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--- santiago_log [2016/08/16 04:51] – santiagoricoy
+++ santiago_log [2016/08/23 13:34] (current) – santiagoricoy
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 {{:ricoykaist:huboimotor.jpg?500}}
-We're learning at a decent pace how to use Hubo and I've found quite a few changes I'd like to make to the manual. Lately we've worked on how to check a motor driver for errors, change parameters, select, and move motors.
+We're learning at a decent pace how to use Hubo and I've found quite a few changes I'd like to make to the manual; that seems to be a lot of English stuff and correction of charts within it. For example, our motor drivers work on a separate number system apart from what is used in PODO. So, say you're sending a command to the motor without first entering the Daemon. The command could do nothing, or it could move the wrong joint, and that would be awful.
-We'll be updating parts of the Hubo manual because we found some limits to what we can actually change on the driver board. Other than that, I finally get to exercise some of my grammar and spelling stickler skills on the PDF editing software.
+The last thing we worked on was how to check a motor driver for errors, change parameters, select, and move motors.
+We'll also be updating parts of the Hubo manual because we found some limits to what we can actually change on the driver board. Specifically, we have a number limit as to what we can assign the name of our motor board. Also if we set the wrong motor channel on a board it will freeze. It is easily reset but during joint setup it could potentially absorb a lot of time.
+Other than that, I finally get to exercise some of my grammar and spelling stickler skills on the PDF editing software.
 .) **Photo of the week**:
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 {{:ricoykaist:lostindaejeon.jpg?500}}
-I can be a little too adventurous sometimes. Although the risks are calculated, it can be concerning. I had decided to go from our dormitory to a local store, Home Plus, on my own. I got hopelessly lost trying to get myself there. About 7 miles of walking and 6 hours later, I finally figured out how to get to the store and then home. That accelerated my language learning quite a bit. Of course, this was a choice, because taxis are pretty cheap, and I could have accessed the internet at any time, but still, I know few others that would have gone on the same adventure alone.
+I can be a little too adventurous sometimes. Although the risks are calculated, it can be concerning. I had decided to go from our dormitory to a local store, Home Plus, on my own. I got hopelessly lost trying to get myself there. About 7 miles (probably much more looking at it on the map) of walking and 6 hours later, I finally figured out how to get to the store and then home. That accelerated my language learning quite a bit. Of course, this was a choice, because taxis are pretty cheap, and I could have accessed the internet at any time, but still, I know few others that would have gone on the same adventure alone.
 .) **New (Korean) person(s) I met this week**:
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 {{:ricoykaist:labmateskaist.jpg?500}}
-I met my new labmates. We actually went out with a few of them this week to experience a bit of Daejeon nightlife. It was really fun, and I learned a lot from the experience. I think we're all going to get along just fine, as our lab culture, surprisingly, is much the same a lot of the time as DASL.
+I met my new labmates. We actually went out with a few of them this week to experience a bit of Daejeon nightlife. It was really fun, and I learned a lot from the experience; for example what social pressures exist in a bar atmosphere. I think we're all going to get along just fine, as our lab culture, surprisingly, is much the same a lot of the time as DASL.
 Notes: I should give a few recommendations if you plan to take a visit and don't want to be a complete tourist everywhere you go. So my recommendation this week is to learn to read, write, and pronounce the Korean alphabet, a.k.a. Hangul. This is a very easy system to learn and you can do it in about an hour. Check out a good place to start [[http://www.ryanestrada.com/learntoreadkoreanin15minutes/|HERE]].
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 This is tough because of the sheer number of things I've had to learn. For this week, I'll go with the personalist mindset in Korea, with some help from a book I found outside the cafe in W2-1 (a building at KAIST) called __Insight Into Korea__, which I hear is a series. This is indeed something to get used to and you won't realize it until you're here for more than a week because everyone is so nice. There is much more to it than that though.
-Within Korea, to break it down quite simply, you ARE your circle of friends, and you're obligated to connect your groups to most of your actions. "Minding your own business" is not the same here. This is normal among friends; counseling exists but it would be odd for a person not to seek help among their friends first. Especially among friends (perhaps at parties it's a little scary) your personal space is a figment of your imagination. I've been on several excursions so far. I've gotten lost, had great experiences, and some...interesting. For a few of these I went alone (well, before meeting new people) and upon talking to labmates and other friends about it, one of the most common questions I get is "why did you go alone?" Not as frequent as "were there cute girls?" but still.
+Within Korea, to break it down quite simply, you ARE your circle of friends, and you're obligated to connect your groups to most of your actions. "Minding your own business" is not the same here. This is normal among friends; counseling exists but it would be odd for a person not to seek help among their friends first. Especially among friends (perhaps at parties it's a little scary) your personal space is a figment of your imagination. I've been on several excursions so far. I've gotten lost, had great experiences, and some...interesting. For a few of these I went alone (well, before meeting new people) and upon talking to labmates and other friends about it, one of the most common questions I get is "why did you go alone?"
 This will become normal and I'll bet most Americans coming here will enjoy the change of pace. It makes all your relationships feel more substantial. People really care about their friends and family. Expect to (on occasion) find the opposite with strangers on the bus or subway though. If you're not part of someone's circle, there's much less concern for your well-being. Foreigners, however, sometimes get a break for not being Korean and I often get hordes of people just trying to give me directions when I'm lost.
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 {{:ricoykaist:hubo2leg.jpg?nolink&500}}
-Progress, while not quite up to the pace I'd like, is going quite well. The manual editing for the first revision is finished, we're waiting for feedback, and we're now working with Gazebo, the robotics simulation. The next step seems to be actual operation of the Hubo robot, but for now Keitaro and I are working on getting the Gazebo software to run normally on our laptops.
+Progress, while not quite up to the pace I'd like, is going quite well. The manual editing for the first revision is finished, we're waiting for feedback, and we're now working with Gazebo, the robotics simulation. Or rather, Keitaro has gotten it working, but it seems doing your own things through PODO isn't as simple as it sounds.
+The next step seems to be actual operation of the Hubo robot, but for now Keitaro and I are working on getting the Gazebo software to run normally on our laptops. It seems like that actually isn't as easy as it seems, because a smooth installation of the software is not nearly what one would hope it would be. Because of this, it seems best not to try on my laptop because it is slow by 2014 standards.
 I'm also looking into the gear ratios and harmonic drives on Hubo 2, because I'm betting that eventually I'll have to repair them.
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 {{:ricoykaist:hyundailoadcell.jpg?nolink&500|}}
-We are being taught PODO (the operating software for DRC-Hubo). Podo means "grape bunch" in Korean; it's an odd word that doesn't work the same in English. The name Podo is named as such because "Al" means grape in Korean, and the programs we integrate are called "Al"s. Everything goes through the shared memory, thus the name is actually a description of the way the software is built.
+Note: I was totally right. The harmonics will definitely not break normally, but they can be accidentally disassembled and, though very rarely, do pop out of place.
-I've expanded the DRC-Hubo manual after receiving feedback and my laptop lacks the grunt to work with the Gazebo simulator, so I will use a PC in the lab to learn the ropes quicker.
+We are being taught PODO (the operating software for DRC-Hubo). Podo means "grape bunch" in Korean; it's an odd word that doesn't work the same in English. The name Podo is named as such because "Podo al" means grape in Korean, and the programs we integrate are called "Al"s. Everything goes through the shared memory, thus the name is actually a description of the way the software is built. What I'd like to expand on is the actual integration of PODO with other things.
-That has left me with a solid amount of extra time the past few days so I've just been helping with prototype testing and other things like that. There's this large load cell being developed for Hyundai in the lab and I find the calibration process very interesting.
+I've expanded the DRC-Hubo manual after receiving feedback. Meanwhile my laptop lacks the grunt to work with the Gazebo simulator, so I will use a PC in the lab to learn the ropes quicker; though //when// I'll have access to it is a different story; could be tomorrow, could be never. I kinda got a confusing answer.
+That has left me with a little extra time the past few days so I've just been helping with prototype testing and other things like that. There's this large load cell being developed for Hyundai (part of the company that produces the DRC-Hubo robot, Rainbow, is across the hall). I get to see this and I find the calibration process very interesting.
+We use large bars attached to the load cell and use a hydraulic jack to generate specific pressure at a measured distance away from the load cell. As that happens we record the load cell's raw output at that point. At some point that data will be used to calibrate the readout to give units instead of whatever it is giving now.
+I imagine this is essentially working like a giant force-torque sensor, like those in the wrists and ankles of DRC-Hubo and Hubo 2.
 .) **Photo of the week**:
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 This is a photo of the Hanbat (한밭) baseball stadium in the Daejeon Sports Complex. I was at a baseball game between the Hanwha Eagles and the Samsung Lions. The Hanwha Eagles are Daejeon's baseball team and their primary color is orange. At this baseball game, and I suppose most Korean baseball games, you should buy these inflatable noodle things that you can hit together for noise instead of clapping. They also sell ice cream, fried chicken, and beer in addition to many other Korean dishes and snacks. There is no salesman walking around selling things at these games, as the stands are pretty packed. However, the seats are much cheaper in comparison to the United States, where similar seats to mine would be 30 dollars. These were around 12 dollars. Oh, and in case you're wondering, we tied that night, but won the next day.
-Trust me on this: Korean baseball games are amazing compared to back home. There are "excitement zone" seats (which were sold out for us, but looked fun) where there is some kind of stage for different activities. The Eagles had cheerleaders, games with a host, mascots running around, banners flying over the fans, and of course the antics the fans engage in all displayed on the jumbotron. Where in the states you'd probably witness a fight or two with all the excitement, I spotted about zero altercations, and at least twice the maximum excitement a game in the U.S. would have, but throughout the whole game. When one of the home players is walked by the pitcher, the crowd goes wild. When a home team player scores a run, I have absolutely no reference to convey the crowd's excitement. Each player has their own song, and I don't mean the player's favorite song gets played on the sound system. I mean people know and sing a different theme song for each player! One problem about Korean baseball games, is that it's impossible for a foreigner with no alien registration number to buy tickets; thus we must rely on a Korean friend to purchase tickets for us. However, if you DO get the chance, I really recommend splurging on good seats in the excitement zone, because the sea of orange (or whatever the home team's color is) is mind-blowing.
+Trust me on this: Korean baseball games are amazing compared to back home. There are "excitement zone" seats (which were sold out for us, but looked fun) where there is some kind of stage for different activities. The Eagles had cheerleaders, games with a host, mascots running around, banners flying over the fans, and of course the antics the fans engage in all displayed on the jumbotron.
 .) **What I'm learning about myself**:
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 {{:ricoykaist:pretty_cakes.jpg?nolink&500}} <fs x-small>Delicious cakes from Real Cake.</fs>
-I've learned this week that Korea is a very homogeneous country. Things I've already written show this clearly, but what I'm trying to convey is what you notice once this is recognized. In America, it's different. People from all over the world have immigrated there in large numbers, mixing with all the diverse people already in the states, with different religions, clothing styles, skin color, values, sexual orientation, etc.. You name it, someone is doing it differently in America. In Korea, of course my lack of exposure contributes to my opinion, but it feels as if every individual is assumed or even expected to be more or less the same as the next person. There is a divide among socioeconomic statuses, but beyond these, one might even say it's demographically true.
+I've learned this week that Korea is a very homogeneous country. Things I've already written show this clearly, but what I'm trying to convey is what you notice once this is recognized. In America, it's different. People from all over the world have immigrated there in large numbers, mixing with all the diverse people already in the states, with different religions, clothing styles, skin color, values, sexual orientation, etc.. You name it, someone is doing it differently in America. In Korea, of course my lack of exposure contributes to my opinion, but it feels as if every individual is assumed or even expected to be more or less the same as the next person. There is a divide among socioeconomic statuses, but beyond these, one might even say it's demographically true. It's not a bad thing. Cool stuff like National Health Insurance and other things come from this. But my friend often says Korea's culture can't seem to create a whole lot of Steve Jobs-like people.
-I have heard complaints though. The primary school system here runs 7 days a week, with studies often lasting from 9am to 9pm, and more or less the learning style fits that of high school in America. By that, I mean how the same format of a problem is shown a few hundred times, and on the test the same format will be tested; I'm aggressively simplifying here, but it explains why the first instinct for our Korean interns last year was to learn new concepts by brute force. In Korea though, with essentially double the time, and an order of magnitude more societal pressure (a topic of its own), that makes Korea the best educated country in the world. With a greater than 99% literacy rate (not to mention that this is in Korean and English), it's very impressive. My friend tells me that this creates a bit of a problem, at least from what he's observed. He says that instead of creating numerous smart people, the system generates millions of very studious and well-educated people. That doesn't sound bad, but he summed it up by saying that in Korea, one does not often find the likes of Steve Jobs, bell hooks, Elon Musk, and other, well,  people. "The squeaky wheel gets the oil" often becomes "the nail that sticks up is hammered down" in Korea.
-The mindset more or less extends to other concepts though, like people in other countries. Yes, it is recognized that America is very diverse, but in Korea, I'm an American; a typical, standard-American-English speaking, liberty loving, rebellious (UNLV!) American. When a Korean speaks of another American friend they have, they say just that. Not a black, brown, white, or otherwise friend, but an American friend, regardless of their origins. Meanwhile, in America, I am a Latin American, or more commonly, Mexican-American, or even more commonly, just Mexican. Even though I was born in, and spent the majority of my life in America, I am first considered different; often this isn't to my advantage. So in that aspect, the homogeneity can be very inclusive and it's certainly a positive thing when it comes to joining new circles of people. Other things I theorize are affected positively are the national health insurance policy, and the availability of transportation. It certainly is something to get used to here.
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 {{:ricoykaist:3toproject.jpg?nolink&500}} <fs small>Sometimes we need a LOT of help.</fs>
-Well, we're moving onto using sensors through PODO and the implications of combining them with motors. Programming the ALs is completely mystifying me and Keitaro sometimes. Luckily, we have Dr. Lim available to help us get through each time we're stuck. It's frustrating though, because we're not moving nearly fast enough. We're a week behind (well, in my head we are, in reality it's a couple days). It isn't that the project isn't coming together (we have motor driver homework), it's that we don't know WHY it's coming together, which, as you know, is usually the point of laboratory work.
+Well, we're moving onto using sensors through PODO and the implications of combining them with motors. Programming the ALs is completely mystifying me and Keitaro sometimes. Luckily, we have Dr. Lim available to help us get through each time we're stuck. Well, most of the time.
+It's frustrating though, because we're not moving nearly fast enough. We're a week behind (well, that's what it feels like, in reality it's a couple days; I don't like waiting). It isn't that the project isn't coming together (we have motor driver homework), it's that we don't know WHY it's coming together, which, as you might guess, is usually the point of laboratory work.
+So what we have been shown is how to work within the ALTutorial, how to access it, and how PODO is set up. Sometimes what seems perfectly logical is the worst way to do things. Sometimes that idea is flipped. I'm just trying to get to the point where I can actually explain things right now. I'd rather be really late than completely clueless.
 .) Photo of the week:
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 Above is a picture of the study materials and 팟빙수 (pronounced "pot bing soo" and it is fantastic stuff) I had with my friend Esmerelda, who prefers that her picture not be on the web. We got acquainted at a meetup in Dunsan-dong (둔산동) called Stammtish (I recommend finding it on Facebook). Since then, we've hung out while discussing a TED talk, visiting a salsa dancing class, struggling to get the taxi to the right place, and of course, Korean lessons.
-I enjoy her style of teaching because it is extremely fast-paced, allowing me to hear about important details that many Korean classes won't touch on very early. Basically, it consists of her breaking down all the key words and concepts that I'll need in order to understand this short children's story, Little Red Riding Hood. What's also interesting is that Esmerelda is from Korea, but spent considerable amounts of time in Canada and China, among other trips, giving her complete fluency in English, Chinese, and Korean. This gives her the ability to understand exactly where I'm struggling and give English equivalents to the sentences I'm working through, along with the Chinese origin of many Korean words. Perhaps my favorite sentence is the second one in the story because I was completely lost, but after about 30 seconds of explanation, I could suddenly read it. All the details of why though, are really really confusing. I'll write it down below with the most direct translation I can manage. Why? Because I can.
+I enjoy her style of teaching because it is extremely fast-paced, allowing me to hear about important details that many Korean classes won't touch on very early. Basically, it consists of her breaking down all the key words and concepts that I'll need in order to understand this short children's story, Little Red Riding Hood. What's also interesting is that Esmerelda is from Korea, but spent considerable amounts of time in Canada and China, among other trips, giving her complete fluency in English, Chinese, and Korean. This gives her the ability to understand exactly where I'm struggling and give English equivalents to the sentences I'm working through, along with the Chinese origin of many Korean words.
-Original: 하지만 그 소녀를 가장 사랑하는 것은 그녀의 할머니였습니다
-Most Direct Translation: But, whom the girl was loved by the most, was the girl's grandmother.
 **Notes**:
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 Well, once you get used to living in some place different, it's funny just how much becomes normal to you. Even being introduced to new things becomes normal to you, at least in my experience.
-In any case, I've learned this week that Korea is incredibly safe. That is to say that violent crime and thievery are so uncommon that the response I got when asking about it was "well it happens more in other cities". I don't mean that people are never exposed to danger, but the necessity to watch out for our own safety is much less in this country. For example, I found myself entering a dark alley at around midnight when a tall man's silhouette appeared at the other end holding some long object. At that point, naturally, I kept walking and as the alley was fairly narrow, and I stayed to the right so that we could pass each other easily. Standing at a crosswalk one minute later though, it occurred to me that if I had seen the same thing back in America, I may have just gone around the adjacent building, or at least clutched my bag very tightly. Our actual physical safety is also increased significantly by the gun regulation in Korea, which relieves a lot of worry around strangers (for me at least). A very small number of civilians (I say this specifically, because all Korean males have to go through military training where they use firearms) can own guns, mostly for hunting or other specific uses, like Olympic games involving guns.
+In any case, I've learned this week that Korea is incredibly safe. That is to say that violent crime and thievery are so uncommon that the response I got when asking about it was "well it happens more in other cities". I don't mean that people are never exposed to danger, but the necessity to watch out for our own safety is much less in this country.
-Furthermore, I feel there is so much more care for our fellow civilian in Korea. Population density is such that if you ever did meet someone that intended to cause you harm, I don't think that you'd have much of an issue. That said, it's also just assumed that there is no malicious intent from anyone. Only recently have I recognized my adoption of certain behaviors. Not to my recollection has any native Korean asked me to watch their things while they head to the bathroom or something; they just leave. So now I've gotten used to leaving my bags, phone, notebooks, laptop, what have you, just sitting there until I return. Just this weekend I got some weird looks because I was dumbfounded and staring at what appeared to be an entire family's luggage just stacked next to a column in the subway station, I assume so they didn't have to lug it around as they went shopping.
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 {{:ricoykaist:pieces_of_jamie.jpg?nolink&500}} <fs x-small>Look how happy Jaemi is!</fs>
-We've moved on to upgrading Jaemi Hubo and will set up our own computers to utilize with the robot back home. I find disassembling (what we've been able to do so far) Jaemi really fun actually, because I have only worked on specific sections before, thus I only assumed how others work. It turns out I've been wrong.  Soon we'll have new parts for Jaemi and we'll beging reassembling with them to get her back up to speed. Our next steps are to finish the "Hello Worlds" for DRC-Hubo to essentially have a solid crash coure on PODO and the DRC-Hubo platform.
+We've moved on to upgrading Jaemi Hubo and will learn to set up computers so that we can utilize that knowledge with the robot back home. I find disassembling (what we've been able to do so far) Jaemi really fun actually, because I have only worked on specific sections before, thus I only assumed how other parts work. It turns out I've been wrong.
+Soon we'll have new parts for Jaemi and we'll begin reassembling with them to get her back up to speed. I was told that it isn't a short process though. Regardless of how many times the lab members have done it, there is always some new issue (science).
+Our next steps are to finish the "Hello Worlds" for DRC-Hubo to essentially have a solid crash coure on PODO and the DRC-Hubo platform. Let's hope that goes by a little more smoothly than some other things...
 Note: Harmonic drives are frustrating to get back together, so we ought not to take them apart completely.
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 Well this week I'm finding that I often focus only on the objective and lose the wonder. It isn't by dreaming conservatively and realistically that we create the technology of the future, and I think that's incredibly important to remember. My experiences here have reignited that flame to aim high and not give up.
-Each of the lab members has a different story, but every single one of them has a dream, some are pretty lofty, and they're all right on track to get there. Even outside of the lab I've met people that constantly make me challenge myself to do more. It's amazing how much just being someplace can change you.
+Each of the lab members has a different story, but every single one of them has a dream, some are pretty lofty, and they're all right on track to get there. Even outside of the lab I've met people that constantly make me challenge myself to do more. It's amazing how much just being some place can change you.
 .) **New person/people (Korean) I met this week**:
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 {{:ricoykaist:allenkeyjaemi.jpg?nolink&500}}
-We're in the middle of our "Hubo quick-start" tutorials right now. They should be done in a week or so. Putting Jaemi back together will continue on Thursday of this upcoming week. Though a very simple task, that is a bit nice because now when people ask if I built it, I can at least answer somewhat in the affirmative.
+We're in the middle of our "Hubo quick-start" tutorials right now. They should be done in a week or so. I'm going to regret saying "should" in about a week. Putting Jaemi back together will continue on Thursday of this upcoming week. That's what I was told.
-Getting to test our motions on the actual DRC-Hubo robot may not happen as quickly because it is always being used or worked on, but I don't think that will be much of a problem, because we've got to get the simulations to run anyway.
+Though a very simple task based on just following directions, that is a bit nice because now when people ask if I built it, I can at least answer somewhat in the affirmative.
-Being exposed to a solid application of C++ programming is very exciting for me, as I've used the language in the past, but never had to actually understand what was going on. So this is tons of fun each day.
+Getting to test our motions on the actual DRC-Hubo robot may not happen as quickly because it is always being used or worked on, but I don't think that will be much of a problem, because we've got to get the simulations to run anyway. With that
+Being exposed to a solid application of C++ programming is very exciting for me, as I've used the language in the past, but never had to actually understand what was going on. So this is tons of fun each day. I've learned how to use so much and I'd say I understand what's going on too.
+Pointers used to mystify me, but how exactly everything is working is beginning to make sense. There are some parts of programming that still poses a problem, but it only seems to arise because I lack some computer science experience and can't understand some of the inner workings of PODO. For example, timing, and how exactly the speed of the loops are regulated. You would think that would be easy. It sounds like a lot of simple division and iterations. It isn't. Xenomai is part of what makes the whole thing work and that I definitely don't understand.
+I think that just points out the value of specialization. The people working on Xenomai aren't doing robotics (I think), but they sure support a lot of it. With that said, I may not be at a high level of proficiency on this topic, but I'm learning how to learn. So is Keitaro. I'd say that's far more useful.
 .) **Photo of the week**:
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 {{:ricoykaist:aquafest.jpg?nolink&500}}
-Well, this is the water festival in Jangheung a.k.a. The Jangheung Aqua Festival. I hear there was also a water festival held in Seoul, but if that was any more fun than this one I would probably have died.
+Well, this is the water festival in Jangheung a.k.a. The Jangheung Aqua Festival. I hear there was also a water festival held in Seoul, but if that was any more fun than this one I would probably have died. I say that coming from living in Las Vegas. I didn't think 24 hours could ever hold so much excitement for me.
 .) **What I'm learning about myself**:
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 {{:ricoykaist:o_world.jpg?nolink&500}} <fs x-small>You don't understand; there were a LOT of lights.</fs>
-This is a photo from O-World in Daejeon (an hour bus ride from KAIST). Trust me, you can absolutely work over the weekend and still have fun at night.
+This is a photo from O-World in Daejeon (an hour bus ride from KAIST). Trust me, you can absolutely work over the weekend and still have fun Saturday night.
 O-World is part zoo, part "safari", part garden, and it has a few rides too. There's a basic ticket that gets you to the zoo, and a more expensive ticket that gets you into the safari and some rides. I went with a labmate, Uiuk, because I have a friend that works there on the weekends. When I was there they happened to be doing this event called Lumiere, where at night the whole park is covered in lights. On top of that there is a water fountain show, a fireworks show, and performances in the middle of "Flower Land", the garden section of the park covered in flowers. For about 12,000 won, I had a pretty good time for a night with a basic ticket.
+On that note, if you want to don't ever want to leave Daejeon, that is totally fine. There's plenty to do here. I just like the challenge of new surroundings without a map.
 .) **What I'm learning about myself**:
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 {{:ricoykaist:yellowwatermelon.jpg?nolink&500}} <fs x-small>Did you know there's yellow watermelon?</fs>
-I really am starting to find that point where I can just get completely absorbed by and flow through whatever work I need to do. That feeling is best described as the "hum" by Shonda Rhimes. I've been wondering about this for a few weeks, since a meetup I enjoy attending, Daejeon TED and Red, watched her TED talk for our discussion topic (you can watch that [[https://www.ted.com/talks/shonda_rhimes_my_year_of_saying_yes_to_everything?language=en|HERE]]). Every person in HuboLab has that hum. They'll just sit and work on something from morning to late night and repeat it. It's something I've found a lot of people have. They can just sit down, focus and keep working for hours, but it doesn't wear them out. I'll try not to spoil the good parts of the talk, but it seems the secret is accepting what gives you joy in your life.
+I really am starting to find that point where I can just get completely absorbed by and flow through whatever work I need to do. That feeling is best described as the "hum" by Shonda Rhimes. I've been wondering about this for a few weeks, since a meetup I enjoy attending, Daejeon TED and Red, watched her TED talk for our discussion topic (you can watch that [[https://www.ted.com/talks/shonda_rhimes_my_year_of_saying_yes_to_everything?language=en|HERE]]). Every person in HuboLab has that hum. They'll just sit and work on something from morning to late night and repeat it; not all the time but more than I can do. It's something I've found a lot of people have. They can just sit down, focus and keep working for hours, but it doesn't wear them out. I'll try not to spoil the good parts of the talk, but it seems the secret is accepting what gives you joy in your life.
-For me it has always been brute force to stay focused and work on just one thing, unless it was extremely interesting. However, I think I'm getting to a point where it's no longer me just staring at something until my mind is forced to find meaning in it. While here, I've figured out a lot about what I want, why I do my work, and what makes me happy. While pursuing those things, work is becoming more fluid, and more streamlined. I think I've finally found a hum of my own, and I think that leads to the best and most efficient kind of work.
+For me it has always been brute force to stay focused and work on just one thing, unless it was extremely interesting (and even if it is). You have to understand; I'm often doing in the lab EXACTLY what I wanted to do. However, I think I'm getting to a point where it's no longer me just staring at something until my mind is forced to find meaning in it. While here, I've figured out a lot about what I want, why I do my work, and what makes me happy. While pursuing those things, work is becoming more fluid, and more streamlined. I think I've finally found a hum of my own, and I think that leads to the best and most efficient kind of work.
 .) **New Korean person(s) I met this week**:
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 I learned that there are expected trends in populations growth that are affecting government policy now. The birth rate is quite low when considering trends in life expectancy and the percentage of elderly people expected in the future population. Something around 40% of the population in 2060 is predicted to be aged 65 or older.
-Numbers aside, the government has taken notice and I was told that the push to bring foreign workers and scholars into South Korea is actually part of the response to the predicted trends. Elementary schools at the moment are dealing with 30 children or more per classroom in the city, but in more affected (generally rural) areas the schools are holding 100 children total. Sometimes it's much less than that, as ridiculously low as 10. The birth rate has dropped so severely that some expatriates I've met that teach English to children are considering what they will do in coming years when their class sizes suddenly drop.
+Numbers aside, the government has taken notice and I was told that the push to bring foreign workers and scholars into South Korea is actually part of the response to the predicted trends. Elementary schools at the moment are dealing with 30 children or more per classroom in the city, but in more affected (generally rural) areas the schools are holding 100 children total. Sometimes it's much less than that, as ridiculously low as 10. The birth rate has dropped so severely that some expatriates I've met that teach English to children are considering what they will do in coming years when their class sizes suddenly drop and people are fired.
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 Jaemi's fate is looking quite grim, and we're likely going to have the robot shipped to us once completed. The problem with that isn't actually the hardware. What I was really looking forward to was all the other setup required for walking or otherwise. I understand that I can learn it after, but here we have all the experts available to explain everything that's going on and sometimes that's the difference between getting something to happen, and knowing what you're doing.
+Sure Korea is fun, but I'm really going to miss this lab. There's just so much to do that I wonder how anyone looks at these tasks and says "okay that's possible".
 .) **Photo of the week**:
 This is a (terrible) photo of a spider at the Hwaam dormitories. There is nothing special about this spider, except that it's about the size of my thumb. I'm not too keen on spiders to be honest. I really dislike them, but unfortunately for me, in Korea, they're everywhere. You'll often see webs with strands that stretch 5 feet or more and when walking down sidewalks lined with trees, definitely expect to suddenly walk into one. If it's any consolation, my Australian friends told me it's WAY worse in Australia.
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 I learned just how uncultured I am, or rather, how cultured I might be becoming.
-So, I was watching a movie with a Korean friend once, and it just so happened to be in English. That means the subtitles were in Korean. In the movie was a scene where all of the characters begin speaking in Chinese, but the subtitles were still in Korean. So I naturally began reading the subtitles, not with perfect comprehension, but enough to know exactly what was going on. It wasn't until afterwards when my friend asked if I understood, did I realize what I had actually done. I'd just understood Chinese by going through Korean first. It wasn't much, but that was amazing! What more could this do?
+So, I was watching a movie with a Korean, and it just so happened to be in English. That means the subtitles were in Korean. In the movie was a scene where all of the characters begin speaking in Chinese, but the subtitles were still in Korean. So I naturally began reading the subtitles, not with perfect comprehension, but enough to know exactly what was going on. It wasn't until afterwards when my friend asked if I understood, did I realize what I had actually done. I'd just understood Chinese by going through Korean first. It wasn't much, but that was amazing! The implications of just that concept are so massive I'd rather not get into writing about it.
-It occurred to me that another language had so much more to offer than being able to speak to people that don't speak English. Just being here means now I use Naver, google.kr, other shopping websites in Korean, and even understand a slightly different way of counting. There are words in Korean that don't exist, at all, in English and vice-versa. A lot of these words describe emotions and even actions, which basically means that a second language sharpens your ability to think differently, and sometimes, arguably, read minds.
+.) **New Korean person I met this week**:
-That's just the language part; I won't even get started on travelling and networking.
+I met my friend Sohee. She is a mechanical engineering major at a neighboring school in Daejeon. It's not the most common thing for me to meet other mechanical engineering majors outside of KAIST for some reason. So it was fun to meet and talk with Sohee about it. She's currently freaking out over a test that I can never remember the name of. There seems to be tests for just about everything here, with so much focus on writing or otherwise that I hear many students say they don't actually know what they're doing, but can memorize like there's no tomorrow. It often makes me worry about the driving tests here....
+----
+====End of Week 9: Saturday 08/20/2016====
+.) **What I learned about Korea**:
+I learned about schools in Korea. Korea is accepted in many lists as having the best education system in the world. I know quite a few teachers, so I can see how. However, among Korean friends I've discussed this with, some people disagree with it being the best. It isn't that the statistics aren't true; it's the experience for the students. That top ranking, for some people, comes at great cost. I was told primary school is practically 7 days a week, 12 hours a day; it can be brutal. Besides that, literacy rates and comprehension of various subjects may be the best in the world, but my Korean friends tell that too much of the education system is aimed at having students do well on tests.
+The largest example of this is English speaking ability. Since getting into a good university requires good test scores on English tests, like TOEFL or TOEIC, at KAIST everyone has a decent score on these tests. Many Korean people have told me that they've been studying English since they were 5 years old. Essentially no one I met was exempt from that, but it seems that very few people have the ability to fluidly carry a conversation in English, and even when they can, it can be quite difficult.
+Even so, I find the schools really impressive, as Las Vegas sometimes ranks near the bottom of primary school district comparisons in the United States.
+.) **Project status**:
+I'm also really sad to be going...BUT I'm mostly worried because I am holding up Keitaro and I. This last tutorial I was told by my labmates is improbable to get finished, but possible (yay hope!). Gazebo should be integrated with ROS and I simply show how to begin doing our own things, i.e. not just launching SLAM in the simulator; which should also be simple.
+Dr. Lim seems to know how to work on the issue, but when it comes to testing, everyone else just uses the actual robot since it's easier. Now while I find that absolutely hilarious, it might be just a little useful to be able to simulate new actions, or rather, just my goal which is waving hands.
+Installation is simple enough; follow instructions. Running is not quite the same. Sometimes Gazebo runs. Other times it doesn't. After that PODO ought to connect and it always refuses.
+I suppose this is a nice solid lesson in why beginning a project AS SOON AS the prerequisites are done is important. If I had followed Dr. Lim's ROS and Gazebo tutorial once I figured out how to create the hand waving command in PODO, by now I'd at least be sorting out bugs instead of worrying over reinstalling things correctly to get something to run.
+For now though I'd best get ready to fly back. Missing a flight because you slept at the lab and didn't pack can't go over well...
+**NOTE:** Do **NOT** switch out SSDs from the Intel NUC in order to make hard backups for the computer. If you're very lucky you can do that, but for me it didn't work. After 2 days of setting things up to work just right on the backups, so we had some for the lab back home, I found out that method won't work. It won't boot the disk after the swap. So all work on them is now gone. Just insert an SSD, do a fresh install of your operating system and other software, and work with that; don't swap.
+.) **Photo of the week**:
+This photo is part of KAIST Munji campus. I was supposed to be headed to my own farewell party, but unfortunately it was a Saturday, and I forgot the shuttle from my dormitory hardly operates on the weekends. So I was stranded, but eventually found my way.
+What is cool about Munji campus is that it has its own unique things about it that I don't think I would have found if I never got stuck there for a few minutes. In just that 10 minutes, I found a greenhouse, research wing, a KAIST logo-ed car, and upon leaving bumped into the Samsung Heavy Industries complex.
+.) **What I'm learning about myself**:
+I think positivity has really accelerated my ability to move forward on tasks regardless of how confused I am, and it's probably good to see and know that as opposed to just blindly saying yes to things. So when things get a bit concerning and I begin to freak out, it is valuable to see the bright side.
+Aside from that, after a while, you notice keeping a good attitude can begin to affect others as well. At first, I could see frustration in the faces of my teachers upon asking for help with things that were ultimately very simple, but after a while I think that finding reasons to keep a smile on really changes the outlook from a waste of time to an investment to save time later.
 .) **New Korean person I met this week**:
-I met my friend Sohee. She is a mechanical engineering major at a neighboring school in Daejeon. It's not the most common thing for me to meet other mechanical engineering majors outside of KAIST for some reason. So it was fun to meet and talk with Sohee about it. She's currently freaking out over a test that I can never remember the name of. There seems to be tests for just about everything here, with so much focus on writing or otherwise that I hear many students say they don't actually know what they're doing, but can memorize like there's no tomorrow. It often makes me worry about the driving tests here....
+I had the opportunity to meet Tae Hyung (Terry) Choi, the CEO and president of Seoyoung Engineering. We had a great discussion of the future of robotics/technology as well as the more interesting differences in Korean lifestyle versus American lifestyle. I was quite impressed with what his company does and his current dreams in the next steps for the company. What I found intriguing was 5-dimensional project and city planning simulations. The 4th dimension is of course time, but the 5th involves monetary changes, like maintenance over time. This is important to the company because there may be several projects being done at once and small but important financial details about projects sometimes can be overlooked. Terry's company is doing too many interesting things for me to discuss here, so if you're interested in learning more, the website can be found at [[http://www.seoyeong.co.kr/en/|http://www.seoyeong.co.kr/en/]]