Monday, January 30, 2012

Ethnic Studies Paper

For our Ethnics Studies class this quarter, we were required to write about the papers read in class and our overall impressions of what we had just learned about engineering and society and their impacts on each other. Following is my Response Paper for this assignment:

One of the first things I thought of when reading these sources was how cultures have changed over time and how people’s loyalty to tradition has altered. Yet, even though cultures are constantly changing, we have a stereotypical view of how certain cultures are. For example, if I were asked to picture a Japanese family, the first scene I would think of is a big family sitting in an Asian style home with a small garden and pond and all the family members wearing kimonos and socks with sandals and eating sushi. Now I know that this is not the typical outfit of modern day Japanese people, however it is the image that I’ve always thought of first when thinking about Japanese culture.

I began thinking about how cultures have changed over time and why they do. I remembered a story my grandmother told me about her grandmother. Her grandmother was born and raised in Germany and came over to the United States. Once, during World War II, she went to the grocery store, my grandmother was with her. Two women became very cold and mean towards them both, because of her grandmother’s German accent, even going to the point of spitting on her.

When I talked about this with my grandmother, she said that there were many families who came over to the United States and tried to erase all traces of their previous cultures, in order to fit in, especially during wars. My grandmother remembers, that none of her mother’s family members were allowed to speak German anywhere while they lived in the United States, even going to the point that the children were not fully allowed to learn the language. Due to the fear of not assimilating into American culture, my family lost the part of its history and culture that came from Germany when my great-great-grandparents immigrated.

Lucena states in his article, “Culture as Dominant Images,” on page 1, “Dominant images create expectations about how individuals in that location are supposed to act or behave.” In my family’s case, in order to become more “American,” they tried to erase all the dominant images that were connected to the country they were born in.

De Courtivron’s article, “Educating the Global Student, Whose Identity is Always a Matter of Choice,” page 1, states “Today, young urbanized American men and women of 20 … are likely to have more in common with young Japanese men from Tokyo or young Turkish women from Istanbul than with their own grandparents.” Traditions aren’t being passed down as much anymore. There are less and less people that are embracing the cultures of their parents and grandparents. I believe this is mainly due to a changing world. With new technology, new ideas, and new concerns, the dominant images that were so central previously now hold little say in the current world. “The weight of the world used to be vertical; it used to come from the past, or from the hierarchy of heaven and earth and hell; now it is horizontal, made up of the endless multiplicity of events going on at once and pressing at each moment on our minds and our living rooms.” (De Courtivron, page 1)

This quote makes me visualize a line connecting many different people. In the past, the line was vertical with newer generations at the bottom and looking up to the generations of the past and seeing how they lived and worked. Now, I imagine the line horizontal, with people looking to their left and right, seeing what their neighbors are doing and not considering how their ancestors lived as much. This change in the “connection of people” is the changing of cultures and shifting of lifestyles.

In Hiller’s article, “Understanding Culture: The Discovery of the YEKOH Ritual,” page 228, he describes the SNAIDANAC people’s “ritual ironically creates divisions within the society at the same time that it provides the basis for general society identity and cohesion.” This tells me that these people realize that their ritual and culture is what makes them unique and a special race; however, it is also clashing with different ideas that coincide with a planet that is changing, evolving and moving forward.

I think culture is an interesting way of looking into people’s lives and their history. It makes me wonder how the changing of technology and people’s connections, will change the cultures people have. Culture, to me, is what makes a group of people unique from another group. But as the world moves forward and people become more global, meeting new people, ideas, and traditions, what will happen to independent cultures?

Projective Texturing


I spent some time this last week getting started with the new projective texturing system. Here is what the current system looks like:




In order to improve this system, two main changes will be made. The first is to perform a histogram equalization on all input pictures, bringing the regions of the cistern to a more uniform brightness and contrast. The second step will be to wait the projections closest to the camera higher than the projections further from the camera. This will cause the camera to view a cistern more consistent with the source photographs from the c
amera's location.

So far, histogram equalization does a good job of equalizing the image, but it really emphasizes the backscatter in the water. I will need to perform a smoothing pass on the images in order to remove this effect.


Robots at Pacheco!


This last Wednesday we had the opportunity to visit the kids at Pacheco elementary once again. We came armed with a bucket of neat solar robot kits that teams of students would get the opportunity to play with. Kids could chose from a number of models, such as a race car, windmill, airboat, or walking dog.

We started out by reviewing the basics from last week and then went over the different sources of power for an electric motor. We gave a quick explanation of how electric motors work, then set the kids loose to build their robots.

My group built the airboat and had a ton of fun using the lamps we brought to drive it around the sink. A few other groups built the walking dog, race car, and boat as well. The kids were having a blast watching their robots cruise around the room!

After everyone had successfully built a working model, we had the kids tear everything down and then build a race car for each group. Once everyone had finished, we took all of the cars outside in the sun and raced them down the sidewalk. The kids absolutely loved this part, and I had a pretty good time myself. It was really funny to watch them all running down the road screaming at their cars to go faster.

Afterwards, we packed everything up and headed out, another successful lesson completed! This coming week we'll be doing the same lesson with a different group of kids. Looking forward to it!

Sunday, January 29, 2012

Cultural Update

So as mentioned last week, we all (the Cal Poly folks) are studying Malta in an Ethnic Studies class here at Cal Poly. This past week the class broke up into groups and focused on different eras of Malta and then presented our findings to the class. I'm going to attempt to highlight some of the information we talked about. (Feel free to comment on this post to add more information).

Over the years, Malta has been ruled by many different countries starting all the way back in 5200 BC where the first settlers arrived in Malta. These settlers are thought to have arrived by boat from Sicily and where hunters and farmers. The Greeks, Phoenicians, and Romans fought over Malta up until the Middle Ages. At that point it was given to the Knights of Malta around 1530 by Emperor Charles V. Some time before Britain took over in 1814, Napoleon even ruled the island. Britain had control over the island up until Malta's independence in 1964.

As far as education goes in Malta, Britain had a large impact. The university's educational system is a mixture of British and French principles as far as working hands on versus theoretical. This combination varied over time. In the 70s, the University of Malta actually shutdown to allow for growth of vocational schools. In the early years of Malta's development as a young nation, education was so highly coveted that all expenses were paid for students from kindergarten through undergraduate. Undergraduate fees have since been applied according to the needs of the economy.

Other topics discussed involved Malta's lack of water and demographics like religion, languages, and population.

SLAM Project Update

Well it has been a while since I was suppose to post this, but that just means I'll have better results. So I've been working on optimizing the SLAM code to generate better maps and also increasing the likelihood of the particles converging for a given set of sonar scans. I started by focusing on filtering the sonar data to optimize the overlap between scans.




Filtering Algorithm






By filtering the data, I can use more of the data already present in the sonar scan to help increase the likelihood of the particles converging.

My next focus will be on refining the filtering algorithm to output cleaner sonar measurements. I also need to work on the scan matching algorithm to load in the first scan at an ideal location where edges won't be cut off. This occurs when the size of the occupancy grid is small and the first scan is loaded in the middle of the map. I'm also waiting for the ROV motor to come in the mail so that I can fix the ROV and then be able to map the pool at the LAIR. This will give us truth data to calculate the error in our algorithm.

Scientific Data Acquisition and Modeling Project Update

As I have said in a previous post, I am in charge of acquiring, analyzing and displaying salinity and temperature data for the marine biologists. I will be using scattered data interpolation to analyze and display our salinity and temperature readings.

So what is scattered data interpolation? It has to do with the idea that we can only take so many measurements. There are going to be places in the cisterns and caves that we didn't collect data, but we still want to have an idea of what the readings would be. So how do we do that? We use math to estimate the data based on the measurements that we collected around them. With this system we can have good estimates for any location in the sites we visit without having to spend too much time taking measurements.

There are really two parts to my project: the acquisition of the data, and the analysis/modeling of the data. What work have I done on them?


For the acquisition of the data, I have been working on getting the salinity and temperature sensors. The salinity sensor me and Tyler are going to build in the next week. We bought two sets of parts for the possibility that one might break. This is mainly due to the fact that previous ICEX members have instilled in me the saying "Always have backups." As for the temperature sensor, we are lucky enough to be getting two for free. Dr. Clark was contacted by an employee of VideoRay (the company who makes our robots) who had an interest in our project. He offered to give us two free MS5541-30C Miniature 30 bar Modules (pressure sensors that also transmit temperature readings) along with two free Protocol Adapter Multiplexers (or PAMs). PAMs are basically small computers that are made to take in data from sensors and send that data up the tether to our computers. Our goal is to be able to press a button on the surface and use PAM to take both salinity and temperature readings, and send it up the tether in one packet.


For the the analysis/modeling part of the project I have been working on visualization software. So far I have gotten one of our old cistern mesh files from Jeff, loaded it into the program, displayed the cistern
and added camera controls allowing you to move around the cistern.

To the left you can see a current picture of my program. It isn't as visually appealing as I would like it to be because I have not yet learned enough about lighting to add it into the program but within another week I should be able to add this feature. Also, I have recently received the code for a previous masters students data visualization project. I am currently
analyzing it in hopes to use parts to do the calculations for the scattered data interpolation.

Saturday, January 28, 2012

Archaeologist Graphic Interface Update

After a meeting this week, we've decided on the applications that will be used for the 3D graphic interface project. Because Google Earth already has a geo-spacially oriented, properly scaled, navigable world built out of satellite images, we decided that it would be best to create a Google Earth layer with links to SONAR mosaics and 3D meshes for each site. This allows us to build the framework for our interface before the trip, and then fill the information from each site right after it is visited.

We plan to embed our Google Earth layer right into Sara's water and society website, and host all of our other files (3D cistern meshes, SONAR overlays, etc.) there as well. The embedded Google Earth layer will have pop up descriptions, pictures, and links to other information collected from each cistern. I will still be using an embedded Unity3D frame to display the 3D cistern meshes (slightly simpler than writing code in WebGL that would allow the 3D mesh file to be navigable by a camera, although it does require a browser plug-in unlike WebGL). This frame will also be hosted on the Omeka water and society website. I should have a samples up shortly! Stay tuned!