Before my trip, I had no clue what there was to see in Toronto except the CN Tower, and Niagara Falls, which I had already been to. Luckily, this reddit post helped me find few places less traveled.

Royal Ontario Museum

It’s a museum that displays different elements of world culture, art, and natural history. Think British Museum, but much much smaller. One thing the ROM has that a lot of museums don’t are dinosaur fossils! There other exhibits showing world history and culture as well.

Thomas Fisher Rare Book Library

Located on the University of Toronto campus, this library is Canada’s largest repository of publicly accessible rare books and manuscripts in Canada. Among its collection is a copy of Isaac Newton’s Principia from 1687.

Ripley’s Aquarium of Canada

This aquarium is exactly what you’d expect. Lots of different kinds of exotic sealife, sharks, manta rays, etc. The main exhibit is a giant water tank that contains these animals, and a giant conveyor belt takes guests all around. It’s a pretty good aquarium for those who are into that kind of thing

Casa Loma

This is one of the few “château”s in Canada. It was the largest private residence ever built in Canada and was the former residence of Sir Henry Pellatt, a former Major-General in the Canadian Forces. Now it has turned into a tourist attraction. The museum shows off similar things to what one would expect at a European castle: cool architecture, fancy decorations in just about every room, paintings and other art, antiques, and a garden.

And of course, a giant wine collection.

SkullStore Oddity Shop

This place is SUPER out there. This is a store that sells the skeletons of random animals, the skin of snakes, human remains (bones, preserved brain, etc.), taxidermy, preserved bugs, etc. All cruelty free and legally harvested apparently. Half of the store is an actual shop selling these strange items, and the other half is a free museum of even more weird things that aren’t for sale

The Half House

This half a house just sits on the side of the street like any other building. There isn’t a sign explaining why this is, what it’s doing there or anything like that. According to this site, it’s part of the remnants of the neighbourhood that once was here, where the owners at the time sold only half the house, and so the rest of the community developed around it.

St. Lawrence Market

This place felt similar to something like Granville Island in Vancouver, or Pike Place in Seattle – a farmer’s market positioning itself on selling fresh local meats, seafood, produce, etc. It’s a bit out of the way from the downtown core, and when I went, it was almost closing time, so it wasn’t very busy.

The one thing this place has over other farmer’s markets I’ve seen (at least in Seattle and Vancouver) is the variety. If you zoom in on that picture, below, you’ll see what I mean.

Restaurants

Toronto is Canada’s largest city, and therefore has a lot of offer in terms of food. Of all the places I ate at, these two places were definitely the best.

La Palette

This is a French style restaurant near the Kensington district of Toronto. It’s got an interesting selection of game meat, which was the reason why my buddy and I went. They’ve also got a good selection of wine and staff that are knowledgable about it.

For those wondering, horse doesn’t have a strong flavour like beef does, and it chews like super tender beef. Elk on the other hand, tastes kind of like steak with a bit of gaminess, and is actually quite hard to tell the difference unless you’re someone with really sensitive taste buds

Diana’s Seafood Delight

This place is known for their quality oysters and sea urchin, and also precisely the reason why we were there. They have a selection of different oysters from different areas, but if you gave me a blindfold and asked me which oyster was which, I wouldn’t be able to tell you.

Photo albums:

• Toronto
• Ripley’s Aquarium of Canada
• Casa Loma
• SkullStore Oddity Shop
• Royal Ontario Museum

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

Here, I visited the places that I used to frequent and I still have very fond memories here. It’s like going home again after a long time, but the difference here is that this was never my real home, but a temporary one. It’s really hard to explain. I definitely still have an emotional attachment here.

Of course, I went back to probably Stuttgart’s most recognizable landmark: Schlossplatz. I spent a lot of time here just chilling with my intern friends after work.

As I walked around the city, all the streets looked pretty much the same as I remembered. There wasn’t anything super different. I guess that was to be expected.

I remembered that we always bought donairs from the same shop and so when I went back, I did the same. It tasted just like I remembered.

I also went to Schlosspark to see if the people camping there were still there. When I was in Stuttgart in 2011, there was a huge group of people camping there in protest against clearing the trees in the area for a railway station construction project (Stuttgart 21). But I guess these people were kicked out – and the trees are gone too.

Before, everyone had their tents set up here. They even strapped teddy bears around trees to prevent people from cutting them down. This was probably the biggest change that I saw in the city.

Later that day, I had dinner with one of my intern friends that I met while at Bosch, and we ate at our group of friends’ favourite place: Sophie’s Brauhaus. The most unique thing about this restaurant that is really different from what people do in North America is that this restaurant brews their own beer. They have the best Hefeweizen I’ve ever had and of course, that’s what I ordered.

For dinner, I had Spätzle with Lentils, something I ate all the time when I was living here. The Bosch cafeteria often had this for lunch. My friend had Maultaschen, which can be thought of as a giant dumpling, but German style or very large ravioli. All of this was quite nostalgic for me.

After dinner, we walked around the city some more to see what had changed until my train arrived. After waiting for a train that was delayed for about an hour, I managed to finally make my way to Mannheim, just in time to meet my friends for the RoboCup Workshop we would have with the other two German teams in the international RoboCup competition.

Link to photo album here

1. Select the hidden screen (using the taskbar or some other method)
2. Press ‘Alt+Space’ (a window should pop up with a few options)
3. Press ‘M’ to enable the move option
4. Use the arrow keys to bring the hidden window back into view

It works like a charm!

Personally, I simply got tired of sleeping so little.  I always sacrificed sleep for more work time in the past.  But now, I’ve come to realize how powerful being rested really is.  It feels so empowering when I wake up in the morning, fully refreshed.  I don’t have to struggle to get out of bed or set 5 alarm clocks to get me out of bed in the morning.  The reason that the struggle exists is because the body wants more sleep.  This is a clear sign of not sleeping enough.  I’m definitely no sleep expert and I don’t claim to be, but I thought I’d share some techniques in how to think differently about sleep.  But first, I think I should share my experience with sleep deprivation, which I felt heavily motivated me into adopting this way of life.  All of this below is just my view on sleep health.

My Battle with Sleep Deprivation

In high school, I pretty much got 8 hours of sleep a night.  It wasn’t that hard since at that time I didn’t really think about optimizing my sleep.  I just remember being nagged to go to sleep by my parents every night.  I never had to stay up doing any homework or anything like that.  Even my first year of university was like that.  Rarely found myself staying up to do work unless there was a exam the next day or something.

Second year of university is when it all changed.  A thought clicked in my head that I could sleep less and get more work done.  It’s not like I felt sleepy at night anyways.  For a while it was alright, but then as I slept less and less, my sleep debt accumulated.  I found myself napping in class.  I even micro-slept while I drove and almost got into not one, but a couple car accidents.  I didn’t try to do anything about it at the time.  I liked the extra time.  There was a while where I slept about 4.5 hours a night because I stayed up playing computer games.  I looked like a zombie.  I yawned all the time and everyone knew I was sleepy.

In my third year, I lived alone on campus.  No one told me when to wake up to go to class.  With all the sleep debt I had, I struggled to get up every morning.  Eventually, I stopped going to morning classes altogether and my grades suffered.  I started questioning myself, “why is it so hard to sleep early?”  I was easily annoyed all the time.  I was so tired at one point, that I caught myself hallucinating.  It was weird because I saw this strange bug crawling up the curtain and when I waved the curtain around, it was gone.  I couldn’t find it anywhere on the floor.  I wanted to change my sleeping habits, but I couldn’t do it.  Logic told me to do it, but I couldn’t act on it.

My sleeping habits didn’t change until I went to Germany for my co-op work term.  I guess because I was adjusting to this new environment, I actually felt sleepy at night.  This urge made me sleep a lot earlier than what I was used to doing.  I felt rested for the first time in a long time.  It felt so good.  My constant zombie look faded away.  I could tell that my skin complexion was improving.

I guess because I’ve seen how dangerous sleep deprivation could be, it finally compelled me to change my ways.  Ever since I’ve made sleep a priority, I feel a lot healthier.  I lose out on wake-time for working, but I am able to think better when I am rested.  My thoughts are a lot clearer.  That makes me a more efficient worker.

Getting into the Frame of Mind

You’ve got to be truly convinced that you want to get more sleep.  I know a lot of people who say things “yeah I know I don’t get enough sleep”, but they don’t do anything about it.  Nothing at all.  Everyday they keep their usual sleep routine and they’re struggling all the time.  They’re the ones who are always late to morning appointments, and some even for afternoon appointments.  Why does it have to be that way?  It doesn’t.  But before even trying to maintain a proper sleep routine, people really have to change the way they think about sleep.

Sleep is NOT a waste of time. I’ve heard people say, “sleep is a waste of time” or “sleep is for the weak”.  It definitely is not.  Somehow I think there is a competition between who gets the least amount of sleep and still gets the most work done.  I’ve heard people people saying (sometimes bragging) stuff like how they got only 3 hours of sleep and then pulled an all-nighter to study for an exam.  Sure, they definitely were up for a while, but should we question the efficiency of that work?  Of course.  Anybody who has pulled an all-nighter has experiences how “out of it” they were by the end if not half way through.  Nobody wants to do an all-nighter.  That is an extreme case though.  A more common theme is to stay up for 18 hours or so.  That leaves 6 hours to sleep.  The average for most people lies somewhere around 7.5-8 hours.  According to the statistics, more than half of us need more than 6.  By not getting our required amount of sleep, this so-called “sleep debt” will accumulate over time.  Like I mentioned before, I once slept on average 4.5 to 5 hours a night for about 3 months straight.  People around me could tell I looked like a zombie.  I’ve definitely experienced sleep debt first hand.  In retrospect, doing this was so stupid, but that experience definitely helped me reshape what I thought about sleep.  It is a necessity.

Getting into the right frame of mind takes time.  I definitely did not just one day choose to make sleep a priority.  It happened over time.  For me it took a few years in order for me to drill it into my head.  After sleeping late and waking up early, I’d ask myself why I did that.  Why did I sleep so little the night before when the consequence was me feeling sleep deprived the day after?  As I’m in my early 20’s, sleeping late is easy.  It’s not difficult to just stay up late doing nothing in particular.  In fact, it seems to be natural tendency for most people in my age group to be night owls.

Going to bed early is not a chore.  Chores are something we’d rather not do, but we’re only doing it because we have to.  This attitude will not work.  Eventually, you’ll give up and revert to your old ways.  You have to change your attitude toward sleep.  You know how some people feel passionate about their work and will always feel motivated to do it?  That’s their motivation.  There is a similar motivation for sleeping early.  I want to go to sleep early today, so I feel rested and ready to go tomorrow.

Ask yourself why your sleep habits are the way they are right now.  Why do I have to wake up feeling terrible every morning?  Why do I have to set so many alarms just to get out of bed?  Why am I pressing the snooze button so much?  Shouldn’t I be getting up super early? Doesn’t this struggle to wake up give me less time to get ready?  If I don’t have enough time to get ready, won’t I look like a mess when I go to work/school?  Am I sleeping late all the time because I have so much work to do?  Could I be improving on my time management to make me more efficient? Is sleeping late worth it?  I’m sure there are way more questions to be asked, but asking yourself these questions will tell you how you really feel about it.  Everyone’s going to have different answers.  Some might want to change, but others might feel that what they’re doing is the best solution right now.

The Bottom Line

Sleep is absolutely essential for good health and its benefits are far reaching.  Ever since I’ve slept better, I’ve been able to accomplish more.  No longer am I the sleep deprived zombie.  My grades in school are better despite harder courses and more commitments. Better sleep health is something that anybody can do, but they have to want it.  You have to convince yourself that sleep deprivation is a terrible thing and it is something to avoid.  You’ve got to get into the frame of mind that sleep health is good and the will to change.  If you truly want to improve your sleep habits for the better, the improvements will happen.

They took us around Markham, the so-called Asian part of Toronto. Pretty much like Richmond in Vancouver. Felt quite at home there. Eating Chinese food again was quite a welcome change from eating random fast food while in the states. I guess I also didn’t think of taking any pictures there since it seemed to me that things were “quite ordinary”. And people generally don’t take pictures of things they find ordinary.

The last time I was in Toronto, I was eight years old. I don’t remember much from that trip, sightseeing here was quite a new experience for me. We visited Niagara Falls for the second time.  There are people crazy enough to go up close to the falls too.

There’s also a bridge to the United States that lets people see the falls from the American side. No point to go there because the Canadian side of the falls is way more scenic.

If you’re rich, you can even stay in one of these hotels that look straight toward the falls.

Then to the world famous CN Tower.

Gorgeous view from the top.

This time, I’m not afraid of the glass floor.  I figure, what the hell? The engineers who designed it must have made it safe, otherwise it wouldn’t have been built in Canada and it’s lasted so long already without any accidents, so it must be safe.

Those two places are just about the only tourist sites we visited in Toronto. We spent the rest of the time with catching up with cousins and walking around the different Asian malls in Markham. I even got to drive my cousin’s GTI. That was cool too. After two and a half days in Toronto, we flew back to Vancouver, thus ending our two-week trip to eastern North America.

Photos here

We only spent about half a day in this city and most of the sightseeing was done on a prearranged city tour. The first stop was The Philadelphia Bourse. It was founded in 1891 and functioned as a center for commodities exchange up until the 60’s.

Further along was Elfreth’s Alley, one of the oldest residential streets in the country.

And then the Betsy Ross House, where Betsy Ross may have lived when she made the first American flag.

Here’s a bust of William Penn, the founder of Philadelphia.

We also passed by the cemetery where Benjamin Franklin is buried at.

Next, the historic Chinatown.

And now, the Masonic Library and Museum. Built in 1873, but it looks a lot older than that.

Directly across the street is the Philadelphia City Hall. It reminded me a little bit of the Hamburg Rathaus. It took 30 years to build and was only finished in 1901. It looks a lot older than that given its style of construction.

Further along was the Eastern State Penitentiary, a former prison where notorious criminals such as Al Capone once stayed at.

And then the Philadelphia Museum of Art. The staircase in the front is known as the Rocky Steps, the staircase that Rocky was shown to be training at in the movie.

Passed by a lot of historic looking neighbourhoods on our way back to the beginning of the tour.

Here is a picture of clouds as we were driving away from Philadelphia after the tour.

After the city tour, our sightseeing in the states was essentially over. We spent the entirety of the next day shopping at Woodbury Outlets and driving back to Montreal.

More photos here

Changing of the Guard

The guards marched from the National Defense Headquarters to Parliament Hill (about 1.2 km).  The guards marched wearing their uniforms in some 30 degree Celsius weather.  Up close, sweat on their face could be seen dripping down.  They marched in playing their instruments.  The soldiers went in formation and each soldier’s attire was inspected to ensure that they were each fit to stand guard.  This process took about 30-45 minutes.  It was cool seeing these guards dressed up in this kind of uniform.  I didn’t even know Canada had these.

Peace Tower

After the show, we went up to the Peace Tower, the clock tower in front of the building.  At the top, we could see pretty much all of the Ottawa-Gatineau area.  Ottawa has a quite even balance of trees, buildings, and water.  I don’t really know how to define it, but the view just seems more interesting that just seeing endless buildings.  I suppose having some green and blue makes the picture more appealing to the eye.  Bridges across the river adds a nice touch.  There also aren’t a lot of tall builds either, which definitely helps in keeping the view clear.

Originally, we wouldn’t have been able to go up the Peace Tower and come back in time for the tour, but my cousin said that when the tour group comes in, they would have to pass through security.  We had already done that to go up the Peace Tower, and so after we came down the tower, we stayed in the secured area and met up with the tour group once they came in through security.

The Memorial Chamber

Just below the Peace Tower was the Memorial Chamber.  In this chamber, there is a war memorial.  The significance of this one is that there is a book that has the list of names 66 655 Canadians who lost their lives during the First World War.  A second book was also added for the Second World War.  Every day at 11am, coinciding with the time that the First World War ended, a page is turned.  This allows for each page in the book to appear at least once during the whole year.

Inscribed on the walls in this chamber is the famous poem In Flanders Fields by John McCrae along with the locations where battles occurred such as Ypres, Passchendaele, Cambrai, Somme, among others.

The House of Commons

The House of Commons is where the elected Members of Parliament go whenever there is a meeting.  This is where major government legislation is introduced.  Whenever there is a meeting, this is the chance for all the elected members representing their political parties get the chance to debate topics such as how government money should be spent.  At the top of the room, there are additional seats for any spectators for whenever parliament is in session.

Library of Parliament

In terms of old libraries, this one is probably as old as it gets in Canada.  This is a key information source for the Canadian Parliament.  Occasionally, MP’s will come here to do research on various subjects.  In 1916, there was a fire that burned down the parliament except this room.  Therefore, this is the oldest part of the entire building (constructed in 1876).  Naturally, architectural style used in this building is a lot different that the newer part of the building.

The Senate

The Senate meet in a separate location within the parliament.  Here, senators examine bills proposed by the Government.   When the senate is in session, senators debate the bills and bills must pass the senate in order to become a law.  A special thing to note about this room is that because reconstruction of the parliament building began in 1916, the general mood of the population was that they were sick of war.  Therefore, much of the artwork in the room revolves around this.  Paintings of the war hang above the seats in the senate.  They are a constant reminder of the horrors of war.

Next Destination…Thousand Islands!

After the tour, we had lunch and then we made our way to a place called Thousand Islands for a boat tour.  I heard that there was an actual castle on one of those islands.  I didn’t even know Canada had actual castles.  I always though castles were a European thing.

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

Beginning of the Competition

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

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

Game Days

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

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

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

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

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

Team Social

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

Press Conference

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

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

Engineering Failures

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

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

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

Getting Ready for Mexico

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

More photos here