highlights of japan - odyssey explore€¦ · continue to kyoto. on arrival in kyoto – spend the...

7
Adapting Low-Cost Platforms for Robotics Research Karimpanal T.G., Chamambaz M., Li W.Z., Jeruzalski T., Gupta A., Wilhelm E. Abstract—Validation of robotics theory on real-world hard- ware platforms is important to prove the practical feasibility of algorithms. This paper discusses some of the lessons learned while adapting the EvoBot, a low-cost robotics platform that we designed and prototyped, for research in diverse areas in robotics. The EvoBot platform was designed to be a low- cost, open source, general purpose robotics platform intended to enable testing and validation of algorithms from a wide variety of sub-fields of robotics. Throughout the paper, we outline and discuss some common failures, practical limitations and inconsistencies between theory and practice that one may encounter while adapting such low-cost platforms for robotics research. We demonstrate these aspects through four represen- tative common robotics tasks- localization, real-time control, swarm consensus and path planning applications, performed using the EvoBots. We also propose some potential solutions to the encountered problems and try to generalize them. Index Terms — low cost, open-source, swarm robotics, lessons learned I. I NTRODUCTION The Motion, Energy and Control (MEC) Lab at the Singapore University of Technology and Design (SUTD) is engaged in an ambitious research project to create a swarm of autonomous intelligence-gathering robots for indoor en- vironments. After reviewing commercially available low- cost robotics platforms, some of which are shown in Table I, the decision was taken to build a custom ground-based robot platform for performing swarming research, dubbed the ’EvoBot’. The primary trade-off is between platform flexibility and cost, where existing robots are intended to either be applied in specific research areas, and are hence equipped with limited and specific sensor and communica- tion capabilities, or are more flexible with respect to sensor and firmware packages, but are also more expensive. In terms of software control development environments, well- established frameworks such as ROS [1] or the Robotics Toolbox [9] have extremely useful modular functions for performing baseline robotics tasks, but require substantial modification between applications and require specific oper- ating systems and release versions. With this in mind, the MEC Lab set out to develop the EvoBot platform with the following goals: Low cost: affordable for research groups requiring a large number of swarming robots (e.g. more than 50) with sufficient sensing and control features. Open source: The hardware, body/chassis design, appli- cation software and firmware for the EvoBots are fully open source in order to enable any group to replicate the platform with minimal effort. All the hardware and software files used for the design of the EvoBots is available here: https://github.com/SUTDMEC/EvoBot Downloads.git Adaptable: The final platform is intended to be as general purpose as possible, with minimum changes needed to be made to the base firmware by users in order to scale to a wide variety of common research applications. Some representative applications are de- scribed in section IV. ... In the process of designing the EvoBots platform, a great deal of failure-based learning was involved, and this paper compiles and synthesizes this process in order for it to be useful for future robotics researchers who intend to develop their own platforms, or adapt commercially available platforms. Specific emphasis will be on challenges common to robotic platforms in general, and approaches used to avoid failure when attempting to solve them. The authors would like to point out that each robotics project presents a unique sets of problems, so we have attempted to only describe problems we think may be generalized. II. PRECEDENTS AND EVOBOT DESIGN This section will discuss commonalities and differences between the EvoBot and other comparable low-cost robotics platforms, as well as provide insights into the lessons learned during the design process. In order to reduce the time be- tween design cycles, the EvoBots were prototyped with a 3D printed body and developed across three major generations and several minor revisions. An exploded view of the EvoBot is shown in Figure 1. Like the Khepera, Finch, Amigobot (table I) and most of the other platforms, locomotion on the EvoBot is achieved Fig. 1. The 3-D printed case has two slots at the bottom for the optical flow sensors, a housing for the left and right tread encoders, and 5 IR depth sensors. The encoders on the forward wheels and the optional ultrasonic sensors are not shown FinE-R 2015 The path to success: Failures in Real Robots Page 20 IROS 2015, Hamburg - Germany October 2, 2015

Upload: others

Post on 22-Jul-2020

2 views

Category:

Documents


0 download

TRANSCRIPT

Page 1: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

Highlights of Japan Tokyo, Hakone, Hiroshima, Osaka, Kyoto

Japan, an archipelago of 6800 volcanic islands, is a world apart from any other country. It is a wonderful

contrast of tradition and modernity - glitzy skyscrapers co-exist with Geisha girls, flashy neon lights do not

overshadow quaint little tea shops, cutting edge modern technology works in tandem with ancient

craftsmanship. Besides sheer curiosity, savouring the delights of Japanese cuisine is a large reason to visit this

country. The people are charming and courteous, the rail network is fantastic. However, its best kept secret is

the stunning natural beauty of Japan and it should be a large reason for visiting this island country.

Highlights

Japan is nothing less than magical in spring time when the cherry blossoms are in

full bloom. These beautiful pink flowers form a natural blanket over the country in

soft, colourful splendour. It is the perfect time to visit Japan.

Page 2: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

HIGHLIGHTS

❖ Experience Sakura or cherry blossoms to create beautiful visions of pink and white

❖ Visit the sights and sounds of glamorous Tokyo

❖ See an Early Morning Practice at a Sumo Stable – one of the best experiences in Japan

❖ An opportunity to see the magnificent Mt Fuji and its surrounds

❖ Visit the stunning Arashiyama Bamboo Grove

❖ Visit the stunning natural landscape and beautiful temples of the ancient city of Kyoto

❖ Visit the tear-jerking Peace Memorial Park in Hiroshima

Itinerary

Day 1 – 31st March 2020 - Arrival in Tokyo

On arrival in Tokyo, you will be booked to for a stay of 2 nights.

On arrival, the transfer to the airport will be arranged for you. (Early check in is on request)

(The transfer will be arranged for flights arriving at around 1600 hours. For any other arrivals, a separate

transfer fee will be applicable)

You will be booked at the Hotel Grand Prince Shintakanawa Tokyo or similar in Tokyo.

Dinner tonight is included.

Overnight in Tokyo.

Day 2 – 1st April 2020 - Tokyo sightseeing

City tour of Tokyo: Today’s tour will include the following (the order may change depending on traffic)

You will drive past the Japanese House of Parliament as you continue on to the Imperial Palace East Garden.

This idyllic outdoor space, home to a traditional Japanese garden, tea pavilion, stone walls, and a moat, is

situated within the complex of an Edo-era castle.

From here, we will head to Visit TeamLab Borderless, a Digital art Museum. A magical mix of colour, light and

sound, TeamLab Borderless in Tokyo is the world’s first Digital Art Museum. A. From a mesmerising crystal

world to gushing digital waterfalls and an extraordinary lantern filled room, a visit to TeamLab Borderless is a

Tokyo highlight.

Page 3: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

We will then head to Shibuya crossing. Famous for being the busiest crossing in the world, the Shibuya

Scramble is top of most people’s must-see list in Tokyo . The sprawling scramble intersection has hundreds of

people, sometimes as many as 3000 at peak cross at a time, coming from all directions at once.

After lunch, you will be driven to Ginza for shopping. You can spend some time enjoying walking around Ginza

Dinner tonight is included.

Overnight in Tokyo.

Day 3 – 2nd April - Tokyo – Sumo Stable ; Digital Art Museum. Afternoon to Mt Fuji

This morning (very early), you will enjoy a morning Practice at a Sumo Stable (with packed Breakfast from

hotel). Seeing sumo in action is one of the best cultural experiences you can have in Japan. One of the best ways

to experience this centuries’ old sport up close and personal is by visiting a sumo stable and watching the

morning training session, known as asageiko.

Continue on to Nakamise Shopping Street, a brightly-colored thoroughfare of food vendors and souvenir

stores that leads to Asakusa Kannon Temple (Senso-ji), one of Japan’s most important Buddhist sites. Stay

with your guide as you check out, architecture, and shrines that surround the site.

From here, we will head to Akihabara to enjoy some electronics shopping. In more recent years, Akihabara has

gained recognition as the center of Japan's otaku (diehard fan) culture, and many shops and establishments

devoted to anime and manga are now dispersed among the electronic stores in the district

After lunch, transfer to Mount Fuji.

Stay 2 nights at the Hotel Hakone Highland or similar

Dinner tonight is included.

Overnight in Mishima

Day 4 – 3rd April 2020 - Mount Fuji

This morning you will be taken on a sightseeing trip starting with the Mishima Skywalk. It is the longest

suspension bridge in Japan that is 400 meters in length. It gives pedestrians a chance to view the magnificence

of Mt. Fuji and the beauty of Suruga Bay from the bridge.

You will also have a chance to see the pristine Lake Ashi, with a view of Mount Fuji that is worthy of postcards

Page 4: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

The end of your tour will be a visit to the Suntory Hakushu Distillery bar (subject to permission) which hosts a

Whisky Museum, a factory shop and a restaurant. (If the Whiskey Distillery is not possible, we will take you to

Gotemba premium Outlets for some shopping time or Hakone Ropeway depending on availability. )

Dinner tonight is included.

Overnight in Mishima

Day 5 – 4th April 2020 – Mt Fuji to Hiroshima

After breakfast, the transfer to the Station will be arranged for you. (Pack one small bag for 1 night while the big

bag goes on straight to Kyoto)

You will be booked on a bullet train to Hiroshima.

On arrival, transfer to a local Indian Restaurant for lunch (cost not included)

After lunch, you will continue on a sightseeing tour of Miyajima Island and the beautiful Itsukushima Shrine.

The name Itsukushima literally means 'island of worship' and from ancient times the island itself was

worshipped as a god. The mystical Itsukushima Shrine built on the water was inscribed as a World Heritage

Site in 1996.

Later, the transfer to the hotel will be arranged for you.

You will be booked for a stay of 1 night in Hiroshima at Hotel Rihga Royal or similar.

Dinner tonight is included.

Overnight in Hiroshima.

Day 6 –-5th April 2020 - Hiroshima to Kyoto including Miyajima and Kurashiki

After Breakfast, we will visit the Hiroshima Peace Memorial Park was built to commemorate the dropping of

the atomic bomb over Hiroshima on August 6, 1945 and to promote a peaceful world. It is located in the area

around the atomic explosion's epicenter, and houses the Peace Memorial Museum and many other related

monuments.

The Peace Memorial Museum graphically displays the atomic bomb's effects on the city and its inhabitants. In

Page 5: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

the museum's east building, Hiroshima's militarist past and the process leading to the dropping of the bomb are

documented. Audio guides are available in more than a dozen languages.

The Atomic Bomb Dome is one of the few buildings around the explosion's epicenter that partially survived

the blast, and the city's only remaining bomb damaged building. Between the museum and the Atomic Bomb

Dome stands the Memorial Cenotaph for Atomic Bomb Victims. It contains a list of all the people who were

killed by the explosion or died due to the bombing's long-term effects such as cancer caused by radiation.

From here, we will proceed to Kyoto by Coach.

Enroute, you will visit Kurashiki Canal Town. This is a beautifully preserved historical district known as Bikan

Historical Quarter. Visiting Kurashiki is a great way to get an idea of what old Japan was like.

Lunch will be at a restaurant enroute or in Kurashiki itself (cost not included)

Continue to Kyoto.

On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

popularly called the Geisha district of Kyoto. It is packed with bars, restaurants and traditional tea houses. You

may get lucky and see Geisha walk across from you.

Dinner tonight is included. (After dinner, those who want can go to Ponto Cho on their own)

You will be booked at the Hotel Grand Prince Hotel Kyoto or similar for a stay of 2 nights. (The bags you sent

ahead will be waiting for you at the hotel)

Day 7 –-6th April - Arashiyama and Sagano & Kyoto Sightseeing

You will start this morning with a visit to Arashiyama and Sagano near Kyoto. wander among peaceful

bamboo groves and elegant mountain temples of rural Japan as you explore the fascinating areas of Arashiyama

and Sagano. Enjoy a ride on the Sagano Scenic Railway (Torokko Saga and Torokko Kameoka Stations).

Meander among the bamboo groves of Sagano before checking out the ancient 14th century Tenryu-Ji Temple

and the secluded Jojakko-Ji Temple, hidden among the forest. Finish with a trip across the iconic

Togetsukyō Bridge.

From here, we will head to lunch at a typical Shojin Ryori Restaurant (own cost) at the Shigetsu at Tenryu-ji

Temple. Shojin ryori is the traditional dining style of Buddhist monks in Japan, and grew widespread in popularity

with the spread of Zen Buddhism in the 13th century. As the cuisine is made without meat, fish or other animal

products, it can be enjoyed by vegans, vegetarians and meat-eaters alike.

Head next to Kinkaku-ji, the city’s most popular religious site and what is considered by many to be one of the

world’s most elaborate Japanese gardens, for 45 minutes. Check out the temple’s Golden Pavillion, a three-

story building sheathed in gold leaf and situated beside a picturesque pond, where you can take some great

photos.

Page 6: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

Next is a Photo stop at Nijo Castle, which was the home of the Tokugawa Shogun until the mid-1800s. From

here, we will head to the UNESCO world heritage Kiyomizudera Temple. It is one of the most famous and

celebrated temples in Kyoto. The temple’s wooden stage is undoubtedly what the temple is most famous for,

offering an outstanding panoramic view of Kyoto rising out of a sea of maples.

Your final stop today will be the Philosophers Path for an hour at leisure. This is a pleasant stone path through

the northern part of Kyoto's Higashiyama district. The path follows a canal which is lined by hundreds of cherry

trees. Usually in early April these trees explode with color, making this one of the city's most

popular hanami (cherry blossom viewing) spots. Hopefully, you will get to see clouds of beautiful cherry

blossoms bloom in this lovely city.

Dinner and Overnight in Kyoto.

Day 8 – 7th April - - Kyoto – Nara – Osaka

Post breakfast this morning, enjoy a 1-hour drive south to Nara, where you’ll stop by two of the temples and

shrines that form the city’s own UNESCO World Heritage site. Visit Todai-ji, a religious complex known for

housing one of the world’s largest statues of the Buddha (Great Buddha Hall) before continuing to the adjacent

Nara Park.

Finish your excursion at Nara’s Deer Park, a famous section of Nara Park with free-roaming groups of deer. Feel

free to hand-feed these tame creatures with the special food for sale on site.

From here, we travel to Osaka. On arrival, enjoy a panoramic tour of Osaka. You will see the Umeda Sky

Building and Floating Garden observatory, one of the landmarks of Osaka. At its core is the Umeda Sky Building,

a "pair of skyscrapers connected in midair" - built in an unusual architectural form not often encountered

anywhere in the world.

You will then be dropped Shinsaibashi area for an evening at leisure and some last minute shopping.

Dinner tonight is included.

You will be booked at the Hotel Art Osaka Bay Tower or similar for a stay of 1 night.

Overnight in Osaka.

Day 9 –8th April 2020 - Departure from Osaka

After your hotel check out, your tour comes to an end. The transfer to the airport will be arranged for you.

(The transfer will be arranged at 1145 hours. For any other departures, a separate transfer fee will be applicable)

*** Return home with wonderful memories of your holiday ***

Page 7: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

Price per person on a twin-sharing basis: INR 2,49,800

Single supplement: INR 61,000

Price Includes:

➢ Accommodation as per the itinerary in 4 star hotels for 8 nights

➢ Daily Breakfast

➢ Daily Dinner

➢ Airport transfers in Tokyo and Osaka (as per the timings specified)

➢ Special Luggage Delivery service from Mount Fuji to Kyoto

➢ “Shinkansen” bullet train from Hakone to Hiroshima

➢ Transportation services in an air-conditioned vehicle as per itinerary with qualified English speaking guide.

➢ Tours & Entrance fees as per the itinerary

❖ Sumo Wrestling visit

❖ Digital Art Museum

❖ Mishima Skywalk and more

➢ Service of an Odyssey Tour Escort from Tokyo to Osaka

Price excludes

➢ Air ticket to Tokyo and from Osaka

➢ Airport Taxes

➢ Meals and Sightseeing not mentioned in the itinerary

➢ Porterage

➢ Gratuities (Recommended at US$ 8 pp per day)

➢ Visa & Overseas Medical Insurance policy

➢ Items of a personal nature, such as laundry, telephone expenses, room service, alcoholic beverages, etc.

➢ Any other services not specified in the itinerary

➢ 5% GST

Notes:

➢ Standard check in at hotels is at 14h00 onwards. Where necessary we will request an early check-in

however, this is not guaranteed. The same applies to check out, which is at 12h00.

➢ Rates subject to change without prior notice due to circumstances beyond our control e.g. fuel increases,

rate of exchange fluctuations.

➢ Please note that your passport should be valid for more than 6 months beyond the date of travel and that

you must have at least 2 blank pages on your passport.

➢ Please contact us if you would like to book pre-tour accommodation in Tokyo or post tour accommodation

in Osaka.

➢ ROE calculated at 1 JPY = Rs. 0.66. Any fluctuations at the time of payment will alter the cost

➢ Price based on a minimum of 14 people travelling together

➢ The Cherry Blossom flowers bloom from late March to mid April so we have organised our tour accordingly.

It is however a natural phenomenon and the timing and duration of this cannot be controlled.

Page 8: Highlights of Japan - Odyssey Explore€¦ · Continue to Kyoto. On arrival in Kyoto – spend the about an hour in Gion district. Gion is a traditional entertainment district, also

Terms & Conditions

BOOKINGS AND PAYMENTS

1. A deposit of Rs 30,000 per person will be payable before 10th December 2019. If paying by cheque,

please make the cheque payable to Odyssey Tours & Travels.

2. At the time of making the booking, please send a copy of the first page of your passport

3. Balance payment is to be made by 10th January 2020.

4. All rates are subject to a revision if there is a fluctuation in the currency rates.

CANCELLATION & REFUNDS

1. Payment of the booking deposit constitutes acceptance of our terms and conditions.

2. Should you be forced to amend / cancel the booking you must fill and sign the amendment /

cancellation advice, which will entail cancelling your particular reservation, thereby the cancellation

charges will apply. Should you wish to cancel any part of a confirmed booking / reservation all such

cancellations must be advised in writing. Given below is the cancellation policy.

3. Cancellation of a reservation due to any visa being rejected will amount to cancellation charges being

levied as per the scale mentioned below and Odyssey Tours & Travels will not be responsible for any

visa rejection by the respective consulates.

4. Cancellation of any reservations are subject to the following conditions:

a. Cancellation effected between 10th December 2019 and 10th January 2020 will attract a

cancellation fee of Rs 30000 pp

b. Cancellation effected between 10th January and 30th January 2020 and will attract a cancellation

charge of 50% of the tour cost.

c. Cancellation effected after 10th February 2020 will attract a cancellation charge of 100% of the

tour cost.

d. No refund will be due after commencement of travel.

5. Refunds due can take upto 5 weeks to process.