In Absentia

It's difficult to appreciate something in its absence. Ironically enough, this also applies to the appreciation of the absence of something. Say an annoyance, or physical pain. It's easy to look forward to relief, and enjoy the relief as it comes, but once it is gone we quickly return to base levels of happiness. This is true for just about everything, but it seems to happen even faster with negative stimuli.

Specifically I am referring to the dormitory I was living in this summer. It was a pretty awful place, and I couldn't wait to leave. But I have to say that the pleasant, warm feeling I got from being away from that place was more intense while I was still there, merely anticipating it. It was nice for the first hour or so, but a mere day or two after leaving, I find it difficult to enjoy the simple pleasures of quiet, companionship, and sanitation to the extent that I had expected. I'm not going to define myself by what I've left, but I would like it if I could remember it well enough to be thankful.

Heidelberg Zoo

I know I'm a little late on this one, but I took a couple of photos and videos that I can't resist posting.
Here's the photos from the Heidelberg Zoo.
And here are some videos I took there:
Headbutting practice.
Mongoose abuse.
Hydrokinetic child labor.
Bouncing weasel.

Thank you for your attention.

Return to Bremen

Last year I spent a semester in Bremen. When I found out I was going back to Germany this summer, I decided I couldn't pass up the chance to visit friends that I had met, and see Bremen again. But things came up, and time went by, as it is wont to do, and it was starting to look like I wouldn't get to visit at all. With that in mind, I decided last Thursday that I should travel to Bremen on Saturday, just for a day, because it was the last day that could possibly work. So I did, and... well, it was at once exactly what I expected, and nothing like I had expected. And I think I'm glad that I went, but I'm not sure how I feel about it, even now.

When I arrived in Bremen it was just like I expected. Everything looked familiar, as if I had never left, and I wandered around the city center like a local (or maybe a local with a camera). It was nice to see the city again, the weather was pleasant, and I took some good photographs. I went for a walk in the park, ate at a cafe, and generally had a nice time. But because of the scheduling rush, and various other coincidences, I never ended up meeting anyone I met last year. Some fell out of touch a long time back, some more recently, and others simply couldn't make it that day... but I just realized that the same applies for this entire summer. I haven't met a single person that I met last year. Not one. It was a strange experience. And then, just a few hours later, I got on the train and left town again. Lately it seems like I can't go anywhere without leaving somewhere else.

Back to Work

I have been working this whole time (well, except last week), even though I've kept pretty quiet about it on the blogging front. I think it's about time for an update.

The DynamixelNetwork code is just about finished. That is, it feels very well-rounded, it's densely-commented, and it'll do everything we need it to do. (In fact I think there's now more comments in it than actual code... but I did it for Doxygen, so that you don't even have to open the source code now to find out everything you need to know about it.) There are still one or two problems with it--a couple obscure functions of the servos aren't yet supported, and the latency is pretty high--which I'm hoping to get the chance to iron out before I leave, but I still think it's a nice bit of code, and better than anything else available for Linux for these servos. I hope the university will choose a license for it soon, so I can post a link. It's my first real contribution to the "open-source community", and hopefully not the last. I hope it gets a good response.

On the robot front, I'm making good progress writing the pan-tilt unit module to integrate into the software framework. That's kind of minimal, though--just a bit of code to accept and send messages, which talks to the servos with my library. I've also been tasked with designing the hardware for the robot body... somehow. Heh. When I first got here I started in on the pan-tilt unit, and I had never designed hardware before. What I'm doing isn't really too complicated, it's just a bit of CAD... but I had never done it before, and I didn't have any idea where to start. I did it, though, and it was pretty fun. It turns out that by doing that, I became the most experienced person on the team when it came to hardware. So I was the natural choice to design everything else.

I'm not complaining, though. I'm learning some valuable new skills, and I do like to tinker with gadgets every now and then. It's staves off the drudgery of programming 24/7, and I'm getting better at it, too. So on Tuesday I'm going to take the robot apart again, pull off a few things, walk to the workshop with an armful of aluminum, and slap it all together. Fun times.

I'm leaving Germany on the 12th of August. That means I've got three weeks left to finish up. If I finish the hardware next week, I should be able to get the software wrapped up before I leave. It's really strange to be leaving so soon. Three months isn't really much time at all. It's okay, though--it wasn't long enough to get overly attached to the place, but it was long enough to get a whole lot of stuff done, and get some memorable moments in there, too. I'm not really excited about jumping right back into school again, though...

Students

Recently I've been in Heidelberg for a meeting of all the RISE students in Germany. And I have to say, it feels like I'm a high school student again. I'm surrounded by stereotypical examples of my age group, universities are vying for my attention, and we're all being herded extremely inefficiently to our crowded rooms, halfhearted events, and cheap food. That sounds very negative, but it wasn't entirely intentional... that really is a pretty accurate description of what happens when one tries to wrangle students. But it's not all bad. Thursday was fun--I saw one or two graduate programs that looked intriguing, and it was nice to feel wanted again. But today was kind of a dud. You see, this program generally caters to the hard sciences, such as biology, chemistry, and particularly engineering. The reasons for this are obvious--the grant money comes from the German government and various German industries, and they are all interested in gaining the most profitable talent for their country/company. There were a few computer science opportunities grouped under "software engineering", and I snuck in on one of those, but today when we did our company visits, I was lumped in with the engineering group. We went to visit Bosch, where we saw an assembly line making fuel injectors, and we also visited the Porsche museum. I got the feeling the engineers were happy enough, but I was bored out of my mind.

Afterwards we went to a dinner, which was nothing special... had some good conversations and okay food, at least. But then, as students do, we all got separated and wandered around the city looking for bars. Our group wound up fragmenting and reforming in some very organic ways, and the entire time everyone was talking intently about where to go, without any decisions being reached. It was my intent from the very beginning to simply find the next bus back to the youth hostel, and I was merely following the other students because I thought, naively, that the general direction of the group might head that way. I was right, as it turned out, but it took almost two hours, and meanwhile I was treated to an endless monologue about every aspect of getting shitfaced drunk for as cheap as possible. (It wasn't just one person, but I hesitate to use the word "dialogue", because everyone just seemed to be shouting into the crowd and waiting for an echo to come back on a close enough subject to continue the "conversation". Amoebalogue, maybe?)

I'd like the emphasize that this... there, now I'm hesitating to even use the word "activity"... that this state of being was not restricted to the hours after dinner and before breakfast. Every waking hour I have been with these students has been the same loop playing over and over. Usually in the same order, too: how drunk we were last night... how drunk we're going to be tonight... how we can get as drunk as possible for as cheap as possible... how hung over we're going to be tomorrow morning. The different hours of the day are like the different states of matter--different behaviors emerge, and reactions are different, but in the end it's all just a bunch of atoms. Or, in this case, alcohols.

To summarize... this trip has been alright, except for all the students. And I am looking forward to having a nice restful Sunday.

Update: The last day was very similar to the second--the tour (this time of the castle overlooking Heidelberg) was quite boring to me, and when it was all over it just sort of... ended. We got together for a group picture, everyone applauded, and then the huge lump of 300 students slowly dissolved into the city. There was one thing that helped a bit, though. The "debriefing" on Saturday morning consisted mostly of a summary of how things went, and a lot of talking about how we were less rowdy than the previous group, and about how difficult it was for them to organize all of this. (Apparently they've only had like two full-time staff members organizing everything and answering emails for the last three months or so.) It may not sound like much of a motivational speech, but it was very humanizing. I think it really did a lot to prevent us from walking away griping about how shoddily this was all planned.