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--- ires_journal5 [2018/07/08 17:20] – created yuhanghe
+++ ires_journal5 [2018/07/08 19:17] (current) – [New Korean] yuhanghe
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 **Author:** [[unlv_he|Yu Hang He]], Email: <hey6@unlv.nevada.edu>
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-**Date Last Modified:** 07/02/2018
+**Date Last Modified:** 07/09/2018
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-===== Week 4 =====
+===== Week 5 =====
 ==== Photos of the Week ====
-{{ :yuhang:ires2018:street.png |}}
+{{ :yuhang:ires2018:koreanbbq.jpg?500 |}}
-This week marks the start of raining season in South Korea. However, I was able to find some time on Friday afternoon to explore some parts of Daejeon City. I visited Euneungjeongi Sky Road, a popular tourist attraction in the downtown area of Daejeon. The ceiling of Euneungjeongi Sky Road is covered with LED display that will put on spectacular light show during night time. Unfortunately, the forecast predicted it will rain during evening, therefore, I did not stay until night time. Nevertheless, street is teeming with shops, stores, restaurants, cafes, and arcades. An fun and interesting place to explore.\\
+This week, members of the Hubo Lab invited me to a Korean BBQ restaurant. The occasion was planned for the celebration of three PHD candidates for successfully submitting their thesis papers. The entire Hubo Lab gathered together to celebrate the occasion. The lab members told me that the restaurant is very expensive and I noticed that each plate of beef cost around 10,000 to 15,000 won. Anyway, the meal was very delicious and I enjoyed the  conversations with Lab members. I am very grateful for their hospitality once again.\\
-{{ :yuhang:ires2018:daejeon.jpg?500 |}}
+{{ :yuhang:ires2018:italianrestaurant.jpg?500 |}}
-Despite Daejeon being a major city, you can find plenty of vegetation and parks around the city. I took a stroll through the Hanbat Arboretum and find it to be a perfect place for some relaxation. The arboretum is a beautiful park filled with variety of trees and plants. I even found a pond filled with water lily. The arboretum seems to be a popular destination for family gathering, couples, and elders.
+In addition to the BBQ, I was invited to an Italian restaurant with Hubo Lab members. The restaurant is called Melting Table and it is owned by the family of Hyoubin, a Hubo lab member. The meal was delicious and a nice change of pace from all the Korean food I ate so far. I would recommend others to visit this restaurant if they have the chance to visit Daejeon.
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 ==== New Korean ====
-{{ :yuhang:ires2018:new_korean.jpg?500 |}}
-My Korean teacher, who volunteered to teach me Korean, invited me to dinner twice this week. He will be leaving next week with a group of KAIST students for volunteering works in Uganda for 10 days. He invited me and his colleagues for dinner and I have the opportunity to meet them. Their name is Sui and Bura. All three of them worked at KAIST Internation Student Service before, so they all knew how to speak English pretty well. Sui also speak a little bit of Mandarin Chinese, so I talked with her in Chinese for a little bit. Bura told me that her name means purple in Korean and she currently worked in KAIST Cultural Technology department which is next to the Hubo Lab. It was great meeting and talking with them over dinner.
+This week, our Lab Manager, Dongbin, visited Leonard and me at KAIST. Dongbin introduced us to one of his underclassmen, who is currently working at Aerospace Engineering Lab at KAIST. He is currently working with the design of missiles. Dongbin and him shared many of their old story and memories with us.
-\\
 ==== Korean Cultural Insight ====
-During a meal at the cafeteria, I had a rather serious discussion with Seoungwoo, a member of Hubo Lab. Seoungwoo asked me about my future plans and I half jokingly relied that I want to find a job with high wages and become rich because money equals happiness. Seoungwoo questioned the statement that money equals happiness and replied that he is content and happy with his current job as a researcher. Of course, that is his personal opinion and it probably does not represent the view of most Koreans. However, I believe his argument provided some insight into the Korean Cultural, a peaceful and respectful culture that is vastly different from the competitive capitalism of United States.
+This week, I learned more about the hierarchy in the Korean social system and the resulting difference between Korean and US customs surprised me. Anyone visiting Korea should understand the importance of social hierarchy. Age is one of the most important factor in determining this hierarchy. Basically, younger individuals should always show respect towards their seniors. That is extremely important in workplace. If someone does not greet their seniors properly, it would earn him an unfavorable reputation in the workplace. Following this hierarchy, table manners and customs are also very important. Thankfully, foreigners are excluded from this hierarchy, nevertheless, it is still important to consider this hierarchy so as not to accidentally offend others.
 ==== What I Learned about Myself ====
-I missed the rain. The constant overcast sky, spontaneous downpour, and occasional thunderstorm this week reminded me how much I missed the rain. The region in China where I was born and lived for 12 years of my live have similar weather conditions as South Korea. It rarely rained in Las Vegas, therefore, I did not have the opportunity to reflect on this point before. However, now I am in South Korea, where the summer experience a raining season similar to my birthplace. I finally realized how much I missed rain.
+I learned that one of the biggest obstacle for my research process is my own stubbornness and inability to ask for help. One of the motto that I tried to guide myself is "work smarter not harder." However, I found myself often struggling with a problem and refuse to ask others for help. My mindset becomes entrapped inside a loop that keeps repeating "I can do it" to myself. More often than not, I will later find out that the problem I am struggling with have a known solution and there are others who could have helped me. I hope I can change this bad habit of mine.
 ==== Project Status ====
-{{ :yuhang:ires2018:mocap1.jpg?500 |}}
+{{ :yuhang:ires2018:matlabcode.png?500 |}}
-Last week, I learned how to use Vicon motion capture system from Hubo Lab member. At the start of this week, I sat up and calibrated 4 cameras for the mocap system and used them to capture myself performing some simple motions. I created 6 distinctive markers to track the position of my right shoulder, elbow, wrist, hip, knee, and foot.
+Last week, I captured myself performing some simple motions using Hubo Lab's Vicon motion capture system. Therefore, this week I focused my effort on trying to convert mocap data into Hubo 2 joint data.
-{{ :yuhang:ires2018:mocap2.jpg?500 |}}
-I recorded myself performing some simple motions like lifting arm, lifting leg, and extending arm. I learned how to use Vicon mocap system SDK to export the data points.
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+I decided to write my program in Matlab first because it is easier to test and visualize the result of my program. Matlab allows me to use linear algebra and visualize my results in plot and graphs, which would require third party library to implement in C++.
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-{{ :yuhang:ires2018:screenshot_from_2018-07-02_10-28-18.png?700 |}}
+{{ :yuhang:ires2018:filtereddata.png?500 |}}
-The next step would be to use inverse kinematic and kinematic mapping to transfer these motions into robot joint angles. With the help of Hubo Lab members and Hyun Lee, I was able to find some examples of inverse kinematic functions with Hubo 2. I am currently studying these functions and learning how to use them to accomplish my goal.
+The first step was to eliminate the difference between length of human arm and Hubo arm. I reduced the upper arm and forearm vectors in mocap data to unit vectors and multiply these vectors by the dimensions of Hubo arm. After plotting the data set, I noticed the noise and discontinuity in the data. I used filters to create a continuous slope and reduce the noise.
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-{{ :yuhang:ires2018:screenshot_from_2018-07-02_10-33-55.png?700 |}}
+Currently, I am working with the inverse kinematic function to transfer the filtered mocap data into joint position data for Hubo 2. I am still in the process of modifying the IK function to accomplish my specific need. I am also considering filter the joint data instead of vector data.
-Additionally, one Hubo Lab member asked me to collaborate with him on writing a tutorial on their wiki page for the process from installing Ubuntu OS and Xenomai to installing Choreonoid Simulator and writing a new PODO ALProgram. I will also upload the information to our wiki page once I am done with the process.