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Don't be
dismayed at goodbyes,
A farewell is necessary before
you can meet
again.
And meeting
again, after moments or
lifetimes, is certain for
those who are
friends.

- Richard Bach
Showing posts with label university. Show all posts
Showing posts with label university. Show all posts

Wednesday, July 13, 2011

Auf Wiedersehen

Wow. Last time I blogged here was over two months ago, and yet it feels like just yesterday I was waiting in anticipation for Tina's arrival.

Since then school got progressively busier and busier - assignments got harder and harder - and free time seemed to have disappeared completely. Any opportunity we had for a free evening was spent exploring, going out for dinners or catching up on homework. Every weekend was spent travelling and experiencing Europe to the fullest extent possible. So much so, that I have spent many hours stressing out about not having enough time to do the one thing I came here to do - study; but I couldn't pass up the opportunity to explore and travel and experience Europe, especially with Christina by my side.

So, let me reflect on what has happened since my last post. So many experiences were crammed in the last two months, it's hard to imagine it all really happened. First weekend after Tina's arrival we visited Köln, and checked out an underground anarchist party at Odonien. The next weekend we went to Berlin to check out the history, the fashion and the club scene. The weekend after that we went to München and Schwangau to check out the Hohenschwangau and Neuschwanstein castles. The week after that Tina was at a conference in London, so I caught up with her on the weekend and we checked out London's history, architecture, food, fashion and the DnB scene. The last weekend in June we went to a massive three-day rock concert called Rock am Ring at the Nürburgring. And the weekend after that, we squeezed in one more trip to a castle in Colmberg, where we stayed for a night, to get a first-hand experience of living in a German castle.

Meanwhile, school was getting busier and busier. I was trying to squeeze in homework whenever I could - in the mornings, in the evenings... on a plane, or on a train... in the sun, or in the rain... it was always such a pain. On top of everything, once July rolled around, I started another summer school course in Data Mining, which rendered my free time completely nonexistent. Summer school ran every day from 9am to 6pm, which left me completely burnt out and exhausted. My courses in Learning and Adaptivity and Mobile Robots were wrapping up, and exams were just around the corner. Between studying for exams, I was working on a project for the summer school course, which turned out to be quite fun (for anyone curious, I can give more insight, but basically we used some algorithms to determine the reading ease of tweets and charted them across time). Also, at least once a week during July there were summer events happening at the school, which was pretty much the only thing that kept us sane and entertained.

Last week in Bonn was exhausting. I had a presentation for the summer school project on Tuesday, an oral exam on Wednesday (which I've never done before), a written one on Thursday, and we were leaving Friday morning. Between all that I had to take care of running around to wrap up all the paperwork in Bonn - closing accounts, registrations and wrapping up with the dorm. It was all happening so fast, I hardly had a second to sit down and process what was going on. On Thursday we went out with our friends from Bonn as a farewell thing and got pretty drunk, so leaving on Friday morning was a bit difficult.

Once all our stuff was packed up, all my things taken down from the walls, all the furniture rearranged back into it's original configuration, it hit me - I'm leaving Bonn. I haven't really had any time to process what was going on, so when it happened, it hit me really hard - I'm gonna miss it... A LOT! I left the keys in the room, and as I shut the door behind me for the last time, I felt tears in my eyes. I had an amazing time in Germany - an experience like no other - and having to close that chapter of my life so soon after it began was incredibly sad. Although, come to think of it, I would have been sadder if I had stayed longer, because I grew attached. I fell in love with a different world - a different life - a different... everything, and having to say 'good bye' to it all was very difficult. Traveling around as a tourist, you come and go from places, and even though you love them, you're never really attached in any sort of way. But having spent four months there - having made a home and friends, having shared experiences, having learned and experienced so much... it was painful having to disassemble it all, pack it all up, and leave. I'm generally a social person, but it still takes me some time to find people I really gel with, and having found a group of really cool guys and gals, having broken the barrier (for the second time in my life) of being a foreigner, and made friends with some really amazing people, was making it that much harder to leave Bonn. Deep down inside I know I'll be back, as there is still so much to see in Germany - in Berlin, and Bavaria, and many other places that we didn't get to, but having built something for myself in this new, unfamiliar place, and having to pack it all up was a very new experience for me - and a very sad one.

Even the weekend of our leaving Bonn was an exceptionally busy one. On Friday we took a train to Frankfurt and flew into Amsterdam. Arriving in the early evening, we literally just had enough time to walk around downtown for a bit, and enjoy a meal and some dessert. On Saturday we were going to a party I've been looking forward to checking out for ages - Sensation White. Since the party started in the evening, we had a bit of time during the day to once again check out downtown, and even meet up with an old friend from Canada. Seeing a familiar face in a totally unfamiliar land was a refreshing change, and a very welcome one. We had a few drinks together, and afterwards headed off to our respective parties. Sensation was unbelievable, but came to an end much too soon, as at 6am we had to book out of the party, and back to the hotel to grab our things and be at the airport for 7. Then - Amsterdam to Frankfurt, and a few hours later Frankfurt to Heraklion, Creete, where we are now.

And so I'm setting up homebase here for the next month while taking a course in Computer Vision at the Foundation for Research & Technology - Hellas (FORTH). It's a totally different vibe here than in Bonn. Everything is much more relaxed, much more laid back, and obviously, the weather here is non-stop sun. Every day after school we go to the beach for a swim, and to just bum around on the beach. Every evening we indulge in a 3-hour dinner (as I said, everything here is veeery laid back… sometimes to a fault), and during the day, when it's way too hot to be outside, while everyone on the island has a siesta, I do some research and coding in OpenCV. That's the new thing I'm learning here in the realm of Computer Vision. So far, I've learned how to read images, check histograms, and compare them with each other, which allowed me to parse out a picture of us from Sensation into little blocks, compare the histograms of those little blocks to every single picture we took at the party, to find one that matches best, and build a picture out of those smaller images. It's not much, but it's research!!

Click for a better view

Friday, April 29, 2011

Microblogging 101

Today at school I learned that the guys in the RoboCup lab used to call me "that hipster from Canada" before they learned my name... can you believe it!?

I tried to debunk that status by showing them that my jeans are not tight, I do not wear Converse, and I have giant headphones not to look cool, but because I DJ, and I listen to... "Death Cab For Cutie", exclaimed one of the guys, giving me a sarcastic smile. "C'mon man", I rebutted, pointing to my Jimi Hendrix t-shirt, "I only listen to good music."

Wednesday, March 16, 2011

Back to the books

This week started off on an academic note, yet I wasn't really expecting to begin my studies until the 21st.

My Java class back in Toronto was writing a test, and so, of course, since I'm still enrolled in the course - I had to do the same. My professor at York agreed to email the test to my professor here, and once I finish writing it under supervision, that it would be faxed back for grading. Yay - lucky me. The Java isn't the problem - I just don't want to start studying again, just as I'm starting to get the hang of living. I finally have my kitchen in a functioning state, I'm getting to know the city, and the language - and just as I wish to be out more and start really diving into the German lifestyle - Java comes knocking on my door.

I've been on campus every day this week, hanging out at the RoboCup lab, trying to make friends with the robots (and some of the students as well), as well as really sink my teeth into something fun. Our first task last week was to install ROS (Robot Operating System) on our laptops, which I did with no problems. However, once the installation finished - there was no icon on my desktop - no new program added to the application list - nothing - it's just libraries and modules, and I didn't really know what to run and how to run it. So I asked one of the guys at the lab to show me if there's something I could poke around with.

I was sitting next to Johnny - the old robot in the lab - so when the guy came over to show me the ROS, he thought it would be a great idea to show me something practical - something hands on - something real. He grabbed the laser scanner that used to be Johnny's head (apparently this thing costs about 5k) and plugged it into my laptop USB. Punched in a few commands in the terminal and ...


... Fascinating.
A few more commands, and suddenly - an environment comes up on my screen showing me a 3D map of what the laser scanner is picking up. It's just dots to me now, but with some calibration and in-depth understanding, perhaps I could make some sense of all this. After he left me to play with it, I recorded a short video of me performing the same task - just to make sure that I could do it on my own:



... not bad for a robotics n00b.

After playing around aimlessly for a bit I came back to the guy and asked if there's something I could do a bit more practical. Sure I can go through the ROS manual page by page and start learning every little bit about every little module and every little application, and luckily enough, I'm sitting next to some pretty expensive hardware, so I could even play around with some of it - but I find learning more stimulating and engaging when I can actually make something worth while. I told the guy I want to contribute something to the team. When he asked me what is my research topic, I timidly explained to him that I'm not a Masters student, and that I'm only here for the summer term. That I used to be a web programmer (which in comparison to these guys, is probably at the bottom of the food chain), but that I'm eager and excited to learn something, and rather than me learning for the sake of learning - I'd like to learn and do research and by the end of the summer term leave them with at least some code that they could use for their project.

He nodded in acknowledgement and told me that we'd have to ask the team leaders, who just at that very moment were walking into the lab. He called them over, and in German quickly explained to them my situation. The team leaders' eyes lit up. "Really?!", they asked me. "You vant to help uz?!", one of them asked, rubbing his palms together. "Zupper!", he exclaimed, and the three of them rushed off to check their to-do lists. "Well, what are you interested in?", one of them asked. "Robots!", I replied with a smile. They laughed and continued flipping through their notebooks. After a minute or so, they came back with a great task for me. It's something none of them know how to do, and it's something that would be useful for the entire team and the entire project, yet doesn't require me to have too much background with robotics or the ROS.

There is a simulator that can be used to test the code and the robot without actually having physical access to it. It's called Gazebo, and it basically creates a 3D environment - kind of like in a video game. You can then test your robot in this environment before running the code on the real hardware. Just in case your code tells the robot to "kill" - you'll know it in the simulation before having to deal with a killer robot on the loose. Thus far, the team has been using a model of someone else's kitchen to run their tests, but would love to have an environment which represents their lab. They asked me if I would be interested in creating a model of this lab, which they would then be able to use to test their code. They could see if the robot can properly navigate from the lounge, to the kitchen, to the work area, etc., without having to run the robot and risk having it knocking over tables and chairs.

And so - my task is decided. I'm currently doing lots of reading and lots of research trying to figure out how to model this environment in Gazebo, and hopefully contribute something useful to the RoboCup team! ^___^

Thursday, March 10, 2011

Why did I come here again?

I have been on such a high being in a different place, experiencing new culture, new food, new language, that I have completely forgot the purpose of my trip. Yesterday, however, brought me back down to earth, as I had to meet with my professor at BRSU (Bonn-Rhein-Sieg University) who coordinates with my professor at YorkU, to help me pick out the courses I'll be taking here.

Our main concern was courses in English (as my Deutsch is still nicht sehr gut), and of course, courses for which I would get credits back at York. I have to be enrolled in 5 courses for the semester, and so far the courses we've selected are giving me goosebumps from excitement. Nothing is finalized yet, but I am so super-excited I just have to share this with you:

1. Operating Systems
2. Computer Vision
3. Autonomous Mobile Robots
4. Machine Learning and Adapting
5. Introductory German

I am so stoked, you guys have no idea. I'm giddy from excitement. Robots, you guys... ROBOTS!!! I'm gonna be working with robots!!! How they see; how they move; how they learn and adapt to their environments... EEEEeeeeeeeeeeee!! ^_____^

When I came home, I remembered that I'm still enrolled in one course at YorkU and had made an arrangement with the professor to continue the course from here. Since it's a Java programming course, and the professor actually knows some people at BRSU, he figured the programming assignments I could submit online, and any written tests could be proctored by someone here. So I checked the course website, and what do you know - I completely forgot that in Toronto, my class is just settling in at the lab to write a programming test. I emailed the professor with an update on my status and asked him how he was planning for me to write the assignment. He told me that it was no problem if I simply log into the system at York and do the assignment. Since it was all very last minute (and 11pm local time), there was no way he could get someone to monitor me, so I was on the honour system to not use the internet for help during the test. Honestly, though, it's Java, and you either know it - or you don't. Being a programmer for the last 10 years, it was no big deal, but having to switch gears so fast from being a tourist, to now sitting in front of my laptop writing Java code and sending it half-way around the world to be graded, was a bit of a buzzkill. Luckily I had ran out of cash earlier that day, so my usual routine of coming home and having a couple of beers was interrupted - good thing too - drinking and coding is a mess.

And now, I'm off to school again, for a very exciting meeting which I'll have to tell you all about when I come back.