Por favor deshagámonos del asqueroso CyberSpanglish.

Ya pasó el concurso. La UNAM tiene buen trabajo realizado, y tienen un bonito robot, cuya odometría y baterías jalan bien, lo cual les dio buenos resultados. Usan redes neuronales y campos potenciales, sus mapas son muy gruesos y su planeación de movimiento esta implícita en la representación.

Yo teleoperando el robot para la construcción de su mapa.

Mapa del ambiente.

Mi exploración basada en el C-Free-Space tronó como ejote. Mi SLAM-on-line tronó como ejote. Y todo se lo debo o a mi driver o al robot... aún no lo se... pero me inclino por el robot :P

El grupo de la UNAM.

Nuestra humilde banda.

We're in the middle of a national robotic contest. We, the mobot's group, are participating in the service robot category, with the old Nomad Scout robot (whose name is now Markovio).

My idea was simple: put an old laptop (PIII/700Mhz/256 Mb ram) in the robot with only player, as a thin client, under an ad-hoc wireless network. The "brain" of the system, which will hosts the SLAM and the Navigation subsystems, would be a desktop computer (PIV/1.6GHz/512 Mb ram), with a wireless card. I decided to put Ubuntu Hoary in the desktop machine, then my SLAM system. Put it to play in a simlated environment, and the things went wrong: my system creates several threads, one for the robot conection, one the the SLAM process and another one to exploration/obstacle avoidance. It's seems that something in Ubuntu (kernel scheduler, or the gthread library or even the hardware) is quite bad, because the threads doesn't work like in my lap, the robot smashed with obstacles, so the obstacle detection thread wasn't processed at time.

I was angry. All my plan went to the garbage can. Only to test the problem, I set up the SLAM system in the old laptop, with Fedora Core 4.... and it works perfectly!!

Ubuntu let me down.

• Installing Ubuntu on niquist. This is my first installation using LVM2. Intersting bibliography: LVM Howto and Gentoo LVM2 installation. The shame is the net, is quite slow right now.
  
• Compile Player/Stage was a little complicate because the development dependencies to solve. Tip: apt-get install build-essential
  
• Read some papers about exploration. Grab some ideas.
  
• It's official: a 512 Mb RAM machine with a 1.6 GHz processor can't handle Stage and fslammer. I've to put another machine for Stage. Must to paralelize processes.

After the tornado, who came to my life several weeks ago, I return to my "normality". Were tough but interesting days.

Now América came to live with us. Too much progesterone around me lately.

At the morning, we did some shoppings. Then just spend the afternoon resting.

Last night did an emerge -avuD world, and now I trying to work in a Xnest environment to get jhbuild working. Now I'll commit in some bug squashing for gnome.

The next week scares me.

• Fausto - Goethe (12/2004 - 08/01/2005)
  
• Arráncame la vida - Ángeles Mastretta (09/01/2005 - 12/01/2005)
  
• Demian - Hermann Hesse (12/01/2005 - 16/01/2005)
  
• 1984 - George Orwell (17/01/2005 - 05/02/2005)
  
• Delirio - Laura Restrepo (06/02/2005 - 12/02/2005)
  
• Crimen y Castigo - Fyodor Dostoevsky (13/02/2005 - 26/03/2005)
  
• Materialismo histérico - Xavier Velazco (26/03/2005 - 3/04/2005)
  
• Defensa apasionada del idioma español - Álex Grijelmo (3/04/2005 - 28/04/2005)
  
• El niño feliz. Su clave psicológica - Dorothy Corkille Briggs (1/06/2005 - 8/06/2005)
  
• Erotismo - Francesco Alberoni (11/06/2005 - 16/06/2005)
  
• Enamoramiento y Amor - Franscesco Albeorni (??/??/2005 - 20/08/2005)

Mi táctica 
es mirarte
aprender como sos
quererte como sos

Mi táctica 
es hablarte
y escucharte
construir con palabras
un puente indestructible

Mi táctica es
quedarme en tu recuerdo
no sé cómo ni sé
con qué pretexto
pero quedarme en vos

Mi táctica es
ser franco
y saber que sos franca
y que no nos vendamos
simulacros
para que entre los dos
no haya telón
ni abismos

Mi estrategia es
en cambio
más profunda y más 
simple

Mi estrategia es
que un día cualquiera
no sé cómo ni se
con qué pretexto
por fin me necesites.