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--- ires_journal7 [2018/07/22 18:58] – created yuhanghe
+++ ires_journal7 [2018/07/22 20:20] (current) – yuhanghe
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-==== New Korean ====
-I met two graduate students studying electrical engineering in front the KAIST library. Their name is DongSun and MunHee. They have no problem with conversing in English with me. The two students are researching on the topic of radio frequency and circuit board. We enjoyed a nice conversation where they ask about American culture and I ask them about Korean culture. I found that most Koreans are fascinated with American culture.
 ==== Korean Cultural Insight ====
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-During my first week in Korea, I visited Korean National Folk Museum in Seoul and Daejeon Museum of Art. I learned that Koreans have a deep appreciation of their traditional cultures. In addition, I was surprised to found out how much Chinese cultures impacted ancient Korean culture. Calligraphy is a form of art that is deeply appreciated in many Asian countries and Korea is no exception. In Daejeon Museum of Art, there is a whole section dedicated to calligraphy. The writings are composed of both Korean characters and traditional Chinese characters.
+I think it is important to talk about Korean's work ethic. During my time in the Hubo Lab, I was able to gain insight into Korean's work culture. Korean have a much stricter working schedule than United States and probably most western society. A typical day start at 9:00 AM and end at around 10:00 PM in the Hubo Lab. That is a 13 hours work-shift, however, lab members at Hubo Lab considered that as common occurrence.
+The difference between Korean work day and the 8 hours work day in U.S. perfectly demonstrated the difference in work culture. Of course, they are not working 13 hours without rest. Even so, the Hubo Lab members must be passionate about what they are researching for them to work such long hours everyday. However, the long work hours also bring extra stress and exhaustion to the workers. When I ask about the long work schedule, some Hubo Lab members complained about it. There is a trade off between hours of work and motivation and I am not sure the long hour is the best method.
 ==== What I Learned about Myself ====
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-Since this is the first I travel, I learn that I quite enjoy traveling and sight seeing. Especially, I like to learn more about different cultures and traditions. I also discovered that nightlife does not appeal to me personally.
+I was impressed by their motivation after learning about the amount of hours that Hubo Lab members invest in their work each day. I reflected on my own work schedules and decided that I want to imitate and learn from their work ethic. At first, I was worried that I will not muster enough motivation to last through the entire 13 hours work schedule. However, I kept pushing myself to work harder and try to find motivation from other Hubo members who are working hard. After 7 weeks, I can finally say that I have adjusted to the long work hours. I learned that if I have enough motivation, I can work for long periods of time.
 ==== Project Status ====
-{{youtube>L-ve9HblGHsj8?large}}
 {{:yuhang:ires2018:demo1-2018-07-23_09.40.53.mp4|}}
-Last week, I tried to implement the inverse kinematic function into my mocap project. However, after some trial and error, I realized that the available inverse kinematic are not suitable for for this project. After consideration, I decided to implement the inverse kinematic function outlined in the paper by
+Last week, I tried to implement the inverse kinematic function into my mocap project. However, after some trial and error, I realized that the available inverse kinematic are not suitable for for this project. After consideration, I decided to implement the inverse kinematic function outlined in this paper by
-[[[[https://ieeexplore.ieee.org/document/1242196/|Shinichiro Nakaoka]]]].
+[[https://ieeexplore.ieee.org/document/1242196/|Sinichiro Nakaoka]]
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 Currently, the new inverse kinematic function takes three positional inputs at shoulder, elbow, and wrist to calculate joint position at shoulder pitch, yaw, roll and elbow. The new inverse kinematic function are much better suited to imitate motion captured through mocap systems. Furthermore, I can attach additional markers in future experiments to calculate wrist pitch and yaw positions.
+{{ :yuhang:ires2018:screenshot_from_2018-07-23_11-09-20.png?500 |}}
 Additionally, I implement the filtering functions directly into the Hubo 2's PODO ALPrograms. The new ALProgram will directly parses the positional data captured through mocap system and filter and convert them into joint positional data. The filter implemented in this project is locally weighted scatterplot smoothing method, which I found to be most robust and accurate in filtering both the trajectory and joint data.
+I was able to combine everything into a program on Hubo2 that can be operated through GUI to play recorded mocap data for the right arm. The next step will be to limit the Hubo 2's motion within workspace and reduce the joint velocity and acceleration when the motion of human exceeds the speed of Hubo 2.