The build itself starts with the rear suspensions. There’s actually a spring built in that makes the suspension work. The four arms are constrained to only allow up/down motion, while the central axle is attached to a ball and socket joint so that the rotational power can still be transferred from the engine. When the car is built, you can push the car down and it’ll bounce back up to its neutral position.

The set also includes a Lego reconstruction of the differential. The differential allows each wheel to spin at different rates. The video shows this in action with each wheel spinning opposite directions. It even supports the transmission of power from the engine itself! It’s really quite impressive!

I wasn’t as impressed with the engine as much though. There are six cylinders, so I expected each piston to compress each 1/6 of a rotation, but Lego has trouble with this kind of resolution so it doesn’t do that. Instead, as the drive shaft is rotated, two pistons can compress simultaneously.

From there, the build continues with the construction of the front of the car. The car is two-wheel drive, just like the real F1 cars (done to save weight)

Because the F1 car is so low to the ground, the steering column must be horizontal. The lack of 4WD reduces the space required for the front of the car means there’s less competition for space for the steering column.

The rest of the build completes the outer shell of the car – the aerodynamic stuff. There’s a lot of sticker placement and some of the stickers are so small that having a small pair of tweezers would have been helpful to place them.

Here’s the finished product!

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

1.0 Motors

The chosen motors are:

• Finger grasping – Cytron IG32E-264K at a cost of USD $57.03 from RobotShop
• Finger sliding – Cytron MO-SPG-30E-20K at a cost of USD $22.58 from RobotShop

Both motors meet the torque speed requirements for this project.

1.1 Finger Grasping Actuation

From the initial budget, the budget set for actuators was set at $325.  The torque requirement needed for gripping was also calculated and each finger would require 4 Nm at its output to lift a 4 kg object using only the fingertips.  The evaluation criteria states that the device grasp as fast as possible and that the client would have the highest satisfaction if the device cost was less than $700.

Looking on several websites that sold motors, the following DC motor was chosen: Cytron IG32E-264K at a cost of USD $57.03 from RobotShop.  The specifications are as follows:

At 12 V with gearing included, the stall torque would be 20.7 Nm (without consideration of mechanical efficiency).  A motor with a high stall torque is also beneficial because it lowers the gear ratio required, which leads to the use of less space for gearing.  The motor also comes with its gearing, which contributes to its high torque.  Given the high stall torque of this motor addition gear reduction is not required.  During grasping, the motor will be exerting high torque at low speeds and therefore, the motor will be operating near the stall torque.  The torque here is more than sufficient even with mechanical efficiency losses accounted for.

For finger actuation before grasping occurs, there is a low load and therefore the motor will be operating closer to the no load speed.  The no load speed with gear reduction is 27.7 rpm (without consideration of mechanical efficiency).  Split among three output shafts, the speed would be 9.21 rpm.  Even with the load of the fingers accounted for, this is still acceptable. based on requirements and evaluation criteria.

While the torque is a lot higher than required, this motor was only more expensive than a motor of one size smaller by less than three dollars.  The electrical characteristics were also identical.  With a higher motor torque, the grasper would be comfortable in lifting objects even heavier than 4 kg, which is another benefit based on the evaluation criteria.

1.2 Finger Sliding Actuation

The motor required here does not require a large torque since motion in this degree of freedom is not expected to handle heavy loads.  This motor only requires enough torque to overcome the friction of the finger on the power screw that it is mounted on.  Therefore, a low-cost motor (relative to the grasping motor) will suffice.  The DC motor of choice is the Cytron MO-SPG-30E-20K at a cost of USD $22.58 from RobotShop.

The specifications are as follows:

The consistency of the stated specifications do not match the previous motor because the information that was provided by the manufacturer was not consistent.

An initial estimate of two 200 g fingers sliding on a 1/2” diameter power screw with a steel-steel sliding interface (friction coefficient of 0.8) shows that only 20 mNm of torque is required.  Therefore, this motor meets the requirement.  The power screw also has 13 threads per inch, and at the rated 185 rpm, the power screw would slide linearly at 6 mm/s.

1.3 Motor Type

DC and servo motors are motors that are suitable for the project.  An investigation between DC and servo motors showed that many manufacturers of motors did not provide the necessary specifications for choosing a servo motor in terms of the values of the no load, stall torque, and stall current.  While servos generate a lot of torque relative to their size when compared to DC motors, it is not feasible to use a servo motor because of the unknowns in the specifications.  It is possible to buy several servos and test them, but this is costly and time consuming.  At this stage in the project, the team is not able to commit the time to investigate further.

Comparison of the cost of the grasping motor relative to motors from Maxon Motor, a supplier of motors for UBC Thunderbots, shows that the price of a motor of the same power output costs approximately the same amount.  However, a fundamental difference is that the motor from Maxon does not include a gearbox, while the chosen motor for this project does.

2.0 Microcontroller

The microcontroller of choice is the Arduino Diecimila.  The primary motivator for using this board is because the UBC Thunderbots team already has this board and is currently unused.  The Thunderbots team has generously provided the board for use on this project.

The MCU will allow the turning the motors on and off, changing motor direction, changing motor speed, and reading encoder feedback.

3.0 Voltage Regulation for Encoders

Since the power supply is likely going to be run at 12 V, the encoders will require voltage regulation down to 5 V (the operating voltage of the encoder for the motors).  The chosen voltage regulator is the MC78L05A at a cost of USD from Digikey.  According to the typical application diagram of the datasheet, two capacitors will also be required (0.33 μF and 0.1 μF).  The cost of these are less than $1.

The voltage regulator will be wired up in this way as the datasheet shows:

The input will be from the 12 V source, and the output will be to the encoders.

4.0 Motor Driver

To control the motors, an H-Bridge is to be used.  However, due to the different current flows for each motor, one motor driver will require a high current capacity while the other one will not.  The high current capacity motor driver consists of a driving circuit using two half-bridges.  The low current capacity motor driver is made up of 1 IC.

4.1 Finger Grasping Motor Driver

To design the H-Bridge for controlling the motor, an L6205 motor driver will be used.  Each of them costs USD $11.36 from Digikey and can withstand a continuous current of 2.8 A and a peak current of 5.8 A and can be interfaced with the microcontroller with PWM inputs.  The driver can also be run in a parallel mode to double the current ratings by using both of its full bridges together.  The datasheet provides an application circuit as follows:

Output pins from the Arduino can turn the motor on and off through the enable pins.  Direction is controlled by adjusting the voltage polarity between IN1 and IN2.

There are also two output pins for current sensing.  By using it to measure the current draw, the microcontroller program can determine what the torque is through the use of the motor curves provided in the motor specifications.

4.2 Finger Sliding Motor Driver

The motor driver of choice is the L293D and each one costs $2.50 from Digikey.  Bidirectional control of a DC motor can be achieved by adapting the application circuit from the datasheet:

The 1A and 2A pins determine the direction of the motor or the motor deceleration.  A truth table is provided in the datasheet.

5.0 Power Supply

To power the grasper, a power supply plugged into the wall will be used.  It is expected that the future robot will have a power source of its own which will power the hand as well.  Therefore, for the purposes of testing the grasper for this project only a wall power supply will be required.

Looking at the maximum electrical power consumption of the two motors, the total comes to ~65 W (12 V * 5 A + 12 V * 0.41 A).  The other components also consume power and so the final power consumption will be higher.  To compensate, a 12 V power supply with a maximum wattage and current of 84 W and 7 A was selected.  The part number is CENB1090 and each costs USD $70.48 from Digikey.

6.0 Power Supply Connector

The power supply chosen has one port that uses a Molex Mini-Fit Jr. Receptacle.  Therefore, a proper receptacle must be used so that proper wire routing can power all the circuitry.  This also means that the future robot will also require a matching plug for this receptacle.

7.0 Fuses

Fuses will also be used as a redundant mechanism to stop the motor in case the current draw is too high.  The primary method of stopping the motor is through the current sense pins on the motor driver.

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

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

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

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

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

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

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

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

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

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

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

As one of the largest port cities in Europe, we got a chance to go to Hamburg to see its beauty.  We went there by car and saw much of the historical part of the city as well as took a ferry ride along the coast of the Elbe River and walked along the city’s canals.  The weather was pretty much raining for the whole time we were there.  As my friend put it, “when you go to Hamburg, plan for rain”.

The Drive

We left work at around noon to pick up our rental car.  It took us a bit longer than we expected because we had to go grocery shopping so we could have lunch and dinner in the car on the way there for our 6 hour drive (or so we thought).  The drive ended up taking 8 hours because of a stau (traffic jam).

The car we got from the rental company was a Mercedes-Benz C220.  When we got into the car, it smelled like new and being in such a new car for a road trip was undoubtedly awesome. We only got this car because it was the cheapest car with automatic transmission available.  I guess the Renault that we got last time was booked for today.  I wish that I got the chance to drive it though.

On the way there, we got to see a lot of the German countryside (as anyone typically does when going from one major city to another).  On the grass plains and knolls, we saw countless villages, farms, vineyards, and the like.  We even saw farms of wind turbines and solar panels.

After a few hours of driving, we stopped a few times.  We stopped at a rest area and at this middle-of-nowhere village.  The GPS guided us off the highway and into this village just to avoid the traffic jam.  For the first third of the trip, I sat in the front while three of my friends had to squish together in the back.  When it was my turn to sit in the back, I didn’t really feel the discomfort while I was reading on my friend’s Kindle.  I ended up going through about 90 pages of Band of Brothers.  Maybe the book was so interesting that I just completely zoned out of the real world for a little bit.

We reached our hostel at around 9 at night and parked the car.  After moving our stuff into our room, we began our sightseeing tour of Hamburg.

Reeperbahn

Our first destination was the Reeperbahn street.  Similar to Amsterdam, this area is one of the most famous red light districts in the world.  The whole area was full of sex shops, strip clubs, and brothels.  On the street corner, many women wearing fanny packs kept trying to approach tourists and we figured that these women were all prostitutes (that stuff is legal in Germany).

One of the more peculiar things was that there was a church that stood pretty much in the core of the whole area.  Really convenient for people to go to confess their sins I guess.

We meant to find a bar here for a drink, but pretty much all of the places reeked with pungent cigarette smoke or was way too loud.  Two of my biggest pet peeves in one place.  We ended up just going back to the hostel instead.

In order to keep up my “try-as-much-kinds-of-beer-as-possible mentality”, I tried a type of beer called Astra Urtyp.  It tasted horrible – too much of hops flavour.  Some of the others drank a few more beers and got tequila shots before heading out again.  As usual, I went to sleep.  The next morning, I found that they returned at around 5:30 in the morning.

The Rathaus

At around 11, on a cloudy day with a large and persistent ocean breeze (it was super cold even with my jacket on), we showed up at the meeting point for the walking tour – a Starbucks.  This tour company receives some sort of sponsorship from them.  Our tour guide, didn’t look like a German, and when he spoke, a clear Northern USA accent came about – apparently, he had been living in Germany for some time.  He led us to the first destination of the tour – the Rathaus (city hall).

Located by the Alster River, this rathaus replaced the old one that was destroyed in the fire of 1842.  This building looked quite similar in form to other city halls, like the one in Munich and Vienna, with a clock tower-like structure that extended directly above the main entrance.  Right above the gate of the main entrance, the Hamburgers proudly displayed their coat of arms that depicted the old fortress of Hammaburg (where the city got its name) that used to exist in the area before its destruction by the Vikings.  Once more this coat of arms was displayed on the clock tower of the rathaus, just beneath a large antiquated mechanical clock.  Statues of German Kaisers decorated the side of the building as each one stood in a line just beneath the rooftop.

In front of the building was a giant courtyard and during World War II, a bomb landed here, but didn’t explode.  If it had, the rathaus would have been badly damaged.  The bomb was defused and the timing mechanism removed from the bomb is now on display in the rathaus.  In the courtyard, the Hamburgers held the Stuttgart Wine Festival, which apparently coincided with the Hamburg Fish Market in Stuttgart.  Here, people set up tents selling South German cuisine – the kind of German food that I’m always used to eating. 

Along the Alster River stood a giant stone plaque engraved with a message saying that 40000 sons of the city gave their life for us all.  Everyday, people going to the rathaus are reminded of the tragedy that befell the country.  Beside it, swans, ducks and other birds frolicked about and went on with their day to day lives.

Buildings on the other side of the river formed a canal much like in Amsterdam.  Canals could be seen throughout much of the city and in fact, the city holds the world record for having the most amount of bridges.  At first I thought Amsterdam’s 900 bridges was a lot, but apparently Hamburg has around 2300.

St. Peter’s Church

Although, not so significant as a work of architecture, many believe this place to be the site of where the old Hammaburg fortress once existed.  When we stood at the entrance of this church, the tour guide said, “welcome to the highest point of Hamburg!”  I looked around and just saw a gentle slope and nothing more.  I guess Hamburg must not have any mountains! 

Besides being a church, this building once served as a stables for Napoleon’s forces.  Not long after the Napoleonic Wars, the church was destroyed in the fire of 1842.  Despite the fire, much of the art in the building was saved including the lion shaped door knocker – the oldest artifact in the city.  At the back of the church, vegetation grew along the brick walls over the years and not far beside it, a wooden sign stood with directions to various places for pilgrimages.

Expressionist Architecture

During the height of Hamburg’s power in sea trade, many firms set up offices in the city.  Many of these firms had buildings resembling the architecture style of the expressionists – elements of the building’s exterior would reflect the purpose of the building.  For example, in one of the accounting houses for sea trade, one could see elements of the building protruding from its side in the shape of a caravel or an anchor.

In another building, known as the Chilehaus, held the shape of a ship and above the front entrance, there were various objects representing the country of Chile.  Similarly, in the Afrikahaus, there was a giant statue of a tribesman wielding a spear and behind the statue on the gate, was a sculpture of a plant indigenous to Africa.

We also visited the Patriotische Gesellschaft (no idea what that is in English), but this building too had examples of the expressionist art.  Statues of caravels and Poseidon stood on the roof.

World War II Stuff

While on the tour, the guide pointed out a plaque on the side of a building and on it was information saying that the building was once the location of the firm that manufactured the Zyklon B gas that killed millions of people in the death camps.  This plaque used to be located at the main entrance of the building, but the building owners and people working there did not want a daily reminder of those atrocities.  To counteract this, they used a different entrance as the main one instead.

Another destination, the Church of Saint Nicholas was one of the many buildings destroyed during the instead bombing raids on Hamburg.  The church did not get a complete repair after the war, but instead it now stands as a memorial – another reminder of the devastation of World War II.

Deichstrasse

Located near a large network of canals, this area of the city is the oldest part of Hamburg.  Undoubtedly, this area was filled with old architecture and complete with the cobblestone roads that are so prevalent in Europe.  The building style also resembled a lot of 18th and 19th century architecture. 

There would have been more buildings in this area, but through several fires and bombings, much of it was destroyed.  In fact, one of the buildings here was where the fire of 1842 started.  It must have been reconstructed since then.

Speicherstadt

Literally translated, the title means a “city of warehouses”, which indeed is what the area was for – storing cargo.  Back in the day, this area used to be where the Hamburgers traded without having to deal with customs tariffs.

As the size of cargo ships got larger, these buildings began to be obsoleted as many of these cargo ships could not fit in the narrow city canals.

HafenCity

Probably the most modern part of the city, this district serves as a playground for architects.  Much of the buildings here don’t follow any sort of mainstream design ideas – lots of buildings here looked really bizarre.

One building to note though, is the concert house under construction.  It has the shape of ocean waves to represent the city’s rich history of sea trade.  Originally budgeted for 100 million euros, due to construction delays and other unfortunate events, the cost of the building is now nearing 500 million euros.

Before this area became popular, the city had trouble getting people to move here, so they rented out flats here for as low as 500 euros a month, but now people can’t rent a flat here for anything less than 3000 euros a month.

Shopping and Food

After our tour, some of my friends couldn’t stand the freezing ocean wind anymore and decided they had to go buy a hoodie.  The wind was so strong that the clouds weren’t just floating across anymore.  There was like a wind speed of about 20 km/h.  We walked around the old town and found an H&M.  I looked around inside and to my surprise, I found that the prices at this H&M seemed to be a lot higher than Stuttgart.  Otherwise, I most probably would have bought something there.

Later on, we went back to the old part of Hamburg for traditional Hamburg cuisine.  We entered a restaurant that had a theme of sailing.  The wall had on display some schematics and black and white photos of various types of ships.  The color scheme of the place even coincided with the stereotypical blue and white colour combination of sailors. We went to eat at around 3, so it was kind of empty at the time.

The food I tried here was Labskaus – a dish typically served in Northern Germany and according to Wiki, “the main ingredients are salted meat or corned beef, potatoes, and onion. Some – non-traditional – recipes put beetroot, pickled gherkin, or even herring into it.”  Mine was served with beetroot and pickled herring, which was typical of the Hamburg style.

Hamburg Hafen

After our meal, we went to the harbour for a ferry ride along the Elbe River.  The ferry drove along the coastline and gave us a really good view of the city.  We rode the ferry from HafenCity all the way to the beach near the Elbtunnel.  In addition to the city scape, we even saw a docked submarine and a cruise ship about to begin its journey.  The travellers on the ship happened to be doing their lifeboat safety drill as we passed by so the people on the two ships happily waved to each other.

The ocean wind we felt on the ship was so strong that I probably needed a winter coat to keep warm.  The wind even caused the waves to be strong enough such that water splashed onto the deck of the boat and onto everyone standing on it.

On the other side of the river, miles of cranes lined up the shore, ready to unload any cargo on ships that docked.  What we were seeing was the second largest port in Europe, the largest being the one in Rotterdam.

Bar District

Supposedly, this area is known as the bar district (at least that’s what we called it).  Despite its name though, there was a really tight concentration of bars here, but the cost of beer was even more than Stuttgart.

At the bar/restaurant, I ordered an apple strudel to help combat my hunger from walking around all day instead of going for beer like everyone else did (although I did have a little bit).  The apple strudel I got wasn’t that expensive and it looked and tasted amazing.

Fish Market

The next morning, we went to the fish market – Hamburg is famous for it.  However, we got there a little late, so by the time we got there, a lot of the places were closing down.  As a last ditch attempt to sell more stuff, a lot of shops there started giving people really good deals on food like selling a whole box of fruit for only 1 euro.  I would have bought it if I could eat all of that.  A pile of garbage behind all these people went to show how much food they sold that day.

Although the market by named says “fish”, people sold all sorts of things in addition to fish.  Many sold bread, cheese, and various types of meat.  I wondered if I’d see something similar to the wurst man I saw a while back, but I didn’t.

The market even had an indoor beer garden with a live band playing.  It was quite a nice place.  If only we were there early enough.

Driving Home

As I probably should have known, I could not resist the urge to drive.  I ended up taking the wheel for about half an hour and managed to get the Benz up to 200 km/h.  While driving at that speed though, the steering wheel was really shaky.  I felt that if the car ran over a pebble or something like that, the car would just plunge into the side of the road.  If it wasn’t for that, I would have reached the car’s top speed.

Before I started driving though, we stopped at a rest area.  When we took a good look at the back seat of the car and noticed a giant mess of crumbs from all our snacking during the trip.  I don’t think I had any to do with that since I never considered myself to be a messy eater.  Just as we finished commenting about the messiness of the car, one of my friends had apparently stepped on dog poop and got it in the car.  It smelled horrible.  He even got it onto another friend’s pants.  He cleaned it up right away, but a faint smell of the poop lingered in the car for the rest of the journey.  It’s a shame that the car rental company gave us a car smelling like new just so we’d give it back with a bad smell.

In another rest area near Frankfurt, we stopped for a bite to eat and went up to the observation tower there to look at the Frankfurt skyline.  That was a nice sight except for the giant high voltage line that blocked part of the view.  By then we were already pretty much 3/4 of the way home.  I continued reading Band of Brothers on the Kindle and managed to get through about 65% of the book in total.  We got back into Stuttgart at around 7:30 in the evening, returned the car, and went home.

More photos here

From watching the TV show Band of Brothers, I learned of the Eagle’s Nest, a surprise birthday gift for Adolf Hitler for his 50th birthday.  Situated on the ridge on the Hoher Göll (or Kehlstein Mountain) at an elevation of over 1800m in Obersalzburg, Berchtesgaden, the house served as a private retreat for Hitler.

Because this area was so remote and hard to access by train, we chose to rent a car to drive there for a day trip that Saturday.  In our group of three, only one person could legally drive.  I had lost my driver’s license and my other friend only had a learner’s license.  Our car reservation said we were supposed to get a Mercedes A Class (the cheapest car they had with automatic transmission), but we got a Renault Megane instead.  I think that worked out better for us though because I think that car was a little bit roomier.

Originally, we were supposed to leave at 9 in the morning, but we had to make a stop at our friend’s house to pick up someone, because he apparently partied too hard and crashed at another friend’s place.  He was quite hungover when he got in the car and he stayed that way for pretty much the whole trip.  I was invited to that party too, but I didn’t go precisely because I didn’t want to end up like the way he did.

I set a course to the Eagle’s Nest on the GPS and off we went.  Originally, our route involved going through Austria, but I had to modify the route such that we stayed in Germany because we didn’t want to have to purchase a vignette (it’s an identifier on the car you pay for that lets you drive in that country if the car isn’t from there). 

We all knew that some parts of the Autobahn had no speed limit, but we had yet to see this for ourselves.  Near the outskirts of the city, there were still speed limits, but as we got further, those limits disappeared.  Although for a lot of the journey there, we couldn’t really make use of that since there were traffic jams all over the place.

The drive ended up taking nearly six hours rather than the four hours that Google Maps told me.  And for the whole journey, my hungover friend slept in the back on his side while I chatted with the driver so that he wouldn’t get so bored.

When we arrived, we parked the car near the Berchtesgaden railway station and proceeded to take the bus up (the house itself is only accessible by bus).  We left Stuttgart at around 10, and reached the top of the Eagle’s Nest at around 4:30 in the evening.

As the bus went up the mountain, we began to see the view getting nicer and nicer.  I guess it was kind of like seeing an airplane lift off and watching the houses below getting smaller and smaller.

The bus dropped us off at the entrance to the elevator up to the main building and when we got out of the bus, we all felt the chilling rain that started.  I don’t know what the temperature was at the time, but it felt like it was less than five degrees.  Before leaving the house in the morning, I knew it’d be cold up there, but apparently it was colder than I thought.  For the whole time that I was up there, my extremities were super cold, but at least the rest of my body was warm enough.  Luckily the rain had stopped when we took the gold-plated elevator up to the house itself. 

After the end of the war, the house was denazified, and converted into a restaurant.  All that remains is the architecture.  The house itself isn’t really that amazing looking, but it has historical significance.  Also, the view from up there is amazing.  What surprised me was how accurate Band of Brother’s portrayed the house.  They pretty much built a set that looks exactly like the real thing and even had scenes where they tried to get up the mountain (and that mountain looked really similar too).

There was nothing on the mountain except for this one house.  And from there, we could see Salzburg (about 35 km away) and other nearby towns.  We could also see the Königssee and other mountains in the Bavarian Alps.  Because of the rain earlier, there were still some rainclouds hovering around, and with the rain, we also got to see a rainbow.  The best part about that was that we were at so high of an elevation, we got to look down at the rainbow.

We only stayed up there for less than an hour because we had to take the last bus back down, but that was okay though.  It was nice for me to be able to visit the Eagle’s Nest and enjoy the view from the mountain (even if it was damn cold).  It’s also a place where most North American tourists won’t be able to go because it’s so remote and that there are so many more popular places to go for them.

On the way home, the roads had a lot less traffic than earlier, which let us really try out the Autobahn.  My friend had reached the car’s top speed of around 190 to 195 km/h (perfectly legal by the way).  The whole time he drove, I had a really strong urge to have a try myself, but I didn’t have my driver’s license.  After we gassed up the car, I couldn’t resist the urge anymore and so I drove.  We all knew that if anything happened, we’d be pretty screwed.  Because of that, I didn’t drive for very long.  I probably only drove for about 20 minutes. 

Even though there was no speed limit, I felt quite uneasy driving at 190 km/h and it just didn’t feel right.  I didn’t really feel that I had control of the car, but that might have been because I hadn’t driven for six months.  It was fun while it lasted I guess.  Even though our car was going pretty fast, we saw a few Benz’s and Porsches go by at speeds of over 200 km/h.  They just zoomed right past us.

After three and a half hours of driving, we safely arrived back in Stuttgart.  It was great being able to see the Eagle’s Nest (even if for such a short time).  It was one of those places that I had to see before I left Europe.  Driving on the Autobahn was great too and now I can say that I’ve done that.  It was a great trip.

More photos here

Our latest trip took us to Prague, the capital of Czech Republic.  After going there, I’d say that Prague is one of the most beautiful cities in Europe. The city managed to retain its wonderful architecture because the city was not heavily bombed (relative to other cities) during WWII. Otherwise, we could not see this wonderful architecture today.

Since I lost my wallet, I couldn’t use my Bahn25 for my discounted tickets anymore, so I ended up cancelling my train tickets and instead went with others who were going by car.  We met at around 7:30 in the morning and began our journey.  As usual, I slept for most of the car ride.

The Mosaic House Hotel

We first went to our hotel to meet up with the others.  When I first walked into the hotel, I was surprised at how nice everything was and we only had to pay 72 euros for 3 nights.  The lobby of the hotel was also a restaurant/pub and each night, the hotel would hold events/parties.

The hotel room even had the coolest shower.

Normally, I don’t post about showers, but this one was too nice to ignore!

Czech Crowns

Since Czech Republic didn’t adopt the Euro, we had to go to the currency exchange.  Before leaving we learned that the rate was about 1 euro for about 24 crowns.  When we got our currency exchanged, we felt so much richer because of all the extra zeroes.

The Czech bills look cool too, but maybe that’s because I’ve never seen them before.  I really hate the change though.  Apparently a 1 crown coin exists and those were really annoying to carry around.

Old Town Square

At the old town square we saw some of the most well known historic landmarks in Prague such as the Týn Church, Jan Hus Monument, St. Nicholas Church, and the Prague Astronomical Clock.  We went here on the first day as well as the second day when we went on the free walking tour.  Many of the historic landmarks survived throughout the Second World War unlike many other cities because this city did not get bombed as heavily as other cities.

The tour guide talked about the history of Czech Republic briefly and explained the significance of the buildings and interesting factoids about them.  For example, he explained the story of how Jan Hus was burned at the stake, how the astronomical clock doesn’t actually correctly predict the correct positions of the sun and moon since it assumed that the Earth was in the center of the universe, and that the designer of the clock was blinded by people who did not want him to build a similar/identical clock elsewhere (what a terrible way to be treated after such an accomplishment).  He also talked about the defenestrations that occurred in Prague prior to the Hussite and Thirty Years War.  He even told us about random facts like how pedestrian lights in Prague only stay green for 9 seconds.

Random Frisbee Game

On our way up to Prague Castle, we decided to stop for a beer nearby.  I got to try one of the Czech beers called Gambrinus, a type of Pilsner.  It tasted similar to all the other kinds of Pilsner I’ve tried.  Afterward, we came across a grass field and decided to play some Frisbee.  While passing around the Frisbee, we somehow got the Frisbee stuck in the tree and spent about 10 minutes trying to get it down.

We even played a game of Ultimate Frisbee too. I ended up running so much, and I surprised myself as to how long I ran for. I guess going on all these trips and walking around all the time really boosted my endurance without me realizing it.

The Tears of Stalin

While walking toward the castle, we came across a giant metronome on the hill.  In front of it, a huge sign read “The Tears of Stalin” with some missing letters.   According to our tour guide, he said that the area used to be the site of the world’s largest representation of Stalin until the statue was destroyed in 1962.

The picture is crooked because I took it while crossing the street, but at the top of the hill, the words can be see (although some letters are missing).

Prague Castle

When we arrived at the entrance to Prague Castle, we saw two palace guards dressed in a really formal uniform and they behaved like the guards at Buckingham Palace.  Each one wore a blue uniform with a rifle fitted with a bayonet.

When we reached the courtyard of the castle, we came across a bunch of people coming out from the cathedral while chanting.  They even had people wearing backpacks with a giant speaker coming out of it.  I remembered that the day was Corpus Christi and that would probably explain what was going on.

Once the people passed, we saw the St. Vitus Cathedral up close.  It seemed as massive as the cathedral in Cologne.  Apparently, this cathedral here is the largest in Prague.  We didn’t get to go in though because of the Christian holiday.

Everywhere around the castle were examples of really well kept architecture from hundreds of years ago.  It was quite an amazing site to be able to see all of that.

On our way down the mountain, we took tram 22.  Before going to Prague, I had read on the travel report for the city and it explicitly stated that lots of pickpockets operate along that tram route specifically targeting tourists.  So in order to prevent myself from getting pickpocketed again, I was extremely vigilant in watching my surroundings and protecting my stuff (I think I’m quite paranoid with that now).  Nothing happened and I didn’t notice anything suspicious either.  I guess the time that we went wasn’t exactly the peak traffic time.

Church of St. James

The next day, we went on the walking tour around the city.  We began at the old town square where our tour guide explained a lot of Czech history.  He also took us a number of other locations.  The next location we went to was the Church of St. James, where someone happened to be getting married that day.  That’s a pretty cool and unique sight if you ask me.

The tour guide also went on to talk about the history of this place.  In particular he told the story about Vratislav was buried alive by accident in the church.  Story says that the man climbed out of his coffin, but could not get past the stone doors.  Some thought his screams were because his spirit could not find peace so they tried to resolve the problem using holy water.  When the tomb was opened several years later, people found his dead body outside of his coffin.

Also in the cathedral is a statue of a mummified forearm which belonged to a thief who tried to steal from a statue of Virgin Mary inside the church.  Apparently the statue grabbed his hand and refused to let go.  After the thief’s hand was cut off, it was kept at the church to serve as a warning for all thieves.

Franz Kafka

Moving on to the next destination, the tour guide showed us a statue of Franz Kafka, a famous author from Prague.  The statue represented him conquering his demons in his dreams.

Before Kafka died, he did not want his works to be published.  He requested that all his works be burned, but the friend that he entrusted this task to felt that it would be a waste to do such a thing.  After publishing his works, Kafka became very well known and is now considered to be one of the best writers of the 20th century.

The Jewish District

Our next destination was the Jewish district of the city.  This is where we got to see a lot of synagogues build hundreds of years ago.  One of the synagogues, the Spanish Synagogue, had a design unlike most synagogues.  The tour guide said that the synagogue looks more like a mosque and could be due to the fact that the synagogue was built with the help of Muslims and the mosque-like design served as a thank you to them.

The next synagogue we went to was the oldest synagogue in Europe.  Known as the “Old New Synagogue”, it doesn’t look very beautiful as far as architecture goes.  If the tour guide did not mention that it was the oldest in Europe, I would have walked past it thinking that it was just any old building.

The last synagogue we saw was known as the “High Synagogue”.  Unlike the other two, this one didn’t have as interesting of a history.

After seeing the Jewish District, the tour proceeded close to the Vltava river, the river that runs through Prague.

The Rudolfinum

Near the river, was the Rudolfinum, which is a music auditorium.  It is also the home stage of the Czech Philharmonic Orchestra.

Walking further along the river, we could see the Charles Bridge.  And further in the distance up in the mountain, we could see Prague Castle.

Charles Bridge

The Charles Bridge, named after Charles IV, used to be the only bridge across the Vltava river and therefore, this bridge was used extensively as a trade route between Western and Eastern Europe.

While on the bridge, it started to rain and all the artists selling painters instantly covered up their art to protect it.  Unlike last week in Munich, I brought an umbrella.  On a different part of the hill, we could also see the tip of what looks to be a lookalike of the Eiffel Tower.  Apparently, it is an lookout tower and a transmission tower.

One the bridge, there were so many statues across its length.  One of them however, according to the tour guide, was of John of Nepomuk, who was thrown into the river hundreds of years ago.  This man is usually portrayed with a halo of five stars.

For some strange reason, the weather couldn’t really make up its mind at the time, so I got interesting pictures of the bridge with rain clouds and white clouds hovering over it.

Epic Karaoke

That night at the hotel, they had an karaoke event.  Those who were brave/drunk enough, went up on stage to sing for everyone.  When we were there, it was quite rowdy, and our group had quite a bit to drink too.  Some of my friends went up to sing “Summer of ‘69” by Bryan Adams.  They were like the Backstreet Bro(y)s.

While they were up there singing, the audience was really into it too.  People were dancing too.  I guess that’s a good thing.  Just for kicks, I took my friends lighter and started waving it back and forth like at a real concert.  Later on, with some “encouragement” from my friends (probably peer pressure), I went up with them too.  Never went up on a stage like that before, but I guess it worked out.  Afterward, the others went to the largest club in Prague.  Apparently it has six floors.  I didn’t go though, because I really hate clubbing.

International Music Festival

While in Prague, the International Music Festival happened to be on and so we went there to check it out.  I wasn’t that excited for this, since I’m not exactly a fan of any of the music they played there.  What was cool was that the event people shipped a truck full of beer and hooked it up to all the beer taps.  It’s like a dump truck (but with a smaller container that didn’t spin) carrying beer being transported over water.

When we left the festival, we came across the weirdest demonstration of modern art.  Just looking at it confused the hell out of me.  It just made no sense.

Modern Art

There was an modern art exhibit that people could walk through.  We didn’t go in it, but as we walked past the exit, we looked inside and saw some pretty strange stuff.  There was a couple standing in a room with glass windows on all sides and all they did was hug each other.  They stayed in the same hugging position and didn’t move.  Another exhibit had a tent with white cloth draped all over it with someone inside dressed in a similar way (I didn’t notice at first until he/she started moving) and all he/she did was move around randomly inside.  It made no sense.

There was also this thing called a “Sleeping Box”.  I guess it works really well for people who want to block the sunlight while sleeping outside.  Or maybe it was part of the modern art thing.  I don’t know.  The weirdest part about it were people randomly walking around holding a copy of “The Great Gatsby” that had an iTouch/iPhone taped on one of the pages and walked around reciting lines from a play.  It just didn’t make any sense.

The National Museum

Since the modern art exhibit was close to the box office for tickets to the opera, we decided to see if there were any tickets available for that.  Unfortunately, all their tickets had sold out.  Instead, what we did was go to the National Museum to see a mini classical music concert.

The concert played music from famous composers such as Vivaldi, Bach and Mozart.  When I heard the sound of the violins playing, it sounded so nice as I heard the instruments themselves as well as the echo.  I really admired the skill that these people had in music.

Food

In addition to just visiting landmarks around the city, we also tried some of their cuisine.  For food, I got to try their pork knuckle and their goulash.  They also served more mainstream things like perogies and burgers.  The perogies and burgers don’t sound very Czech (maybe not the pork knuckle either), but it was still very delicious.

The menu said that the pork knuckle was only 250 grams, but when they served it to me it seemed more like a kilo of just pork.  Somehow, I ate all of it (except for the really fatty part).

We also went to another restaurant called the “Iron Curtain”.  It was set up using the most stereotypical communist way.  It was underground and in every hallway was some paraphernalia from the communist times.  They were items like propaganda posters, or really old motorbikes.  They even had busts of Stalin and Lenin.  The front cover of the menu even said we’d have a “propaganda experience” and indeed we did.  The item with the best name on the menu had to be the CCCP Burger, where CCCP stood for the “Classic Capitalist Cheeseburger Plate”.  Oh the irony.

The “Iron Curtain” had the best restaurant atmosphere I’ve ever seen.  We left them a generous tip and the waitress was very happy about that.

Drinks

Many know that Pilsner beer comes from the Czech Republic, so everywhere in Prague, people drank Pilsner.  They had lot of brands, but the two most common ones were Gambrinus and Pilsner Urquell.  Apparently, the original Budweiser, came from Czech Republic and not from America.

We also tried another drink called Absinthe.  It is highly alcoholic (45 – 74% ABV).  According to Wiki, it says “Absinthe has been portrayed as a dangerously addictive psychoactive drug” and so, many countries banned it (Canada included).  However, it isn’t proven that the drink is any more dangerous than other types of liquor.

We prepared it by lighting a mixture of sugar and absinthe on fire and then dunking that mixture in a glass of water.  By lighting the mixture on fire, the sugar would caramelize and the absinthe would lose some of its alcohol content.  Apparently, that is one of the mainstream preparation methods for the drink.

We drank it and depending on the concentration of sugar, the drink would either be too bitter or too sweet. I didn’t like it very much. We even tried it without the sugar. We just lit the absinthe on fire and had a flaming shot. That drink just burned as it went down. Someone mentioned that it was kind of like Bacardi 151.

Going Home

On the morning of the fourth day, we went back to Stuttgart.  On the whole, the trip wasn’t very expensive.  It only cost me about 200 euros with transportation and accommodations included.  We even ate out at a restaurant every night.  If I had a wallet at the time, it wouldn’t have hurt at all.

More photos here