even stayed on the correct heading! This is why Matt’s the pilot and not me.

More photos here

At Frankfurt Airport, when Edward and I lined up to check in, we were the only two Chinese people in line.  We seemed very out of place.  Some of the people gave us these stares that seemed to ask “why are you flying to Kiev?” We wanted to visit Chernobyl and shoot AK-47’s.

Our experience on the plane was dreadful.  Four crying babies/toddlers plus jet lag plus one hour delay was not a good combination. No sleep for me I guess.  Worst flight ever.

Awkward Car Ride

The hostel arranged transportation for us and so when we arrived, I looked for someone holding a sign with my name on it (first time ever!).  The driver was not happy at how we were late (not that we could do anything about it).

Probably since he was late, he drove like a maniac.  He drove way faster than the posted limits and passed every car on the highway.  The expected 45 min ride was reduced to almost 20 minutes.  The driver didn’t speak English.  No one said a word during the entire ride.  Awkward.

I had read before that people sometimes get driven to random places by taxi drivers before they get mugged.  By getting the hostel transportation, we minimized that risk.  Despite that, I was at peak alertness the whole time, making sure he was going the right general direction (I vaguely remembered the directions from the airport to the hostel).

Dream House Hostel

This is by far one of the hostels I’ve ever stayed at.  The staff were extremely helpful.  We asked them like a thousand questions and they happily answered them every time.  They treated security very seriously.  Kiev might not be safe, but I felt safe leaving my passport and cash in the locker in the room.

Security Measures

During our trip planning, we had read about the potential dangers in going to Kiev from the Canadian travel report about Ukraine.

The report tells travelers to “exercise a high degree of caution”.  It warns of dangers such as pickpockets, passport scams, armed robbery, racially motivated violence, muggings, etc.

Seeing how the hostel’s security was pretty good, we left our valuables in the room.  We each carried a decoy wallet with nothing in it except a scan of our passports and the cash we needed for the day.  No credit cards, no real ID, no cards at all.

If anybody steals a wallet, no big.  Better to lose $30 than all our money.  Nobody can scam us for our passports if we aren’t carrying it.  I didn’t even put on a hidden money belt.  The less I brought the better.  We felt pretty prepared, and luckily nothing happened.

Language

People in Kiev generally speak Ukranian or Russian.  I know neither.  I also don’t know the Cryllic writing system.  Even if I wanted to ask in English how to get somewhere, I can’t even pronounce the name of the place.  When I went to Greece, I could at least pick out the greek alphabet (side effect of studying math and physics), but in Kiev, I can’t even read anything.  Too bad.

Food

The first night we arrived in Kiev, we had no idea what kind of food was around here.  We couldn’t even read the menus anyway.  Picking a restaurant was a matter of randomly walking into a restaurant.  To our surprise, our random pick turned out to be Japanese food.  Interesting.  No pictures needed.  Vancouver has an abundance of Japanese restaurants.  Beer is worth taking a picture of though.  I can’t even read the label.

One of the hostel staff had recommended to us the Golden Dukat Coffee House.  I wish I took more pictures here, but I found someone else’s travel blog with good pictures of it!  Good coffee, good dessert.  And they have an English menu!

We were told that Borscht is one of the traditional soups in Ukraine.  When I tried it, its taste was so familiar and I had to think about where I had tried it before.  It tasted a lot like the vegetable soup that people can get at Hong Kong style cafes (羅宋湯).  I Googled it later, and apparently the Hong Kong recipe (while a little bit different) is a derivative of it.  What a coincidence.

Independence Square

By far the largest city square I have been to.  For me this was the place to see in Kiev.  The pictures here don’t do justice to how epic it was.

At the square, there would always be these people carrying pigeons around.  They kept coming up to me with me and I had no idea what they wanted.  Later I found out that apparently they’re trying to get tourists to take a picture with them holding a bird.  Not sure why that’s cool but okay.

There were also people dressed up like Mickey Mouse or Shrek trying to get little kids to take pictures with them for money.  They did this even when the temperature was above 30 degrees Celsius.

St. Andrew’s Church

Nearby our hostel, there was a nice church.  It’s architecture was quite different from anything I’d seen before.

Friendship Arch

This arch was built to commemorate the unification of Ukraine and Russia when Ukraine was still part of the Soviet Union.

Street Market

On the way from our hostel to Independence Square, we walked along a long stretch of road with many street vendors selling souvenirs, trinkets and other random stuff.  People there even sold gas masks, replica German WWII medals, and fake guns.

Trip Ideas for Next Time

After we came back to Vancouver, we found out that the hostel started offering tours to abandoned missile silos, helicopter rides, and Yak plane acrobatics!  If only the hostel were offering those tours.  We would have totally gone to those.  There’s always next time.

Links to photo albums:

• Kiev
• Kiev (Edward’s Photos)

We departed from Boundary Bay Airport, where they had a bunch of small two-seater aircraft.  We sat in the cockpit for a bit doing the standard pre-flight check before we were able to get going.  Once we were in the air, we headed towards Pitt Lake.

From the photo above, those familiar with Vancouver may recognize a few places, such as the Fraser River, the Alex Fraser Bridge, New Westminster, etc.

While we were in the air, Matt gave me a chance to fly the plane for a bit.  By flying, I mean control only the joystick (and looking at none of the dials on the dashboard) and by controlling, I mean struggling to keep the plane flying straight.  It was definitely quite intimidating.

The above is a photo of Port Coquitlam and Pitt Meadows with the Pitt River in between.

It didn’t take long to get to Pitt Lake and from there we flew back to Boundary Bay Airport through  Surrey/Langley.  Here, I gave flying the plane another shot.  This time I was a bit better.  It wasn’t as scary and I worked up the courage to get the plane to turn left and right.

Further on the flight, it just so happened that there were rain clouds nearby.  It was pretty cool to see rain from far away. I had no idea it looked like that. And while there’s rain combined with sunshine, there’s a rainbow.  We briefly flew in some rain before we made it back to the airport.

We flew around for about 35 minutes, but it definitely was a really really cool experience! All thanks to Matt for making it possible.

Since it was late September, we weren’t expecting any snow.  It wasn’t even cold for that matter.  We all met up on campus in the morning and off we went.  From there, it was about a 2.5 hour drive.  I would have stopped in Squamish to go to Tim Horton’s if I had known to take that exit.  We arrived at the UBC Whistler Lodge at around 11.  The lodge had a pool table and an arcade machine!  They didn’t have Tetris on the arcade machine though.  If they did, that would have been super awesome.

The lobby also featured nice First Nations artwork over top of the fireplace.

We spent about an hour and a bit with presentations from each of the sub teams (mechanical, electrical, and software) so everyone could get a little bit of an orientation about what everyone else was working on on the team.  This was helpful in that each sub team would not be working alone on their components anymore.  This promoted the very important idea of multi-disciplinary teamwork.

After the exploring, we decided to walk around to check out the scenery.

We spent the rest of the day socializing with one another and it helped us all get to know each other a little better.  It’s definitely better to know one’s teammates better in order to help team chemistry.  It definitely helped the team get a lot closer.

People took part in a variety of activities: Big 2, drunken poker, Apples to Apples, just chatting, among other things.  Pretty sure everyone had a good time.

We stayed for a day and a night at the lodge.  Before we left, we took a nice stroll in the Whistler Village. It was nice since there was not a lot of people during the off-season.

On the drive back, we stopped at some viewpoints to appreciate the scenery.

Some of the mountains still even had snow on them!

Once we left Whistler, the drive back became a lot more boring. I guess I was just in a hurry to head home then. I figured that was a long enough break (even though I only had less than a month of school), so I probably should take care of my actual priorities again…

More photos here

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

This year’s competition problem involved the following scenario: normally solar panels are able to rotate toward the sun, but sometimes they get stuck, therefore it requires people to go out there and rotate them manually.  Also, undersea transmission lines sometimes get severed and also require manual repairs.  Our task was to build an autonomous vehicle using a VeX Robotics Kit in about 5 hours to use in a small scale arena emulating similar conditions.  A wooden pole represented the solar panel, that we had to rotate and a plastic pipe represented the transmission line.  To “repair” the transmission line, we had to build a repair module using newspaper and popsicle sticks that could physically cover up the pipe.  Additionally, in order to reach the transmission line, the vehicle would have to cross a rice field (represented by uncooked rice) and cross a river (ensuring that no electronics get damaged, they had to be above the “water line” at all times – represented by the dip in the arena).  After designing our vehicle, we would also have to present our design to the judges.

When I heard what the problem was, I thought to myself, “this is an impossible problem given the time we have to build it ands lots of teams aren’t going to be able to perform the task”.  I guess it was supposed to be like that.  The problem couldn’t be too easy or otherwise everyone would be able to do it.  Despite the difficult task, we approached it with a super chill attitude throughout the entire competition.

As a group, we planned out what we wanted to do.  We thought that it would be straightforward to go across the river, but it turned out that it wasn’t that straightforward.  We had trouble keeping our electronics above the “water”.  The line follower kit we used could follow the black line quite accurately, but it had to be about an inch above the ground.

To make matters worse, the wheels kept falling out.  Normally, one should just have to insert the shaft into the motor clutch and connect the clutch to the motor, but the connection was quite loose. 

One of our teammates spent about 3 and a half hours trying to fix the wheels and he succeeded. It took up a lot of time that we needed for the other design tasks, but we couldn’t leave that alone since movement along the ground was a critical function.

In the meantime, we brainstormed how we would rotate the vehicle to face different directions when needed, how we would pick up the repair module, and how we would rotate the solar panel, and how to protect the line followers while crossing the river.    We also had to think of what we were going to say for the presentation.

We couldn’t really get the rotation to be accurate without using an encoder (which would increase our product cost), so we tried to see what we could do without being able to rotate the vehicle.  We could drive straight toward the solar panel, rotate it, and return to the base.  If we focused on just this task, we didn’t have to figure out how to figure out the other tasks.  We figured that most teams wouldn’t be able to perform that task anyway.  With that in mind we modified our design drastically and came up with something that kind of worked.

The end reached high enough such that we could just bump into the top of the solar panel and rotate it and then go back to the base.  We didn’t need to worry about the other task of repairing the underwater transmission line.  There wasn’t enough time for that.

When it came to the presentation, we talked about our design and answered the questions quite well, but one of the competitors asked us a question that a lot of people seemed to feel was a very jerk question to ask.  He asked “how would the client feel that we delivered a product that could not meet all the stated requirements?”  I guess he was bitter that my team beat his team last year and felt threatened by me this time around.  We answered the question by saying that it’s better to do one task well, than to fail at both. 

In the competition, a lot of teams did in fact fail the tasks and did absolutely nothing.  When it came time for our device to compete, we did what we could.  It did reach the solar panel and rotate it a bit, but not enough to rotate it all the way.   It couldn’t even complete one task, although we had tested it before and saw that it did work.

The winning team (the same team as the guy who asked us that terrible question), used a design that would travel align the walls, past the river and to the broken line.  It picked up the repair module (shaped like a table) using a flat pad to slide underneath to pick it up.  It managed to do a 90 degree turn by following the wall (push sensors would tell the vehicle that it had in fact touched a wall).  It was clear that their design won out over everyone else’s, and they totally deserved the win.