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--- hament_eapsi_2017 [2017/08/07 01:42] – blakehament
+++ hament_eapsi_2017 [2017/08/07 04:38] (current) – blakehament
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-This photo shows ointment I got for a rash. I had an itchy rash that had been growing on my chest and back, so I decided to go to the KAIST medical center for treatment. I was impressed by the doctor who treated me, and the visit and medicine was $24 total. I had the same rash in America a few years ago, and the doctor I saw could not figure out what it was. It took months for it to disappear. The Korean dermatologist who treated me took a sample and used a microscope in her office to determine the exact cause of the rash and pre
+This photo shows ointment I got for a rash. I had an itchy rash that had been growing on my chest and back, so I decided to go to the KAIST medical center for treatment. I was impressed by the doctor who treated me, and the visit and medicine was $24 total. I had the same rash in America a few years ago, and the doctor I saw could not figure out what it was. It took months for it to disappear. The Korean dermatologist who treated me took a sample, immediately used a microscope in her office to determine the exact cause of the rash, and prescribed cream and body wash. Within a week the rash was gone!
 . New Korean, not from Hubo Lab, that you met: How did you or the person initiate the encounter, what made the encounter challenging or easy, and how did it help you?
+I had a short conversation with an auntie who works cleaning the dorms. I could only understand a few words she spoke, but she mimed to talk about the kitchen and food.
 . What new cultural insight about Korea did you learn this week?
+I learned that most older women in Korean see themselves as everyones' mom or auntie. They are super friendly and always seem to be trying to help.
 . What did you learn about yourself?
+I learned that taking care of the basics helps me be most productive and friendly. Simple things like food and sleep can be the difference between my best and worst self.
 . What is the status of your technical projects and what skills did you learn?
+I have been using the Point Cloud Library (PCL) to filter and segment point clouds. There are some helpful tutorials and I am adapting them with Dylan. Learning the minutia of point cloud processing is helping me to understand which parts of the footstep planning pipeline are most important.
 ====== Week 8 ======
 . Photo of the week: What impressed you to take, select and write about this photo?
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+It was very hard to get access to hardware this summer. This week I finally had the opportunity to run some tests with a DRC Hubo... and its ankle broke right before I got access. It took several days for Hubo Lab members to fix it. I helped some with holding tools and bolts, but even the experienced lab members were mystified by the malfunction and had to run many tests to debug. In the end I was able to gather some data for an afternoon at the end of the week.
 . New Korean, not from Hubo Lab, that you met: How did you or the person initiate the encounter, what made the encounter challenging or easy, and how did it help you?
+I was approached by a Korean man who spoke very good English. He asked me some questions about my tattoos. He said he was interested in practicing his English. We chatted for a bit longer about life in America versus life in Korea.
 . What new cultural insight about Korea did you learn this week?
+This week I learned more about the military service required of men in Korea. Some of the lab members are satisfying their military service by doing academic research. Others hope to go to America to defer their service. I see many men traveling on public transportation in fatigues, I believe they are traveling to or from their military assignments.
 . What did you learn about yourself?
+At this point in the summer it is cool to look back and see how fast the summer has gone. I really missed home at many points in the summer, but time has flown and I will be returning home very soon.
 . What is the status of your technical projects and what skills did you learn?
+This week I began integrating the different point cloud projects and research I have worked on over the summer. I mounted a Kinect on DRC Hubo and captured and registered point clouds on uneven terrain using RTAB-Map. I took the master point cloud from the terrain scans, filtered noise, and segmented out planes for walking using PCL functions. I also began working on adapting the the DRC Hubo Gazebo simulation to use a virtual Kinect sensor.
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 . Photo of the week: What impressed you to take, select and write about this photo?
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+The picture shows Dylan and my farewell dinner with Dr. Jun Ho Oh and the rest of Hubo Lab. They were very hospitable, and I am very honored to have had the experience to learn from them this summer.
 . New Korean, not from Hubo Lab, that you met: How did you or the person initiate the encounter, what made the encounter challenging or easy, and how did it help you?
+I met a business student in the KAIST cafeteria. We talked about the new sanctions against North Korea, and what Donald Trump means for America. It is interesting to hear that most South Koreans hope to be reunited with North Korea in their lifetimes. They do not want to give up the freedom and development they have in their democracy, but they do see North Koreans as their family.
 . What new cultural insight about Korea did you learn this week?
+I learned that every dinner should end with rice or noodles. Even 10+ side dishes and servings of meat are considered appetizers, and the main course is rice or noodles.
 . What did you learn about yourself?
+I am proud of my flexibility and perseverance during the summer. I had to work hard to develop relationships with lab members in order to gain access to information and equipment necessary for my research. I pursued several research leads before I found a project I felt would be productive. Many times I was told by lab members that my intended approach would not work, but I asked questions and responded with research when I felt they were wrong. In the end I added to DRC Hubo's footstep planning pipeline, and I accomplished several contributions that I was initially told would not work.
 . What is the status of your technical projects and what skills did you learn?
+This week I proposed changes to the DRC footstep planning pipeline that would make footstep planning faster and more accurate. I also presented an updated simulator that includes a virtual kinect and a random debris generator. This can be used to develop a new footstep planning algorithm that is more robust than the current algo.