Leonel Pena

-Continued to work on the crash course
-Made several objects in terminal and learned how they worked
-Met with Irving and talked a bit about what we were going to be doing

-Had a mini meeting with interns and mentors on Tuesday with Dr. Amato once she returned
-Finished the crash course up to chapter three due to our speedy initialization of our next project
-Met with our project mates and started on our project for the summer
-Played some risk with Diego, Brandon, and Marcos in the evening after attempting to watch a movie.

-Had a meeting with all the mentors in the conference room
-Learned about all the other projects being worked on by our colleagues in Parasol Labs
-Had our websites critiqued and took notes on what to work on
-Ate Double Dave’s Pizza
-Watched Game 3 of the NBA finals at the Stack and was delighted that the Warriors won because there will be free taco’s at Taco Bells

-Made shapes with triangularization
-Made environments to test our problems on
-We could finally implement our findings into actual problems

-Extensively made many .obj files for our environments
-Updated the website with pictures in the weekly reports
-Began working in the 2D environment after finishing our tasks in 3D
-Used GForge to report bugs and learned how to navigate it

-Came in to work on my personal Website as I had broken it the Friday before hand.

-Simulated several different strategies in a 3D environment
-Made a copy of the environment in Vizmo for easier visualization while we worked on bugs
-Got a weekly plan from Irving on what to do
-Saw the final game of the NBA Finals with Diego, Brandon, and Marcos

-Helped Mukulika and Diane setting up their monitors
-Kept running different strategies on the simulator
-Attended the CRA-W town meeting hosted by Dr. Amato

-Completed the Exercise 2-1 which is a rotational scenario
-Moved my personal website from Wix.com to the Parasol site
-Tried to make the "Contact Me" and the map section of the website work

-I finally got Google Maps to work by getting an API key from Google
-Got the Contact Us form to work by using "Formspree.io"
-Fixed a few errors in our scenarios
-Attended a weekly meeting where Mukulika presented her work.
-Attended a presentation about multi-threading on the 3rd floor.

-Fixed our environments for the 2D and 3D environments, as the bug that had the robot spawn at the origin was fixed
-Started work on a fixed manipulator robot
-Started to debug the Kuka robot, as it wasn't working

-Attended orientation at UTRGV and signed up for classes

-Started to track all the different MP Strategies in a spreadsheet
-Kept running different simulations all day until we had what we needed
-Went to Ye Stat buffet with Irving, Diego, Brandon, and Marcos

-Completed the simulations and input their data in the spreadsheet
-Started working on an environment with the Kuka robot that focused on a translational and rotational challenge for the base
-Attended the weekly meeting where Shawna and Tim showcased MAPRM and how they used witnesses to determine the Medial Axis in the environment
-Had our websites critiqued and edited them later on in the day

-We started an environment that was more focused on arm translation and rotation instead of the base
-We edited the existing environment that was for the base to be used on the arm
-Found and fixed a bug where we would get an incorrect path that would collide with obstacles

-We finished the environment to make the arm translational and rotational
-Took some time to do the weekly report
-Went to lunch with Diane and Mukulika

-Worked on my website to update it to include the week 4 report
-Went to work on our Kuka environments, but the arm broke apart for some reason
-Tried to figure out why the Kuka was not working, troubleshooting it.

-Kept working on the Kuka environments
-Discovered that the arm would break apart if obstacles were too close to it
-Made a new environment as a result and tested the motion planning strategies on it

-Brandon discovered that any changes made to the environment file in Vizmo would save the orientation and angles of obstacles differently, causing an object that was saved in a good location to be spun at a different angle and interfering with the Kuka arm.
-As a result, when we wanted to make a change to the environment file, we had to copy the coordinates of the obstacles to save manually and reopen again in Vizmo
-Had our websites critiqued at the weekly meeting.

-We got a new assignment form Irving, test all of the Motion Planning strategies an write a report by Friday on them
-Was assigned an exercise each.
-Learned how to use LaTeX and started writing the report

-Worked on the report all day
-Ran simulations to collect data
-Worked on our weekly report

-Worked on my website to update it to include the week 5 report
-Since we had finished our reports, we went back to working with the Kuka environments
-Worked on DREU report

-Saw Fireworks for Fourth of July
-Ate Hot Dogs

-Attended the weekly meeting with Sascha presenting about disassembly
-Was told to remove everything from our Parasol website and move it over to our personal site
-Worked on the website to migrate everything
-Kept working on the environments
-Met with Nancy in the afternoon and discussed the environments and our DREU report
-Kept working on the environment and showed Irving our work on the Kuka environments

-Kept migrating our info to the other website
-Finished the Kuka environments to show Irving
-Finished migrating our information to the other website

-Was told by Irving to start a report about the Kuka environments
-When we showed the completed environments to Irving, he decided to make a few changes to it so we did
-When we ran the simulations, the simulator would not solve the problem on the first try, but would on the second try
-• Decided to start our reports next week after the problem was fixed

-Had our websites completely updated to the standards Nancy gave us
-Attended weekly meeting with Diane about computational biology
-Kept testing the simulations for our reports
-Had Irving assign us a car-like robot

-Updated our xml file to implement the new code that Irving gave us
-Started working on the car-like robot code
-Tim and Read helped us with the problems we were having in the xml file

-Made our robot smaller and changed its format
-Made the environment less complex
-I talked to Irving about adding more actuators to the robot xml to make its movement more favorable
-Made another robot that was a triangle instead of a square
-Began running tests and statistics

-Kept running simulations on the car-like robot to test whether the standard actuators were better than those I implemented
-In some scenarios, the new actuators were better than the originals, but in some cases, they were horrible
-Was told about the report due Monday.

-Got our template from Irving for our reports due Monday.
-Began running our simulations for our strategies
-Added code that output the path length
-Andrew graciously gave us a script that would run our simulations 10 times for us and give us the averages we needed for our report
-Went to Carneys with some Mentors such as Sascha, Time, Andrew, and Irving along with some of the other interns at Parasol Labs

-I went to the office to run some simulations and tests since we had a paper to turn in the following Monday.

-I went to the office again to run more simulations, but ended up talking to Irving about the poster and our future for the project.

-Updated my website to include last week’s report
-Attended weekly meeting where we discussed the posters and summer projects
-Got feedback on what to change in the poster
-Irving told us about running simulations and having those same actions occur with the robot in Parasol Labs

-We measured the office and made a replica of it in an environment file we could use to run our tests on and have the same results in the real world.
-We worked on the robot and the simulator, trying to have the robot’s actions match those of the simulator.

-Made more fine tune adjustments to the robot in order to make it more in line with what we had in the simulator.
-Helped out Brandon work on the poster alongside with Irving and Marcos

-Kept running simulations on the robot and simulator until we nearly perfected the representation of the simulation in the real world -We then moved on to a more difficult query and the robot still performed like the simulation did. -Filmed the robot doing multiple queries for a video showing how accurate the robot is.

-Finished filming the robot in the lab and spliced together the video of the simulator to portray how accurate the robot is in the real world compared to the simulator.
-Worked some more on the poster, adding more details in certain regions that required it.
-Worked on the final report for a bit, getting some preliminary results.

-Updated my website to include last week’s report
-Worked on the poster and kept revising it.
-We also worked on the final report required from us.

-We kept working on our poster, adding and removing things as we thought necessary
-Kept working on the final report.
-Retook pictures for the poster as they were not very representative of the environment.

-Attended Weekly meeting where we went over posters
-Was given feedback on what should be changed on the poster.
-Made appropriate changes and emailed the result to Nancy, Shawna, and Irving.

-Started running tests for final results
-Worked on the final report some more
-Added the final results to the poster once they were done.

-When Shawna replied to us about some changes, we made the changes necessary.
-Attended the talk by Wookho Son about Virtual Reality
-Showed him our work in Parasol Labs when he was being shown around by Nancy.

-Attended weekly meeting where we received feedback on our posters.
-Went to work on our posters after the critiquing of the meeting.
-Showed our work to Nancy after making desired changes and had more critiques.

-Kept working on the poster based on the critiques of the meeting and Nancy.
-Had a small meeting with Nancy to look at our posters and offered more advice.
-Continued working on Paper where needed.

-Worked on report with Irving as much as possible.
-Added the abstract Nancy corrected and approved for Jonathan to the Final Report.
-Updated our websites.

-Worked on poster as needed and made final revisions.
-Worked on paper as needed and made final revisions.
-Updated our websites.

-Attended the poster symposium.
-Presented our research over the summer.
-Said our final goodbye's to the Parasol staff.