On the day we had to check out of our accommodations was the day that we felt the worst from the food poisoning we got the day before, so we couldn’t just stay in the room to sleep it all off. Instead, we had to continue on our itinerary as before and went on a day trip to Sintra. The entire day at Sintra was a struggle, trying to walk around with a light fever.

The drive to Sintra look way longer than expected because of some road closures that required us to take the long way around to get to the parking lot. To make matters worse, Google Maps was showing all the wrong directions – roads that appeared on the map were actually narrow unpaved access roads that were not publically accessible. We ended up driving all the way around the mountain, through narrow small town roads with steep corners up and down hills until we lucked out and reached the parking lot. It felt a lot like navigating in Antibes. From the parking lot, we took a tuk-tuk to the palace since we were going to be late for our visit reservation. On our way out, we even saw a group of tourists in a van that got stuck trying to make a multi-point turn because they ended up facing the wrong way on a one-way street.

Sintra is a picturesque town located in the foothills of the Sintra Mountains in Portugal, just a short distance from Lisbon. The main attraction for us there was the stunning Pena Palace, which boasts a colourful exterior, Gothic turrets, and an ornate interior. The exterior of the palace is painted in bright, vibrant colours, with shades of red, yellow, and blue standing out against the green backdrop of the surrounding forest.

The palace was built in the 19th century by King Ferdinand II, who was inspired by the Romanticism movement and wanted to create a whimsical and exotic castle that reflected his tastes. The result is a stunning fusion of architectural styles that incorporates Gothic, Moorish, and Renaissance elements, among others.

Inside the palace, we explored a series of ornate rooms, including a courtyard, a banquet hall, a music room, and a throne room. The interior is decorated with intricate carvings, frescoes, and tapestries, and is a testament to the wealth of the Portuguese royal family.

Interior decorations feature Portuguese tiles, also known as azulejos, a distinctive form of decorative tilework that originated in Portugal in the 13th century. Azulejos are typically made of glazed ceramic and are used to adorn the walls and floors of homes, public buildings, and places of worship. The designs are known for their intricate patterns, vibrant colors, and the use of repeating motifs such as flowers, birds, and geometric shapes.

Sintra is unlike the other castles I’ve visited before. The architecture style is completely different from the typical European castles like Neuschwanstein, Hohenzollern, or Carcassonne. This one is a lot more colourful and dynamic – there’s a combination of ornate carvings, vegetation, and overall structural beauty.

See more photos of Sintra here

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

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

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

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

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

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

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

Check out my pictures of Delhi and Meerut!

The instruction book is coil bound and is basically a giant intimidating tome…

The detail is pretty amazing – both inside and outside.

It’s also got minifigs from both the original trilogy and the sequel trilogy! They also include the radar dish from each of the trilogies that can be swapped in and out.

Inside the big box, there are 4 boxes with numbered bags. The instruction book goes in order starting with bag 1 and so on, but it’s not clear which box contains what numbered bags since it’s not sorted – you’re forced to look through all of them. There’s also some weird stuff where there are unnumbered bags and some bags have extra pieces that get used in a different part of the build, but the instructions don’t indicate this at all.

To protect it from dust, I bought some acrylic panels and glued them together to make a box for it. There’s also a stand that the Millennium Falcon is sitting on, which is this display stand.

I found the build pretty cool when I was building stuff like the different rooms inside the ship, and the outer hull sections. Since there is SO much detail everywhere, it can be a little bit tedious to build the little tiny bits of detail everywhere. But in the end, it looks absolutely amazing and is a definitely a conversation piece for guests

We took a Grab (the Southeast Asia version of Uber/Lyft), which costed only ~$15 USD for some 30 km, which is super cheap. I have no idea how the economics of that even work since the cost of a car is about the same everywhere. The driver dropped us off at the base of the temple and we had to walk up a long flight to stairs in the burning heat.

The temple grounds has a lot of rooms like this for worshipping. They all have big golden statues in them too.

The Thai royalty is also a big deal too.

Not far from the temple was the palace gardens of Bhubing Palace. It was a nice scenic walk, but otherwise there isn’t much to see.

As usual, Mike has made a video about this part of the trip. Check it out!

On the way back, the same driver who took us here to begin with was still hanging around, apparently looking for people to drive back. When he bumped into us, he offered to drive us back for a rate less than what Grab charged (way to cut out the middle man)!

That ends our touristy day trip. See more of my trip to Chiang Mai here.

This is probably the most iconic area in Singapore – Marina Bay. Starting with the Merlion, we toured around the bay. I didn’t actually understand what a Merlion was until I saw the actual statue.

The placement of all the buildings and the water was so perfect for photos!! This area is a must-go.

There’s even a spot for an outdoor band to play.

And an outdoor street food market.

I ate my very first stingray. Another one off the list.

Another must-go destination in Singapore – The Supertrees! There is a whole grove of them and they constantly change colours. They’re powered by solar energy and capture rainwater for reuse.

In Chinatown, there is a famous Michelin 1-star place located in Chinatown called Hong Kong Soya Sauce Chicken Rice & Noodle. The lineup almost went out the door and it was next to impossible to find a seat.

The chicken was not dry at all, but rather juicy with all the flavours of the soy sauce, and every bite was tender.

The chili crab is also worth trying if you’re willing to splurge.

In Maxwell Centre, Tian Tian is the best place to go for Hainanese Chicken Rice. If this place existed where I live, I’d go there all the time.

There’s also Song Fa Bak Kut Teh. They serve a ribs cooked in a flavoured soup. The ribs are super tender and fall easily off the bone, and the soup is a complex soup with lots of strong spices (kind of savoury and peppery). The shop even sells their own flavouring powder so people can make the soup at home!

Chinatown is pretty much a place where tourists go and most of the street vendors are catering purely to tourists. But the food here, on the other hand, is terrific.

The Buddhist temple there looks incredible. Unlike the temples in Hong Kong, photography is allowed and look way cooler.

Next destination was Little India. It was amazing at how all of a sudden, the streets were no longer filled with Chinese Singaporeans, but rather Indian Singaporeans. Many shops sold fabric for saris, and jewelry.

This was my first time visiting a Hindu temple.

There’s also an Arab Quarter. It’s incredible how in one city there are so many visible ethnicities.

Sentosa is another great place to visit. It’s the home of many resorts, Universal Studios Singapore, and the aquarium. It’s also the most southern point of continental Asia! I always thought the Vancouver aquarium was pretty amazing, but the one in Singapore is SO much better.

This was the most impressive aquarium display I had ever seen. The picture doesn’t capture how absolutely massive this room was. The window itself has a thickness of 70cm!!

Singapore also has a world class zoo – except this one is open at night, just to show off nocturnal animals.

Gordon Ramsay recommends 328 Katong, for Singapore’s famous Laksa. The soup is slightly spicy and contains chili, coconut milk, and evaporated milk. THe fillings contain noodles, shrimp and mushrooms among other things. The other two dishes are Nasi Lemak, which is a rice dish with dried anchovies and a spicy sauce, while the other is Otah, which is a fish cake with spices inside (these two items were probably the only dishes I didn’t like).

Pretty much all the restaurants and places I went came from recommendations from friends who either grew up in Singapore or lived there. Thanks to them, I got a bit of a local’s perspective on the most awesome places to go!

Photo album: here

Coming from Hanoi and their warm weather, I walked around in shorts in Seoul even in the cold while everyone was out with their winter clothes. People must’ve thought I was crazy. My flight landed early in the morning too, so I had to kill 2 hours before shops actually opened.

At the time, I had not realized that a massive protest against the government had been happening in Seoul (wiki). If I had known, I would have totally gone there instead!

Myeongdong looking quite festive this time of year!

LINE Friends! This place attracted so much attention from people wanting to take pictures, they they set up a queue for people to line up for photos.

This is Budae Jjigae. It is probably my favourite kind of Korean food. It’s got a spicy soup base, meat, mushrooms, and other things with instant noodles. It’s so simple, but so good.

Street food stand with bacon wrapped sausages, and skewers? How could I say no?

I should have tried these lobster tails. They look so good.

Not a huge fan of dessert, but it looked really cool.

Myeongdong was bustling that day.

The thing I realized that day is that the street market people can haggle in at least 3 languages: Korean, English, and Chinese, as opposed to just the native language, and English like a lot of other places. Good on them for learning all these numbers in different languages!

Link to photo album: here

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

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

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

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

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

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

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

And also the cool cross-sections.

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

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

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

Link to photo album: here

Herrenchiemsee

We took a ferry to some of the islands in the lake. One of them is called the Herreninsel, and on that island there is an unfinished castle, built by King Ludwig II. The castle is called the “Neues Schloss Herrenchiemsee”, which translates to the “New Palace of Herrenchiemsee”.

Ludwig II was inspired by the construction of the French palace of Versailles and so he wanted to build a palace just like it. Unfortunately, he didn’t have quite as much money as Louis XIV, so he couldn’t finish his castle.

I would have liked to take more pictures of the castle, but we were forbidden to take any. From what I can recall, a lot of rooms were modeled after rooms in the Palace of Versailles, except they were unfinished.

Fraueninsel

Another island is the Fraueninsel. On this island, there is a monastery.

Some people also live on this island, but there aren’t many. The houses here are probably vacation homes for rich people.

Leberkäse

For lunch, I had Leberkäse, which is a traditional Bavarian dish. Directly translated, it means liver cheese, but I’m not sure how much liver was in it though. The meat actually consists of corned beef, pork, bacon and onions baked into a shape like a slice of bread. I guess it is Bavarian meatloaf.  The fried egg on top was also a nice touch.  The roast potatoes on the side was also really good.  It’s probably the best way to cook potatoes.

Chiemsee

The weather was really good that day despite the 38°C heat wave weather and the visibility was really good.

The nice thing about Chiemsee is that it isn’t as famous of a travel destination for North Americans and so it makes it a lot less touristy.

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

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