Cologne (Köln)

Last time I went to Cologne, I celebrated the Carnival and didn’t really see or do anything else. This time, I spent a half day checking out the chocolate museum and have a few beers.

The museum chronicles the history of chocolate, from the cultivation of the cocoa bean, to the industrial machines that produce the chocolate. Visitors can even order their own custom chocolate bar! They pick the kind of chocolate (white, dark, etc.) and can choose a multitude of condiments too.

I honestly was more impressed with the industrial chocolate making machinery more than the chocolate itself. As a graduate of mechatronics engineering, I can certainly appreciate the engineering behind these machines. The movements of each component is precisely controlled to perfectly pick up and drop pieces of chocolate or to pour liquid chocolate into molds, and the subsequently release them.

Afterward, we met up with a friend of mine who decided to move to Germany from America. He was so interested in Germany that he earned his C1 level in the Goethe Insitut examinations (it’s one level below native speaker), and when talking to him, I could always tell his future was in Germany. He found a job working at Deloitte and his German is so good that he doesn’t even speak English at work! Even I can’t do that with my German.

Next up: the bar. You can’t go to Cologne and not try the local brew, Kölsch. Germans outside of Cologne assert that Kölsch shouldn’t be considered a real beer, and honestly, I find it to be just okay. It’s not great and not terrible. A unique part of the Cologne pub culture is that if the waiter sees you with an empty glass, he will automatically serve you another one, regardless of whether you want one or not. The sign that you’re done is to put a coaster over the glass.

We walked around town a bit and went to probably the biggest landmark in town: the Cologne Cathedral. This Cathedral is the second tallest church in Europe (the first is in Ulm, also in Germany), with a height of 157m. It’s hard to imagine the size, but most of the buildings in Cologne aren’t very tall so this building appears to tower over the skyline.

Düsseldorf

Next, we drove to Düsseldorf. All we did there was walk a bit around town, but the streets just kind of look like other cities nearby, like Cologne, except Cologne has a giant cathedral to look at. We did come across a small celebration in the street though. I’m not completely sure, but I think it’s for the massive Carnival celebration that was gonna happen in late February.

The fun started later that night though. We were looking to get some dinner and went to a local pub. It was Friday night and the place was packed – so you can be pretty sure this place is good. Normally, you’d just walk in and sit at any free table – there’s nobody to show you to your seat like in America. There was nothing free anywhere.

A group of Germans signaled to us that we could join them and they’d make space for us. I politely told them that it was okay and we could wait, but they started shifting over so we ended up joining them. We chatted with them over drinks and they turned out to be super fun people!

A older couple were having beers with their son in law and his friend until we joined (they were drunk already when we showed up). They were so happy to chat with us and kept telling us how awesome we were for visiting Düsseldorf. One guy kept telling us in his German accent how “North Rhine-Westphalia is the most open-minded place in all of Germany”, how he grew up in Bavaria near Allgäu, but can never go back there because Düsseldorf is just so amazing, and that we should live here permanently.

Germans when they’re drunk, really like speaking English. One of them kept getting stuck on words and he’d ask their friends what the word was in English. I’d translate the words for him each time and eventually one of their friends literally just told him, “don’t ask us, ask him! He knows all the words!” They were super impressed by my German and it’s a pretty great feeling to know that my German is good enough to have these conversations with locals.

My friend on the other hand, could more or less understand what was being said, even though he couldn’t speak the words. In fact, he had a bit of trouble with his pronunciation, to the point that not a single server in any pub we visited in Germany understood him when he tried to order a Radler. This bar was no exception either, and I couldn’t help myself but laugh at his misfortune

As we left, we jokingly said we’d meet again at the same place and same time to have beers together again. I gotta say that most Germans I’ve met have been pretty cool.

That’s all for now!

• Cologne
• Düsseldorf
  

Someone told me that the pastries were really good, and they were totally correct!!

This is the Danish Parliament building. They also allow a small number of people to go up to the top of that tower for free!! We did have to wait for about 20 minutes though, but I think that was a not so well known destination.

Everybody says that Nyhavn is a must-see destination. It’s definitely gorgeous, but everything around here is super pricey!!

Amalienborg is the home of the Danish royal family. Sometimes people see the Crown Prince of Denmark going in an out of the palace dressed like a normal person. The building with the dome at the back is the Marble Church.

These palace guards walked right by me!! Can’t imagine wearing the full uniform on a blazing hot day…

Next up, was a chill bike ride around the city going at a slow 10 km/h. The weather really cooperated with us! It was a weird change going from wearing a full bicycle kit while riding my roadbike to wearing street clothes and riding this commuter with a basket on top…

Randomly stumbled upon this really cool looking fountain, known as Gefionspringvandet.

We rode through this old school star-shaped fortress that has been turned into a nice greenspace!

North of there was the Little Mermaid statue that everybody talks about. Everybody says it’s a must-see attraction, but the most underwhelming. They make it look so big in the pictures but in reality it’s tiny.

We rode past a military installation and saw this interesting sign… They’re really up to date with this drone stuff.

I was in Copenhagen around the same time as Chester Bennington from Linkin Park passed away. He even left a mark on the people in Copenhagen.

There’s a reason why people say Copenhagen is the bike capital of the world.

The white buildings in the distance is Paper Island – a hipster place to hang out and eat food.

It’s so busy here…

To my surprise, I found an ostrich burger… It definitely had a light taste. I’ve heard it tastes a lot like beef, but I didn’t get that impression.

Next, we went to Freetown Christiania – an area that the people there self proclaim as autonomous. The area was formed by squatters on land used by the military. Today it is a kind of like area where the police in Copenhagen don’t really enforce their jurisdiction (although they can), and it is governed by the people who belong to that community who have created their own rules. All the houses have graffiti on them, the paint on the walls is slowly flaking off, and every house has tons of advertisement posters painted on them. The people in the community are either hobos or hippies and sometimes it’s hard to tell which – and they’re probably all high as a kite. If you’re looking for a wild party, you’ll probably find it here. It’s a shame that I wasn’t allowed to take photos inside.

Inside the city hall, there is an astronomical clock. The fastest gear completes a revolution every ten seconds and the slowest every 25,753 years. I have no idea what kind of information it shows, but I can appreciate the mechanisms as someone who studied mechanical engineering!

This was probably the best meal on the entire trip. A sampler of the most Danish food ever at Skindbuksen. When we went in, we were the only people inside who looked like tourists and everybody else looked local, which was a good sign, but we stood out. The owner of the restaurant came by with a giant plate of delicious food and loudly said to us, “this is what we eat in Denmark, you should try this!”. For a brief moment, our interaction with him gathered the attention of the entire restaurant, while it felt like all the locals were just judging us tourists… It was a tad awkward. BUT the food was absolutely delicious. There was pickled herring, deep fried fish filet, smoked salmon, roasted pork, and pork filet! The other tables were looking at our food with jealousy.

At the bar in our hostel, we met someone who was working in Silicon Valley as a software engineer who happened to be working and travelling. She told me she graduated at UC Berkeley and so I asked her if she had seen the Amazon store there (this). She told me how awesome it was to have something like that there and to her surprise, I revealed that I am actually one of the engineers who worked on it!

That’s it for Copenhagen!

Photo album: Copenhagen

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

We had spent a whole year upgrading everything.  I designed a new ball kicking system that was more durable, more maintenance free, and more powerful than the year before.  The other mechanical systems were more robust as well.  The electrical system also had a huge upgrade.  Burning and smoking electrical boards were a thing of the past!  We have never had a design this robust – ever!

What is RoboCup?

For those who don’t know what RoboCup is, RoboCup is an international robotics competition aimed to further robotics research.  Their long-term goal is to have robots beat the World Cup Soccer team winners by 2050. There are various leagues within RoboCup, such as in robotic soccer (where we participate), home care, rescue, simulation, etc.  Our team, the UBC Thunderbots, compete in the small-size soccer league, which is probably has the fastest game play of all the different leagues.  The robots are generally cylinders with a diameter of about 18 cm and a height of 15 cm.  They can move at around 4 m/s and kick a golf ball at 8 m/s.

One of the other leagues, the Standard Platform League competes with standardized robots for all teams and the key difference between each is the software that is written for the robots.

Another league, the mid-size league in RoboCup Soccer competes with robots that are about a 1/3 of the size of a person. The game isn’t as quick as the small-size league game and they play with a real soccer ball instead of a golf ball. During the competition, it gathered quite the crowd too.

Preparing for the Games

Most teams arrived at the venue when it opened to get to work right away. Everybody wanted their robots in tip-top shape. Our team did the same. Even though our robots were ready mechanically and electrically, the key game changer was seeing which team had better artificial intelligence for their robots. Whenever got time to test on the field, we took advantage of it to make sure our AI was working well too.

Round Robin

In the round robin stage, each team gets four games against other teams in their bracket. Each bracket is made up of five teams and the skill level is spread out based on the rankings of the previous year.

We lost our first two games against a team called KIKS from the Toyota National College of Technology in Japan, and a team called STOx’s from the Universidad Santo Tomás in Colombia. In both of those games, we were simply outplayed because the other team had better software than we did. At the end of the game against the Japanese team, I spoke a bit of my horrible Japanese to them and they were super surprised and impressed that I knew a bit of Japanese!

Because our robots were finished not long before the competition began, the software team did not get a chance to test the code that was written, and so we found out the problems during the competition. Our robots were never able to drive up to a ball and take possession of it. The robots somehow always missed the ball. When the robot had the ball, it didn’t know what to do with it. It sat there holding onto the ball doing nothing. This was so frustrating for our team and even more so for the software team who wished they had more time to test.

We won our next two games against two lower tier teams. One is called RoboFEI, from the Centro Universitário da FEI in Brazil, and a team called RFC Cambridge from Harvard and MIT. It’s nice to be able to say that we beat a team from these two ivy league schools. Looks good when we look for sponsors too!

Lucky Loser Round

Because we had a 2-2 record during the group stage, we played a fifth game, the so-called Lucky Loser Round, to see if we could qualify for the quarter finals. Our match up was against a team called ODENS from the Osaka Electro-Communication University in Japan.  The game was so close that there was a dispute about the rules and whether what our team did was legitimate. Because our robots were not able to move up to a ball and shoot it at the net during the shootout, the referee introduced a workaround that the other team disputed.

Our referee’s native tongue was Portuguese, we spoke English, and the other team spoke Japanese. I didn’t know enough Japanese to translate. Eventually, members from other teams like the Thai and Chinese team came to help with the dispute. During the discussion that took about an hour, I heard people speak English, Japanese, Portuguese, Thai, Japanese, and Mandarin all at the same time. It seemed like nobody had the full picture of what was happening and how to resolve it.

The dispute was resolved when both teams agreed to a specific workaround that made it possible for our robots to do shootouts.  The game ended with a shootout and we lost on the very last shot of the shootout unfortunately. We almost made it to 8th place.  Still, achieving 9th place out of 22 teams was the best that the team has ever done before.

The Competition Ends

Skuba, from Kasetsart University in Thailand, had won the competition for four years in a row since 2009, but this year they had a surprising finish that was not even the top 4.  The second place team, ZJUNlict from Zhejiang University in China had beat them early in the quarterfinals.  ZJUNlict’s strongest opponent this year was CMDragons, from Carnegie Mellon University in USA.  In the final round, they were tied for the entire game and the game went to shootouts where CMDragons lost by one goal.  ZJUNlict had made first place in the RoboCup 2013 in the Small Size League.

As the competition came to a close, we said goodbye to the people on other teams that we met and as a parting gift from the German team ER-Force, they gave us a German flag with the names of all their team members signed onto it, with the message, “for our amazing friends, the Thunderbots, from team ER-Force”.

I realized now that the competition is over, I probably wouldn’t be going to competitions in the future because I’ve graduated from university. It made me feel a little bit sad that I couldn’t compete anymore, but at least I can still help out the team wherever they need it.

Link to photo album here

This gave us a lot of opportunities to find out what was wrong with our robots before the real competition began. We found out that are mechanical and electrical systems were quite robust, while our software system was the weakest link of the three.

In the downtime, we were taken on a tour of the nearby Eichbaum Brewery. The tour was quite difficult to follow because it was pretty much all in German. Even though I had learned some German, it was still quite difficult for me to follow.

I had been to Mannheim before and both times I went to Mannheim before this time, I had a very negative experience. The first time, I got food poisoning (I still remember which restaurant it was), and the second time, my friends and I waited at the Mannheim train station for 4 hours for a train to Berlin with a scheduled departure time of 12am.

Having had lived in Germany before meant I recognized a lot of brands like food chains, department stores, cell phone companies, etc. Because of that, my teammates often asked me different things about Germany such as how German phone plans worked and how to sign up for a plan. I explained it to them and even asked the cashier at the supermarket who didn’t speak English about phone plans.

On another day, we were also taken on a tour to the nearby city of Heidelberg. I had also been here before and vaguely knew my way around. We hiked up to the castle again, but we were there in the evening so the inside of the castle was closed by the time we arrived, so we just went as high as we could.

After spending a few days in Mannheim, all three of the teams organized transportation together to Eindhoven, where the real competition would begin. The workshop allowed us to see what our robots were capable of and what we could improve on early, so that we would be better prepared for the real thing.

Link to photo album here

The Deutsches Museum is one of the largest museums I’ve been to. There were so many topics on technology that the museum had. They had the usual topics on flight, ship building, engines, etc., but they had even more exhibits on classical mechanics, electromagnetism, chemistry, nuclear physics, mining, semiconductors, computers, cartography, microsystems, space exploration, printing, etc.

There was even a cool demonstration of arc lightning.

The section of space exploration was quite interesting too, but it wasn’t as big as the exhibit at the Smithsonian Museum of Flight.

The clean room exhibit reminded me a little bit of the type of work I did during my internship at Bosch.

Of course in any exhibit on computers, there has to be a computer from Remington Rand.

Here is the experimental apparatus that was used to discover nuclear fission.

The stuff I looked at was only scratching the surface of the museum. I pretty much skipped entire sections like time keeping, wind turbines, bridge building, among other things. I was there for four hours too and I didn’t even look at any one section in a lot of detail. To see everything, one would have to spend days here.

Link to photo album here

British Museum

I had been here before, but I thought this would be a good place for Edward to visit, since I was showing him around a little bit.

Here’s some pictures of some ancient stuff.

Later that night, we walked around the Tower Bridge and along the river and got some good night time photos.

Night Time along the Thames

I recall doing a similar walk along the Thames when I came to London two years before.  At night, the Tower Bridge is all lit up.

There is also St. Paul’s Cathedral from afar.

Everything is definitely much prettier when actually being there and with my point and shoot camera, it’s definitely hard to capture it all in photos.

English Breakfast

Definitely one of the most delicious breakfasts I’ve ever had. Back bacon is now one of my favourite foods. I also now have a greater appreciation for pan fried tomatoes.

If I recall correctly, the place is called Kiko’s Cafe and I highly recommend this place for anybody going to London.

Old Books

Our tourist map recommended an old second hand book store called Skoob Books. There, we found all sorts of old school books dating back to the early 20th century. I was able to pick up a 1928 edition of the Wealth of Nations for nine pounds. Edward managed to pick up an old anthology of George Orwell’s works for cheap too. Upon looking at my photo albums, it seems I got too carried away to take pictures of any of the old books.

In a different used book store, the books were so old that the owner put a lock on the door and would let customers in only when they rang the bell.  The books there were hundreds of years old and each book sold for at least hundreds of pounds if not thousands.

Princess Diana Loves Italian Food

For dinner, we ate at apparently one of Princess Diana’s favourite restaurants. And of course, this recommendation was very good.

I also highly recommend this place and it is called Da Mario.

Walking Tour

I did the walking tour last time I came to London, but I thought it’d be a good idea to do it again since Edward had never been to London before.  I didn’t really take much pictures here as I had taken so many the first time around.

Pub Grub

For lunch, we ate at a pub called The Lord Moon of the Mall with another person from Vancouver whom we met on the walking tour. I had previously been there before, and it was good last time, so I couldn’t really go wrong.

I think I was spoiled by the English breakfast and the pasta though because I didn’t think this place was as good as I remember.

HMS Belfast

Visiting the Belfast was one of the new things I did in London.  The HMS Belfast is a light naval cruiser that is now a museum and is parked on the Thames River. From the outside, the ship didn’t look that big to me, but it still took quite a while to see it all.

I even got to go inside the gun battery and inside there was a “simulation” of the batteries firing and it was very loud. I don’t know what I expected.

The tour takes the tourist to different rooms in the ship such as the sick bay, mess hall, chapel, among other places. As an engineer, the most interesting area for me to look at was the engine room. It’s amazing to see exactly what mechanisms can generate so much power to drive the ship.

Lots of ammo.

On the ship deck.

It just so happened that an airplane flew over as we were looking at the anti-aircraft gun.

A Comfortable Place to Travel

The biggest differences between travelling in Kiev and London is that in London, we can actually talk to people. We can read all the signs. It’s not sketchy at all. While this made travelling here super comfortable, it took away the excitement that being in a little bit of danger gave.  Even then, we still thought it was fun and we rather have done this than not at all.

Links to photo albums:

• British Museum (Edward’s Photos)
• London II
• London I

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

Parliament Hill

Because of Canada Day, a giant stage had been set up for shows throughout the day.  For Canada Day, many people came out wearing red shirts and so looking at the giant crowds of people, there was a sea of red.  The streets were filled with people taking part in the day’s festivities.  Street vendors sold Canada Day apparel such as mini flags to wave, vuvuzelas (I can’t believe people still buy these things), etc.  When we arrived at Parliament Hill, a ceremonial presentation of the Changing of the Guard was happening.  There was so many people that we couldn’t even get close.  We could only see it on the big screen on the concert stage.  From what I saw, it’s similar to the one that happens at Buckingham Palace in London.  From the events schedule, it said that the Parliament Motorcade would be pulling in at around 12pm.  It was still early at the time, so we continued walking around the city to see more of the sights.

National War Memorial

This memorial is dedicated to all Canadian dead of all wars.  This memorial is located in Confederation Square, and commemorates the First and Second World Wars, as well as the Korean War.  In front of it, is the Tomb of the Unknown Soldier.  There is also a Ceremonial Guard present at the site.  On top of the Tomb of the Unknown Soldier, many people showed their respect by placing a mini Canadian paper flag over the tomb.

Rideau Canal

The Rideau Canal is a UNESCO World Heritage Site and it connects Ottawa to Kingston.  It’s been around since the early 19th century and people still use it today.  Because of its antiquity, the mechanical system for opening each lock is purely manual.  Students are hired during the summer to open and close them.  Apparently, people use this enough to keep this place in operation.

Parachute Show

As we were leaving Rideau Canal, we happened to see a parachute performance happening.  Soldiers jumped out of a plane and performed tricks on their way down.  I tried my best to take some pictures with my camera, but the zoom just wasn’t good enough.

Parliament Motorcade

As it got closer to 12pm, we went up to the main avenue in front of Parliament Hill to watch the Parliament Motorcade pass by.  Many people were already there waiting for the same thing.  Policemen stood along the side of the road making sure that nobody blocked the streets.  The Prime Minister came in a motorcade of black cars, but the Governor General came in a horse-drawn carriage with the RCMP in traditional attire.  And since I haven’t been keeping up with Canadian politics, that’s the first time I’ve ever seen the Governor General.

ByWard Market and Obama Cookies

ByWard Market is a farmer’s market that is located in Ottawa’s French and Irish communities.  To show its Irishness, there are a lot of Irish pubs present in this district.  On top of that there is a bakery called “Le Moulin De Provence”, that sells something called “Obama Cookies”.  Apparently Barack Obama once stopped by this bakery to buy cookies for his daughter.  And ever since then, there are posters of Obama everywhere in this bakery.

At this point, we were all tired from our lack of sleep the night before, so we decided to rest up a little bit at our cousin’s place.  I got a nice two-hour nap.  Felt pretty refreshed afterward.

Canada Day Concert

In the evening on the concert stage on Parliament Hill, there was a concert.  We went there early to see if we could get some good seats, but then on a day like this, it was pretty difficult.  We lay down our blanket on the grass and just talked until the concert started.  We got a little more caught up among the cousins with what we were all doing (jobs, school, etc. – the usual stuff).  Fishing live grenades from World War II was probably the most memorable thing.

Probably the most note-worthy part of this concert was the fact that Simple Plan played.  I didn’t even know they’re Canadian.  I’m not really a fan of Simple Plan, but it was still cool hearing a famous band play live.  As the concert went on, I felt tired again and somehow fell asleep.  I was so tired that I managed to sleep through the concert music.  I didn’t think it was possible.

At the end of the concert, the fireworks started.

After the fireworks, the crowds left the premises in an orderly fashion.  The parents went back to the hotel, while the younger kids stayed at our cousins house.  The next day, we would tour the inside of the Parliament building.

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