Dr. Williams' Blog

A Respectful Affirmation of #Christmas to My Non-Christian Friends

Christmas robots

Our Two HEIR Lab Humanoid Robots, Sonny and Rosie, dressed in their Christmas gear

I affirm my mutual respect for friends and others who may have other beliefs and religions than I do or may not believe in God at all.  This essay is for them.  My goal is not to offend or prove that my point of view is more enlightened or better than others.  My goal is to first say what Christmas is not and then what I believe Christmas is.  I hope you will keep an open mind as you read this.

First there is some confusion about Christmas, the “tradition”, and Christmas, the story of the historical Jesus’ birthday.  Christmas, the tradition, is explained on Wikipedia https://en.wikipedia.org/wiki/Christmas .  We Christians, those who profess to believe in Jesus as the Son of God and the Savior of mankind, often get caught up in some of the secular traditions of Christmas including rampant materialism.  We subconsciously think in order to have a “good” Christmas, we need to get the presents we want for ourselves, our loved ones and our kids.  This often drives us to unnecessarily charging our credit cards to buy things that we can’t afford that often are forgotten in the new year.  Debt and financial pressures can lead to depression or other problems during a season we profess is supposed to be a joyous occasion.  The Christmas season could also be a depressing time because we feel like we are supposed to be happy but that’s not always the case.  Personally, the Christmas season would bring a slight depression for me because December 25 is my Dad’s birthday and he’s no longer with me.  My last memory of my Mom while she was alive was shortly after Christmas and the season would bring painful memories of missing such a loving woman.  Christmas, for a true Christian, is not about buying and receiving gifts.  It shoud be a time of celebration but that doesn’t mean it’s a pain-free time.

Second, we Christians can seem very disrespectful of others who who don’t believe as we do.  I know and have friends who have Jewish, Islamic, Hindu, Buddhist backgrounds or who may consider themselves atheists, agnostics, or humanists.  I value them and their friendship, intelligence, and the beauty of their personhood just as much as anyone else. They may or may not have grown up in a family that did not celebrate Christmas, go to church, or even know about the historical Jesus.  They may have grown up in a society where believing in Jesus could result in being physically persecuted or ostracized.  I apologize for us Christians that can come across as being arrogant and self-righteous against others that don’t believe in the same things we believe in.  I can relate to those who don’t believe because my Mom grew up in a Buddhist culture and my Dad was a stay-at-home Baptist.  But I loved them and they loved me dearly. I even went through a period in my life when I wasn’t sure if God even existed.

Third, we Christians can sometimes be the meanest, rudest, and most hateful people on earth.  Some Christians in the past tried to justify slavery in America using our most holy text, what we call the Bible.  Even today, what Martin Luther King, Jr. said about the Sunday morning hour in America is still true.  The fact remains true that on the very Sunday morning when “blacks” and “whites” go to church to celebrate Christmas, it will still be the most segregated hour in America.  I rememer as a fifth grader, I did a book report on the Klu Klux Klan, a group that terrorized African Americans in America.  Some of them called themselves Christians.  It pains to me to think that some children were abused by Christian priests who taught the Christmas story and traditions.  If you were or are a victim of abuse by these evil men, please do not think that God was responsible for these evil acts of men.  Do not blame it on yourself either. Please know that the one true God offers healing for you and will offer true judgment for the violators’ evil acts.

Finally, what I believe Christmas is and what I hope it will be for you.  One of my earliest memories of the Christmas season was a nearby church, called the Free Methodist Church of Junction City, Kansas, bringing my family some bags of groceries, a turkey, and some Christmas gifts. Times were financially tight for my Dad, who as WWII and Korean war veteran, either worked as a garbage collector or in a small manufacturing company in Kansas and had to feed and clothe six children.  The members of this all-white church brought these Christmas gifts of food and clothes to our mixed-race family.  I still remember the gift I received was a blue shirt with red trim and a red lamp emblem on it.  I must have been around kindergarten age.  In that church, I first learned the story of Christmas.  The story was simply that God, the One who created everything including people, loved me more than anything else He created, and gave the best Christmas gift He could, His only Son, Jesus, so that I could live forever with Him in heaven, even after I die on earth.  The story is rooted in history and can be traced througout that book that was written by many writers and one Author, what we Christians call the Bible.  Parts of the Bible we share with other religions such as Judaism and Islam.  What my hope is this Christmas season is that in the midst of the gift-giving, depression, times with famiy, times being lonely without family, feasting, parties, or celebration, that there will be a part of you in your heart that will seek the truth about the real meaning of Christmas and your spirit will meet the Person that Christmas is all about.  With this in mind, here’s what true Christians believe why Christmas, the birthday of Jesus, is celebrated: “For this is how God loved the world: He gave His one and only Son, so that everyone who believes in Him will not perish but have eternal life.” John 3:16 (New Living Translation)

Andrew B. Williams, Ph.D., is a humanoid robotics and AI professor and an ordained Christian minister.  His recent TEDx talk, Belonging in Technology, What I learned from Steve Jobs, http://m.youtube.com/watch?v=Xv544iQi1GE addresses creativity and its relationship to innovation, diversity and inclusion in science, technology, engineering and math (STEM).

My TEDx Talk: Seeing the Face of Technology Change in STEM

jonecia and julian

With Apple Engineers, Jonecia Keels and Julian Ross, who I recruited to Apple when and after I worked there

A few days ago, my TEDx talk, “Belonging in Technology: What I learned from Steve Jobs” was put online (click here). I begin by discussing how creativity begins to erode after our childhood and how it’s important not to box in creativity by placing limits on who belongs in technology. I also share my journey from being a baby that slept in a cardboard box to leading the SpelBots and being hired by Steve Jobs. I also chronicle the journey of Jonecia Keels, who in spite of winning a national smartphone app development contest that was previously won by students from Harvard and Stanford, and finishing up on an Ivy League engineering degree, could not get into an internship at Apple (or Google). But a surprising person intervenes for her. You have to watch the video to find out what happens.

I also talk about my interaction with Steve Jobs in a serendipitous meeting at Cafe Macs. He asked me if I had any ideas on how Apple could hire more engineers. He ended up hiring me to help Apple do that. I end my talk showing how Jonecia was an example of a face behind the technology that doesn’t look like the stereotype of a Silicon valley computer or software engineer. My talk discusses the surprising statistics on the number of computer related job openings there are and how they have an uncanny match with the number of unemployed number of African American women. These women and men represent an unseen, untapped gold mine of human potential vital for our U.S. economy and global competitiveness. But if we keep telling people that look like me or Michael Brown that we don’t belong in our society, our society will continue to suffer from the severe shortage of technology creators and workers we are facing for years to come.

“Innovate with People, Not Just With Technology” by Andrew B. Williams, Ph.D.


Today, September 27, 2014, in my TEDx talk I get to tell a story of how God took an African American boy from a cardboard box from the Eastside of Junction City to helping black young ladies and girls see their God-given potential in spite of others telling them they didn’t belong in technology, and meeting Steve Jobs, who with one of his last acts of kindness and caring told an overlooked young African American lady that she belonged.

Today I get to challenge the people of America, in general, and the technology industry, specifically, to stop putting people that look different from them into boxes of low expectations, fear, and ignorance and to instead see the incredible potential and promise of the unseen, untapped human potential in all people regardless of race, economic background, or family situation. This is vital to our nation’s success, economy, and global competitiveness.

Andrew B. Williams, Ph.D., is the author of “Out of the Box: Building Robots, Transforming Lives”.

By |September 27th, 2014|Uncategorized|0 Comments

The Apple Watch has Design and #STEM for Everyone

Apple Watch

The Apple Watch is a marvel of Design and Science, Technology, Engineering, and Math (STEM) that kids should aspire to CREATE, not just use. (photo http://www.Apple.com/watch)

Often when we think of educating our next generation of scientists, technologists, engineers, and mathematicians (STEMers), we put them in a box based on their discipline but fail to see how interrelated they are with each other and industrial design. This summer, my colleague, Professor John Caruso, at the Milwaukee Institute of Art and Design, and I began a design engineering collaboration which began as a journey of discovering what companies think of the joint relationship between Design, in particular industrial design, and Engineering, and how we can better prepare our students to have these combined skills and perspectives. Although our final analysis is still underway, after visits with technology companies such as GE Healthcare, Briggs and Stratton, Design Concepts, and Trek, it is easy to see that finding this combination of design and engineering skills in future technology workers is important to industry and to our economy.

With Apple’s announcement of the Apple Watch, we see a perfect example of the integration of design and engineering. I want to point out to K-12 students especially what particular topics of study they could possibly pursue to be able to create products like the Apple Watch. I’d like to also encourage K-12 students to not just marvel at the cool things they could do with an Apple Watch but also marvel at the cool STEM they could learn to be able to join a world class design and engineering team at a company like Apple to CREATE the Apple Watch or devices like it.

K-12 students need to understand that the basic subjects of chemistry, physics, biology, math, and art all play a part in building a beautiful and useful Apple Watch. These educational subjects are the foundation of all science, engineering, technology, and design. If you read the Apple web page and read about the design and capabilities of the Apple Watch, you understand that biomedical engineering was required to be able to create sensors that could read they heart beat accurately, metallurgical engineering was required to create the alloys for the watch case itself, electrical engineering was required to design the main electronic processor chip, and computer science and software engineering was required to create the Watch operating system (OS) and the user software applications. This is not an exhaustive list of the disciplines required but just gives a sense of the STEM involved in the creation of a beautiful and artistic device, such as the Apple Watch.

User Experience Designers take into account the whole experience of a person that’s using the Apple Watch. They take into account what the user’s needs are, their feelings, and how the user interfaces with the device with the different senses like sight, touch, and sound. This is an emerging field and often the UX designer has experience in industrial design and human computer interaction, a subfield of computer science. Industrial designers have a unique way of thinking divergently by seeing, thinking, drawing, and making products with the user as the center of their focus. Engineers tend to think in a convergent manner to find a single answer in a linear fashion. The ideal engineer will approach the solution with an open mind and know how to think divergently when needed and convergently as well. Engineers tend to have training in more heavier numerical analysis and mathematical tools but both engineers and industrial designers will do well to make the connection between the abstractions of the artistic aspects of their design with how they relate to the mathematical and physical analysis and design.

What Happens When Humanoid Robots Collide in Football, a.k.a. Soccer

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Sunny and Forrest playing 2 on 2 soccer at RoboCup 2014 Brazil. Photo courtesy Adam Stroud

Now that we are back from our very first experience taking the humanoid robots that we designed, built, and programmed from scratch using a 3D printer to compete head-to-head with the best humanoid robot soccer, or football, teams from around the world, many are curious as to how it went. Fantastic, encouraging, satisfying, grueling, learning, improving, optimistic, and dreaming are some of the words that come to mind.

First, how did we do and what was the experience like? It was fantastic. Our performance can be summed up by one of our competitor’s comments to us (their team was this year’s champions). She said that five years ago when they tried to compete, they couldn’t even get their robot to stand up. She said that we had done so much better than they had when they started. Our robot was not only standing but it was successfully tracking the ball, taking steps, and trying to kick the ball. It even serendipitously blocked some kicks and made a save. But the experience goes way beyond the technical challenge. It opened our students’ eyes to a whole new global community of technology pioneers in the middle of a rich cultural experience in Brazil.

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Team MU-L8 (left to right): Adam Stroud, Elise Russell, Joshua Panka, Kellen Carey, Darryl Ramgoolam, John C. Williams, and Dr. Andrew B. Williams

This RoboCup experience for our Marquette engineering and computer science students came a long way from when I came back to Marquette two years ago as an alum to become a faculty member. I had to communicate the research vision I had with students previously unacquainted with robots in general and socially intelligent humanoid robots in particular. I also shared with them a vision of building our own humanoid robots that could be used to assist children with their health and education…a robot that could be made affordable for every child’s home one day. I shared with them the intermediate goal of competing in RoboCup in the teen-sized humanoid robot soccer league to help us reach our long range vision. But first we had to build our own robot. Adam Stroud took the lead on learning SolidWorks and designing our robot using the NimbRo-OP design as a rough guide. In order to further our social intelligence research we decided to use a smartphone as an emotional and conversational interface, something that would be unique to RoboCup humanoid robots. We were able to get additional funds from the Provost office and Dean’s office to fund six students for research the summer of 2013 including four students from Universities in Puerto Rico. Raymond from University of Turabo was the most helpful in assisting in our design of our electrical system to power our robot with lithium batteries. Cristina helped with developing some of the initial vision for our Robot which Josh and Kellen then took on to make our actual RoboCup vision. Eventually John took on the duties with programming motions with Adam and Raoul while Kellen did the initial work on our embedded systems along with Adam. Adam was the overall team leader and key designer for the MU-L8 platform. As advisor and director of the Humanoid Engineering & Intelligent Robotics (HEIR) Lab at Marquette University it was important for me to encourage the students to learn how to learn, troubleshoot, brainstorm, think out of the box, and give them realistically high expectations and a vision for what we could accomplish. I also was on hand to providing technical suggestions and direction while also giving them the freedom to fail or make decisions that I knew ultimately would not be optimal but knew that this would be the best teaching experience.

robocup humanoid group photo

All of the RoboCup 2014 Brazil humanoid robots from the adult-size, teen-size, and kid-size soccer leagues with a few of our students visible

But to finally make it to the RoboCup 2014 Brazil in João Pessoa was both an exhilarating and grueling experience. It was also a dream come true. One of our team members, Elise, said it was like a semester’s worth of learning and three conference’s worth of networking packed into one week. It took its toll on us not only intellectually, but physically and emotionally. However, our students handled it with so much grace under pressure everyone at Marquette would have been extremely proud of how they represented MU. Finally, it was like a dream come true. A year and a half a go it was just a vision and a dream. Even back in March 2014 when we qualified we had no guarantee that we could raise the money to build our second robot and raise the $50K to continue the research to go to Brazil. The new president, Dr. Michael Lovell, sent me an email encouraging our team saying the educational experience the students were receiving was transformational. I truly believe he was correct in saying this because I don’t think these students will ever look at the world and technology the same. Our interim Provost Margaret Callahan also encouraged the students saying that this was a life changing experience and regardless of the outcome they should cherish the time they had there. In my book, because of all these reasons and because of their accomplishments, these students were all winners in my book.

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Just another beautiful sunrise in the tropical city of João Pessoa Brazil, site of RoboCup 2014.

Traveling to Brazil just days after the human World Cup ended was a once in a lifetime experience. Brazil, already exhausted from hosting the world for the world championship of soccer, was about to host the world championships of robotic soccer, RoboCup, on the shores of João Pessoa. João Pessoa itself was a beautiful city situated near the equator and on the Atlanta ocean with a beach that stretched I believe 15 km. Even though it was winter in Brazil we wore shorts and I personally enjoyed watching the sunrises over the Atlantic ocean on the beach. João Pessoa, Brazil, is the eastern most part of North and South America and the closest to Africa. (If we looked out we could see the continent of African if only we had super vision.)

On the field, our team did amazingly well for the first attempt at becoming world champions at RoboCup. Sometimes people use that term, “world champions” to refer to high school robot competitions. But this world championship represented the best universities, and as we discovered, even companies from around the world. This was truly a global championship with some of the smartest and talented roboticists from elite universities. Many if not most of the RoboCup student competitors were PhD and master’s students while our team was primarily undergraduate engineering and computer science students. Our team consisted of biomedical engineering, electrical and computer engineering, mechanical engineering and computer science students. Unfortunately, not all of our students that worked on the project could attend RoboCup for a variety of reasons, including internship commitments, but they all were with us in spirit. Of the eight teams that qualified, only 6 teams actually made it to the competition. We tied our first match against Brazil 0-0. Then we lost from an experienced team 0-4 but our robots actually made some blocks and recorded a saved goal. One of our challenges is we learned how fast the other robots walked and the range of their stability in their walk ranged from unstable to very stable to even getting up by themselves. Even last year’s champion robots from Germany could not get up after falling by themselves which was a big disadvantage to the Iranian teams that could. Then we played last year’s champion team from Germany and lost 0-10. The next day we tied with a joint team from two universities, one from Canada and one from Iran, and tied them 0-0. So heading into our third day we were ranked in 4th place. All that needed to happen was to have the team from Brazil and the joint team from Canada/Iran tie and we lose by less than 4 goals to the other team from Iran, Baset. Baset was a team that was actually part of a power systems company in Iran. They are interested in using humanoid robots to perform maintenance. This was unique to the competition because most of the teams were university teams. On the other hand, Baset was probably the most friendly and helpful team to our team. So on the third day of competition, the Canada/Iran team, AutMan, surrendiptiously scored a goal when their robot fell on the ball and beat Brazil, knocking us out of the semifinals. We ended up losing to this year’s eventual champions, 0-5, but compared to the German team’s 0-10 loss to the same team, Baset, we held our own.

john robocup 2014 Brazil

The students learned a lot on and off the RoboCup field from each other and other teams but the most pleasant and surprising things I learned was about their genuine character. My students probably wouldn’t want me to share this but I will. One of our competitors needed a very important component just to get their robot to work and to be able to compete with us. A selfish team just intent on wanting to win and progress would not have shared the component with them. Our students, however, without hesitation loaned the parts to them for the rest of the competition. Also, another team needed to delay their match because they needed extra time to prepare since their equipment had been delayed at a connecting airport. Our students felt like it wouldn’t be right if we didn’t reschedule our match to wait for them to get ready. I was truly amazed at our students’ unselfish character. At the same time, when we needed a soldering iron, someone loaned one to us. Also, most of the teams freely offered advice on improvements and shared how they accomplished some of their technology improvements on their robots. We got a lot of compliments on the design of our robot ranging from beautiful to amazement that we were able to 3D print our robot. Our robot made history in the RoboCup teen sized humanoid league as being the first (almost) fully 3D printed robot to successful compete. I say almost because our robot’s torso was made out of aluminum for added reinforcement.

There were so many highlights from this RoboCup experience but probably the biggest one was for us to open our matches with a tie with Brazil and to come one goal close to making the semi-finals. It was a highlight to see the students perform so amazingly well under pressure, learn a lot , and to have fun interacting and celebrating with students from Brazil. Another highlight was the friendliness of the Brazilian volunteers (Dimas, Gustavo, Marianna, Lucas, and Julie). We had forgotten supplies and needed a power strip after ours blew up. They took us to a hardware store and translated for us because very few people their spoke English. We also needed a monitor and they took us to an electronic store and helped us negotiate buying a monitor. Another hotel person took some of to the grocery story. The RoboCup volunteers also took us to a McDonald’s and grocery store. And on our final day there the volunteers, engineering students from Brazil, took us shopping and site seeing, none of which we could have done without them in the limited time we had. So our students and the new Brazilian and RoboCup friends from around the world were our highlights.

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Forrest, our goalie and one of our MU-L8 humanoid robots, attempting to track and block a soccer ball. Photo courtesy Kellen Carey

So where do we go from here in the HEIR Lab? There is no place to go but up although in the end we were not in last place in the competition. Again, I’ve said it before, there are very few universities where a group of undergraduate can get together and building and program their own autonomous humanoid soccer robots and we were one of 6 and in the top 5 at that in the world. But all of this robocup experience fits into the HEIR lab’s master plan and vision to build autonomous, assistive humanoid robot that will help children with health and education. We also know our technology can help others including those rehabilitating form injuries or strokes and elderly or persons with disabilities. Sunny and Forrest, our first MU-L8 humanoid robots, are comparable to the the first Apple I computer in our goal to reach everyone’s home with their own personal walking humanoid robot. MU-L8 2.0 is planned for next summer and we hope to be able to start selling that version to other universities and schools. MU-L8 was also unique in the RoboCup this year because it was giving visual social feedback through it’s SMILE app interface. This is part of the plan to make MU-L8 a socially intelligent robot that can help others through dialogue and social interaction. We have some great plans to improve our walk engine and potentially a complete re-design of the humanoid skeleton of our robot.

We would like to thank everyone that supported us from the President, Provost, Dean, Exec. Associate Dean, Department Chair, all of our crowd funding supporters, all of the wonderful MU alumni, including some very generous engineering alum, and the financial support we received from GE Healthcare, Milwaukee Tool, Rockwell Automation and Sterling Engineering. We are also thankful to our family, friends, and MU colleagues and alum for their moral and prayer support. We thank the Lord God for the safety, opportunity, and accomplishments that He has given us and the grace, courage and knowledge to experience all that we have through RoboCup 2014 Brazil and beyond. Ad majored Dei gloria.

Andrew B. Williams, Ph.D., is Professor and the John P. Raynor, S.J., Distinguished Chair, at Marquette University in the department of Electrical and Computer Engineering. He is also the Director of the Humanoid Engineering and Intelligent Robotics (HEIR) and former Senior Engineering Diversity Manager at Apple Inc. You can follow Dr. Williams at @outofthebox1 and the HEIR lab at @heirlab or Facebook.com/heirlab.

Day 5: And the Winner is… #RoboCup 2014 #TeamMUL8 #STEM @heirlab

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Sunrise in Joao Pessoa Brazil. Learning to look beyond the here and now keeps things in perspective

We are at the venue early today. Our match against Baset is in four hours. During team meeting I was able to share with the students that the Provost said that regardless of the outcome we were winners and that she hopes we enjoy this potentially life changing experience. Professor Michael Johnson sent me a message to tell the students, “You really rock!”. My daughter shared with me yesterday after we lost, “That’s ok, Dad, you’re always a winner in my book!”. I said the same things to these students that they are winners in my book as well.

The students made some key improvements last night. Sunny’s torso bar came lose during the competition yesterday but fortunately Adam brought to some ties to help keep the bar connected and the screw from coming out. One of the key determining matches happens at 10am today when EDROM (Brazil) faces AutMan (Canada/Iran). Our challenge is to get more points than those two teams in order to move on to the semifinals. All the students seem calm and collected.

Some disappointing news. AutMan scored on EDROM meaning they got 3 points for a total of 4 and we have 2 points. It turns out that Autman’s fortuitous goal was made possible by their robot falling on the ball to edge the ball into the goal. It would take a win against Baset for us to advance to the semi-finals. Our students are still upbeat, especially Adam, and want to keep getting ready for our match in an hour. I admire the fact that they aren’t giving up.

Some encouraging news. One of the students from another teen-sized team wants to study engineering at Marquette in grad school with me. Our team would welcome someone with several years of experience in RoboCup and think his abilities will complement how we are seeking to go beyond just RoboCup to develop theory and applications for humanoid robots to help children with health, nutrition, and learning.

Our MU-L8 robots did their best against an experienced Baset team but could not muster up a goal. The final score was 0-5. Baset has an exceptional team that is part of a power systems company. They were also very friendly and encouraging to our team members. They definitely look to be the favorites for the tourney. So it’s official, the Autman team, which is a collaboration between a Canadian university and an Iranian university will play in the semifinals. Our students remained optimistic and upbeat about how our robots did and the future of our team. My heart welled up with pride and joy to see the great strides they made in such a short time.

One of the RoboCup volunteers offered to take us to McDonald’s and the grocery store and we happily obliged. It is so helpful to have someone who knows Portuguese to take us around town. We plan to watch the semifinal matches and then celebrate and rest.

Champions become champions by doing the ordinary things in an extra ordinary way. Here are some ordinary and not so ordinary things we learned about becoming a RoboCup champion.

Lessons Learned
We learned several lessons from this first competition. I’ll share what we did very well and what we can do to improve.

Things we did extremely well:

  • Worked together as a diverse team of engineering and computer science disciplines and people
  • Communicated well
  • Kept cool, calm, and collected
  • Made rapid physical modifications to the robot hardware and software changes
  • Packed needed supplies and equipment
  • Learned to listen and value everyone’s opinion and insight
  • Handle the mental, physical, and emotional stress, and pressure that comes from competition, sleep deprivation, and change in diet
  • Learned how to referee RoboCup matches
  • Followed through on assigned responsibilities and roles

Things we learned and will continue to work to improve:

  • How fast the referee starts the game and how ready our robot needs to be
  • How to connect to the wireless game controller and directly through ethernet
  • How far the robot needs to be able to kick to score goals in a match
  • The padding required to take up a fall
  • How precise the localization should be and that their are valid options to particle filters
  • How to orientate the knee servos to provide more flexibility and support
  • How to use the compass and gyroscope in the robot more effectively
  • How to effectively manage the clock with game pickups, servicing, and timeouts
  • How to create a better walk engine
  • How to get the robot to get up from a fall
  • Building things from scratch has its advantages but also sharing and reusing code helps
  • How we can improve our computer vision strategy and methods

This morning I got up in time to see the sunrise off the Atlantic Ocean. All I can say was it was awe inspiring. João Pessoa is sometimes called the city where the sun rises first since it’s the farthest east of any city in north or south America . I could see the sun rise below the clouds with the sun rays bursting through the clouds. In ten minutes it disappeared into the clouds. I began to wonder what the first people here many, many years ago thought when they saw the sun rise. I could imagine wondering how the sun floated or what lied at the end of the water. Now we know how the earth rotates and revolves around the sun. The universe is so much bigger than we could ever dream of traveling across. But when I think of the universes bigness, I think of how big our Creator is. My God, the One true God, is so much bigger than me.

By |July 23rd, 2014|Uncategorized|0 Comments

Day 4 : Courage that Counts #RoboCup2014 #TeamMUL8 #STEM

mul8 friends Brazil gustavo marianna

With our new friends from Brazil at RoboCup 2014 that drove us to the store…twice

Made it on to the bus earlier this morning. Instead of heading straight to the beach like I normally do before getting ready to go, I got ready to go and waited for the bus while I read, prayed, and wrote in my journal at around 6:40am (4:40am Milwaukee time). When the team came out I ran inside to grab breakfast. By the time I got back there was a long line of people waiting for the bus and I found out that we weren’t on the list. Thankfully, the other person that saw me when I was first in line, vouched for me and the RoboCup volunteer let us get on the bus.

We had our team meeting after starting out the day in prayer. I thanked God for the opportunity and asked that He give us wisdom, knowledge, and patience as well as continued teamwork and communication. We surprised Adam and sang happy birthday to him and told him we would celebrate later with his new found favorite Brazilian dessert, acai, a frozen, chocolate pudding or ice dessert with different types of granola, powdered milk(?), and bananas. Yesterday we found it to be a refreshing snack but we might have ordered too much.

The team has some new strategies (I can’t post until after RoboCup :-) but they are testing them out on the field now. The students found out firsthand how our walk compares to the other teams. We have a long way to go but we plan to improvise in the short term and make some major improvements in the long run.

Our next match is against the NimbRo team from University of Bonn, Germany at 1pm. We thought they were favored to win the whole thing especially since they have a long history in RoboCup and in the teen-sized humanoid league. The NimbRo team was upset by the Baset team 10-0 yesterday. Sunny and Forrest are actually cousins of NimbRo. We looked at the basic dimensions and specifications of their carbon fiber NimbRo-OP and Adam used SolidWorks to design MU-L8. Our team wrote and published a research paper about MU-L8 and we presented just this past fall in Atlanta at the International Humanoids conference. It’s amazing that even then, our robot was not walking, we had not qualified for RoboCup, and we had not raised any funds to participate in RoboCup 2014 Brazil. But somehow, God brought our team and robots together, united our funders including friends, family, alumni, and companies and we are here. Yesterday, after our 0-0 match with Brazil, we found out that not only are we here, but we belong here.

Our match with Germany, the favored team of this event, went 0-10 in their favor. It’s tough to see my students have to go through this but failure is essential to the learning process. I’ll repeat in quotes, “Failure is essential to the learning process”. The best teacher is experience. Either we can do our best to learn from other’s experiences or we can learn from being in the fire ourselves. This week, our students were “in the fire” so to speak but it’s a good thing, a rich thing because they saw what the robot needed to do, not just for this year but in the future. I’m reminded again of the encouragement Donya from the Baset team gave us, that they were once in our shoes but look how far they have gotten. I reminded our students of the Winston Churchill quote I shared with them on the bus to Chicago on our way to Brazil, “Success is never final, failure is seldom fatal, but it’s courage that counts!”

Just now one of my RoboCup colleagues from a University in Chile, Javier, came over to our table with his children. He was commenting on how beautiful our robots were and that what our team is experience in matches is normal. He said it takes many years to perfect the robots and even then it is stiff competition. He said tell the students to keep at it and continue to work hard.

We tied in the match against the joint team from Canada and Iran 0-0. It was a very close call. Their player ran circles around the ball…literally…but couldn’t get it into the goal. Sunny will need to do some additional training in the off season but she did the best she could. Our old guy, Forrest, manned the goal and did a great job of tracking the ball. His knees held up as long as they could until they gave out at the end with just seconds on the clock. Look for the students RoboCup documentary this fall to see the highlights on video. We found out that we are actually in fourth place as it stands and if we win tomorrow we control our destiny. If not, then there are some scenarios that would happen for us to make it in. We have 2 point in the team standings and we are currently ranked in 4th place.

John is at the team leaders meeting. Darrell and Josh will go to the referee meeting for the technical challenges. Adam and Kellen are working on our new strategies for the walking, kicking, and vision. Elise and Bridget went to go buy some much needed and desired water and snacks. If we were to walk back to our hotel it would take two and a half hours so we always catch a bus. Just now we met a student from a German university that said that about 100 participants were stranded last night here at the convention center because everyone waited for the last bus but there was not enough room. We will be leaving on the next to the last bus…we hope.

As I continue to read in the Psalms in the morning, I read how eager the Psalmist was to walk into the house of the Lord to experience God’s presence and to worship Him. The Psalmist felt obligated and enthusiastic about giving thanks to God. This morning as I watched another magnificent display and arrangement of clouds, sun, waves, sand, and trees on the Atlantic Ocean 5000 miles away from Milwaukee, I paused to give thanks. Yes, I am thankful for how well our students prepared and handled the pressure of this world championship competition in AI and robotics. Yes, I’m thankful that we tied against Brazil. Yes, I am thankful that we were able to compete with the team from Iran. But more than that, I am thankful for the student’s lives and value that goes beyond engineering and computer science. These are sons and daughters, brothers and sisters, cousins, nieces and nephews. Their lives are much bigger than robot soccer and I’m thankful for the small role that this competition is having on their character, their learning, and their lives both now and in the future. Thank you, Lord, for all of these magnificent gifts You have for us and the ones You have in store for us in the future.

Day 3: Run Forrest Run! #RoboCup2014 #TeamMUL8 #STEM


Sunny and Forrest make a terrific block and save from a great team from Iran

Our match was delayed from 11am to 5pm with one of the teams from Iran because their luggage was caught in Sao Paolo. But our match with EDROM, the team from Brazil, is still on at 2pm. EDROM team’s match against was 0-5 against Baset, a team that was formed by a power systems company, who is interested in robotics for maintenance of power system stations.

The students are starting to realize how grueling that the RoboCup challenge is mentally, physically, and emotionally. I can tell they are needing sleep. They are hanging tough though.

Just one hour before our first match against EDROM, which represents a university here in Brazil. Checking to see if we can manually start the robot. The referee also uses the game controller.

Our match against EDROM pitted two first TeenSize RoboCuppers in an exciting match. Some of the teams here have plenty of RoboCup experience including one team is staffed by and funded by employees of a power systems company. We were able to tie EDROM 0-0 in our first match!

We had a match against Asaz University of Parand of Iran. They used the same robot that the Baset team used. Although Sunny and Forrest got some great blocks and saves, they could not hold off the high powered offense of Parand. We fell behind 0-2 in the first half and the final score was 0-4. But the students were encouraged because we saw some improvements from our changes and thought up new strategy to try tomorrow. We are very thankful for all the supporters including all of our alumni, friends, and family, Milwaukee Tool, GE Healthcare, and Rockwell.

We watched some of the more experienced teams play today. The team from Germany was matched against one of the teams from Iran, Baset. Based ended up winning 10-0! One of Baset’s team members, Donya, came over and told us that we did great for our first try. She said when they started 5 years ago they could not even get the robot to stand. The Parand team member said they could not even get there robot to go on the field when they started. I’m proud of our team members and their courage, determination, and indomitable character. We are all looking forward to eating dinner, getting a good night’s sleep and competing in tomorrow’s matches.

This morning I was reflecting on Psalm 121 as I sat on the rock at the beach looking at the glorious sun over the Atlantic Ocean and listening to the waves as the mingled onto the sand. The Psalmist was saying. Who do I look to my help from? And then he probably looked at a similar scenic view of nature and said, my help comes from the Lord, the Maker of heaven and earth. It just struck me that God is a Maker. Something that we are striving to get our students to be able to do. Create, make, build, program humanoid robots that will assist children with health and education. God is a Maker and He has made us to be makers too.

Day 2: Fire and Smoke #RoboCup2014 #TeamMUL8

team mul8 robocup 2014 Brazil med

Team MU-L8 RoboCup 2014 Brazil teen-sized humanoid robot soccer team with Sunny and Forrest

Today was a mixture of fire and smoke. Nothing for parents to be alarmed, by of course. Just a battery that created a spark and caught a wire on fire on the robot. Also, we had put on some step-up voltage devices to try to provide more power to our onboard system. Somehow we figured out that “pops” and the sight and smell of smoke were good signs that this system modification was not working. In hindsight, our students learned that making changes at the last minute on both robots without thorough testing could create a problem.

Our first robot soccer match is tomorrow at 11am Brazil time. However, our competitor had delays in getting their robots to Joao Pessoa so we will let the tourney organizers provide guidance on whether the match will be played at the scheduled time or not. Tonight, John sat in on the team leader’s meeting to hear details of tomorrow’s events as I was off at the snack stand looking for food to eat. Bridget kindly bought some pizza for the students. Darryl and Elise went to referee training. Josh and Kellen made some improvements to our computer vision. Adam worked on the hardware and worked with the others to test the improvements to vision integrated with the locomotion. John finally got the computer to receive referee game controller packets after setting up the robot and his computer to have static IP addresses (sorry, for the geek talk). It’s been a challenge not having access to the Internet for much of the day and it was warm since there is no air conditioning in the part of the convention center we’re in. But the students have had a great attitude and have kept cool, calm, and collected as we all work towards the goal of competing successfully at RoboCup. At the beginning of the summer, I told our students that RoboCup can be like taking a final exam. Either you can cram all night and be unprepared or you can work hard every day and be ready the night before. I must say, it appears that the students have worked hard every day this summer and are as prepared as we can be. The rest is a learning experience that they can enjoy, have fun in and compete. We place it all in God’s hands.

I was pleasantly surprised to see the SpelBots team from Spelman College as they arrived to compete in the Standard Platform League technical challenges. I am proud of them continuing to be the only all female team in RoboCup. It was 10 years ago that I left University of Iowa after reading the Purpose Driven Life as God led me to work at an HBCU. Eight years later He led me on a new chapter leading a diverse set of engineering and computer science students at my other alma mater (Marquette) to becoming one of the pioneers in 3D printed competition humanoid robots with a social intelligence twist. Lots of great memories and lessons learned from the past but I have continued to receive blessing upon blessing since I’ve been at Marquette these past two years and as I move forward into the future. As I told my students then and as I tell them now, “Success is never final, failure is seldom fatal, but it’s courage that counts!” (W. Churchill).

Day 1: Team MU-L8 at #RoboCup2014


Marquette HEIR Lab Students Setting Up for RoboCup

Today Team MU-L8 arrived at the João Pessoa convention center ready to take on the world…literally. But we found that the world wanted to work together to focus on a common technology goal and in fact want to help each other. Not only were our fellow competitors friendly but offered to help us as we also offered help to them. One of our teen-sized humanoid soccer competitors from Brazil came asking if we had a very important component that was used to communicate with their servo motors and we gladly gave them one of ours to share. They gave us such a glad and loud cheer from their team when their teammate informed them that we had loaned them the part. And there was an even louder cheer when their robots motors began working again. The team from Brazil reciprocated by loaning a monitor that we didn’t pack (more on this later).

In the same way, when our students had a robot networking issue, the team from Iran and Canada offered some very helpful advice. But probably the most helpful were the RoboCup volunteers. Our power strip blew a fuse and needed to be able to plug in our equipment. So they arranged for us to take a taxi to the Brazilian version of “Home Depot” to get what we needed.

And about that monitor. We needed it to log into our MU-L8 to test and run code. The volunteers, Dimas, Lucas, Marianna, and Gustavo, volunteered to drive us to buy a monitor and help us a negotiate a deal. These Brazilian engineering students went out of their way to help us.

Earlier Dimas said today to me, “Are you the team that has Forrest? I read about Forrest on the RoboCup Facebook page. I love Forrest!” He was not the only one. We had team members from Japan, Iran, and others come to visit Forrest and Sunny to see its SMILE app and 3D printed parts. Our students were so proud of showing their creation.

This morning I woke up early to reflect, write in my journal, read Scripture, pray, and meditate as I watched the light rain on the Atlantic Ocean. I have so many blessings to be thankful for to my Creator, including an opportunity to experience the fellowship of our global friends.

By |July 19th, 2014|Uncategorized|0 Comments