Training Log Archive: Mr Wonderful

♪All of the contours
Are laid out before me now
To leave a trace

With all of the light and shape
We take up our own space
I'll find my own way back♪

https://youtu.be/LhV7yPoL2j8?t=7s

Benign easy walk => shin discomfort FML

This is what consumed the last three weeks of my life.

Green line: The motion if there was no noise - sort of like in orienteering, if your pace and bearing were correct.

Blue line: The actual path (movement is noisy). Very much like orienteering!

Cyan line: The true bearing to the marker/beacon

Red line: What my little guy gets as a measurement to the beacon (ie his measurement is noisy) - again a lot like orienteering

The red and blue circles around the little guy are tolerance bands on the estimate of the true position.

You can see this particular style makes a mistake on the second pass by #5 when it's really close. This is the correct behavior for this implementation (ie I didn't screw it up, the algorithm from the book has room for improvement).

Then after that one got working, I had to do two more different ones. Then answer a series of questions and prepare innumerable plots.

If you have one misplaced apostrophe, or mix up sine and cosine, it doesn't work, and you spend forever scanning your code for it. The most common problem we had was something like:

What's the average of a 360° angle and a 0° angle? Well, those both point to the same place, which is, for example, north, but if you add the numbers and divide by 2, you get 180 and report back "south", which is wrong if you are talking position orientation. So you have to minimize the angle (lop off any extra 360s), or break it up into sine and cosine and then arc tangent it back. Good times.

Next up, we don't get predefined markers. We'll encounter new markers, have to add them to our world, and then we won't know which marker belongs with each measurement.

One of the videos I submitted on Wednesday:

From ap_log

C • should we buy some beacons ... 8

It was fun watching Rupp win the trials. Not bad for a debut.

Also, I found it: the pinckney map. The advertised as ~8 km that was really more like 10 km. I think I took 3 something, and Igor had me by an hour something. Will be fun to rerun it when that's a good idea.

Results from original: http://obasen.orientering.se/winsplits/online/en/d...

I noticed this morning that the dull shin throb is currently absent.

Billing bike trainer @ 12 mph because who wants to move the sensor again.

This session was required to make room for popcorn for Deadpool in a couple hours.

I need a project for robot class. But since we are in the business of estimating robot states, rather than building robots, my initial idea is using robot localization to create a canoe o cheat bot, where using the estimation techniques and bearing and distance estimates, determine location, and then compare them to "truth" in the form of GPS. It would be a good test since control inputs (strokes) would be extremely noisy, as would crude measurements, which would stress the estimators.

It is appealing because then I have to take my canoe out. But I can't come up with a reasonable way to measure distance at the ranges of say, Kent Lake. So I may need another idea. I thought about walking a trail, but then I have to go flat because I'm not sophisticated enough to figure out the elevation factor - canoe keeps it 2D. Maybe bike would also work. This is a perfect thing to do at something like an NSF Adventures, since walking a creek bed and then getting the spur/gully contrasts would work, with little to no influence from the measurer's elevation. Do we have any similar canyons here? Peach Mountain is a spine, rather than a valley....Maybe a bowl chain like at some of the local parks would work, then try to contour it to remove elevation issues. (There's a spot at Highland maybe).

C • Simon... 4

+shin exercises. I forgot to recharge my ice pack for last night, so hopefully it'll be frozen for today.

I should also watch the weather more, as xc skis would be appropriate for Saginaw today.

Playing around with "what's the longest non trivial leg I could make up at PLRA?", I ended up with a 5c, 7.1km course at PLRA that offers massive route choice and has some decent navigation, without dog legs.

I would think it's hilarious and awesome to get that at the start. Not sure all of the customers would, so perhaps I'll work on something more conventional...

~~~~

pushups, squats (maybe more deadlifts, anyway, sit down, stand up, with dumbbells), situps, military press, curls

C • interestingly 6

Found more bike stuff, although not without finding a cutting tool in one box. Two band aids. Also, not sure about axle nuts for orange bike...have to figure out what and order some. I need to get outside.

Bike shoes were used for mouse good storage, but seem okay. :/

Event: Frozen Beaver
 

Twenty mins weights. Not sure if body weight squats are a good idea or not, but no pain during. ¯\_(ツ)_/¯

-300? Tracking really want to make you do either the same thing or eat at chains. Tried to round up.

shin stuff complete. forgot to ice yesterday

split the difference: multivitamin for light bump

shin exercises complete+some pushups while preparing breakfast

-500

Fortune smiles on me as the GPS drift is consistently a believable distance.

big homework day.

-400

More Archer.

Need to remember shin exercises this evening.

-650

shin exercises complete

Shin exercises am

A little ease into erg row

Ice during macgyver.

-650 calories. Need to start calcium supplements as soon as I find a Meijer. Bike assembly the weekend, maybe I'll pick up a cheap road bike to screw around on as well.

C • March 5? 5

C • Calcium 2