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Saturday 8 March 2014

Circumnavigating the Liffey

Well almost, but not quite. Today I took a trip eastwards from Phoenix Park through the north side of the city sticking relatively near to the river and then returned via a similar route on the south side having crossed over the East Link bridge. I mostly just wanted a nice walk in the city but as usual I was on the look out for anything interesting.

My first waypoint was Smithfield, I’d skirted the Southern edge on Benburb St on my last trip along the Luas line a few weeks back but had missed out on the square and I knew there was some stuff there worth checking out.

The first thing that caught my eye was a little bit of street humour.

SmithField-Pills

Smithfield itself was looking good but the place was pretty quiet.

Smithfield

On the North end of Smithfield there are two great examples of Dublin Street art.

SmithfieldCulture

Smithfield-Musicians-wall

Moving eastwards down King St North and Bolton Street. I came across this little gem leading away from Mount Carmel’s secondary school. This is Henrietta St. – a  very odd set of marginally preserved protected buildings leading up to King’s Inns. I presume these were tenements at one stage too. The street looks amazing with that combination and contrast of Regency architecture and the early version of classic Georgian red brick Dublin street design.

HenriettaSt

Some restoration seems to be happening so maybe things are looking up but the second shot gives an idea of just how run down it is.

HenriettaStAbandonedDoor

Nipping through Kings Inns at the top of the street I came out the gate on the right hand side of the main doorway in the picture below, turned around and had this fantastic front view appear. Really nice.

KingsInns

After this I was dodging though the masses around Dominick St and Parnell St until I came across an interesting piece of “classical” tagging on Rutland Place as I was making my way up to the Hugh Lane Gallery.

sshRespect-RutlandPlace

I was heading there to pay a visit to my favourite piece of classic Irish art, Harry Clarke’s “The Eve of St Agnes” . I took a picture, probably wasn’t supposed to but it’s a hard thing to capture so I don’t think they need worry. I like the contrast between these two in any case.

TheEveOfStAgnes-HarryClarke-HughLane

Both of these contrast quite starkly with the preserved facade of something that appears to have been part of one of the Magdalene Laundries on Sean MacDermott St. that I came across next. I know the Sisters of Our Lady of Charity ran one that appears to have taken up most of the block that this portico is part of. This thing is just a preserved facade, there’s a modern building right behind it and looking on Google Maps you can see that it’s only about 5m deep. The Greek inscription reads “ΜΟΝΟ ΣΟΦΩ ΘΕΩ ΣΩΤΗΡΙ ΗΜΩΝ ΔΟΞΗ” which is, apparently, a biblical verse, Romans 16:27 making some comment about God being wise. Seems he failed to pass that wisdom on to quite a few people in the vicinity if you ask me. I’m also not sure why a verse from Romans should be quoted in Greek but what the heck, I’m not the target audience I suppose.

 

Magdalene-Laundry-MacDermottSt-Romans-16-27

Anyway it was then on in the direction of the IFSC and the (old) new docklands of the North Side. There are some pretty nice apartment setups in there that I hadn’t realised existed. Interesting location. Once again I was struck but how dead it was, where are all the peoples!!. This was 1:30PM on a Saturday. What is this? 28 Days Later???

GeorgesDock-Apartments

Anyways on to the next stop – just after Custom House Square / Mayor’s Square (where there were loads of people I’m glad to say and my worries about the Zombie Apocalypse were proven groundless) – I came across the North Quay’s monument to modern Irish stupidity and hubris – it’s The New Anglo HQ again! The SOS button in the first picture is about 6 years too late I’m afraid but I’m glad to see someone’s thought to put a Paddy Wagon permanently on call outside the front as you can see in the second shot, just in case.

Anglo-SOSAnglo-Paddy

From here up to the O2 and the East Link Bridge things thin out a bit but the view across to Grand Canal Dock was nice, you could even see down the Dodder to Lansdowne Rd where the screen was on warming the crows up for the Ireland Italy matches. The light wasn’t great so I didn’t get a good enough picture to post unfortunately. A bit further on I began to notice that there are a lot of lights embedded in the cobbles along the whole quayside and they all have odd shapes in the glass, odd shapes that are actually fish – how cool is that. There are hundreds of them but here’s a small sample: a fish, a starfish and look two fishes..

NorthWall-FishLight1  NorthWall-FishLight2  NorthWall-FishLight3

This was hitting the easterly limit of my jaunt and I had to either cross here or turn back so I headed over the East Link bridge. The view was pretty good but the light wasn’t really playing nicely for me.

PigeonHouse

You can see how dark it was getting in the shot I took of Lansdowne Rd from the bridge over the Dodder in Ringsend. You can just make out the flames and the screen is showing 0:0 as the teams were just lining out as I took this.

Lansdown-Rd-Irl-v-Italy2014

The light stayed pretty grim for most of the trek back to the city center but it picked up just enough as I hit Temple Bar so I had to check out the progress on Blooms Hotel.

BloomsHotelSouth

It’s looking amazing now, although frankly the Paddy’s day flag is a bit of a let down.

BloomsHotelNorth

Onwards into the side streets of Temple bar and I found a piece by Dahleo on Crowe St, beside FX Buckley’s, that I hadn’t noticed before – very nice work.

CrowsSt-Dahleo

And then on Temple St South a more challenging piece by Emil (?) that has a lot going for it once you look closely.

TempleStSouth-Emil

And finally I took a snap of the Beatles decorated traffic light signal box on Parliament St. , I’ve been meaning to take a picture of this for a while and I think I’m going to have to go back and try again because this one isn’t all that great. Fantastic work though, shame my picture doesn’t do it justice.

TheBeatles-TrafficLightBox

Glad to be back in Dublin.

I had an epic walk around the city centre today, found a bunch of places I’d never seen before ( like Henrietta Place and Kings Inns? Wow. ) and made a major dent in my need to get a Dublin City fix after being stuck in the country for over a month.

I’m going to post some pictures shortly but the list of streets and points of interest I passed along the way is worth posting I think:

  1. Conyngham Road
  2. Parkgate St.
  3. Temple St. West
  4. Benburb St.
  5. Smithfield
  6. King St. North
  7. Bolton St.
  8. Henrietta St. and into King’s Inns and King’s Inns Park ( Awesome )
  9. Dominick St.
  10. Parnell St.
  11. Cavendish Row
  12. Rutland Place
  13. Gardiner Square North
  14. Parnell Square North and Hugh Lane Gallery
  15. Parnell Square East
  16. Cavendish Row
  17. Parnell St.
  18. Gardiner St.
  19. Sean MacDermot St. Lower
  20. Buckingham St. Lower
  21. Amiens St.
  22. Harbourmaster Place
  23. George’s Dock
  24. JP Morgan House
  25. Mayor St. Lower
  26. Custom House Square
  27. Spencer Dock - Anglo Building
  28. New Wapping St.
  29. North Wall Quays
  30. O2  ( with all the Beyonce groupies queuing for tonight’s concert)
  31. East Link Bridge
  32. York Road
  33. Thorncastle St. – Irishtown
  34. Bridge St. – Ringsend
  35. Ringsend Road
  36. Pearse St
  37. College St.
  38. Westmoreland St
  39. College Green
  40. Central Bank to Cope St.
  41. Fownes St. Lower
  42. Temple Bar
  43. Temple Lane South
  44. Dame St.
  45. Eustace St.
  46. Temple Bar
  47. Sycamore St
  48. Dame St.
  49. Parliament St
  50. Wellington Quay

Now that was a good walk, just shy of 14km. I passed over the bridge in Ringsend just as Ireland and Italy were lining out on the pitch in Lansdowne Road, got to see the fire jets and fireworks going off. Hadn’t realised how load those things are, I was at least 2km away and they were _loud_.

Great day to be in the city.

Tomorrow I’m going to start at the same point more or less be head south of the river first, got some street art to find.

Sunday 2 February 2014

More Dublin Street Art

I took another walk around the streets this morning. The light and atmosphere wasn’t quite as idyllic as it was a couple of weeks ago but the old city was looking all right, and the James Joyce bridge was in a reasonably photogenic mood.

JamesJoyceBridge

I went off into the side streets this time, looking for some more street art, found quite a bit as there is some sort of effort going on at the moment to add a bit of life and colour to the place.

First stop was just up by the Liberties

2014-02-02 09.59.492014-02-02 10.00.46 HDR

And then back around by the NCAD – clearly someone is channelling their inner Banksy with the first one here.

2014-02-02 10.08.26 HDR2014-02-02 10.09.43

And then I ended up around the Grafton St area, not much to see there but this advert for Phantom FM was quite cool.

2014-02-02 10.29.25

And then back down towards the Liffey, taking in the Andrew’s Lane Theatre, and something in Temple Bar that might be a shop front or might be graffiti and I can’t tell for sure but it was worth taking a picture of .

2014-02-02 11.11.37 HDR2014-02-02 10.39.51 HDR

Once over the river I decided to follow the Luas tracks for a bit and found some pretty cool stuff

2014-02-02 11.28.35 HDR2014-02-02 11.32.58 HDR

Fegan’s Cash and Carry was a magnet for some great work – I really like these two.

2014-02-02 11.35.01 HDR2014-02-02 11.35.11 HDR

But this one was awesome:

2014-02-02 11.36.05 HDR

And then on to Coke Lane by Smithfield – the Cinnamon Cafe’s security shutters were nicely done and this dead space with its old walls and ramshackle looked quite surreal with the weird light reflecting in from all the glass around that part of Smithfield

2014-02-02 11.42.41 HDR2014-02-02 11.43.37 HDR

But then I turned a bit to the right and found this, that just blew me away. It was a really nice way to finish off the walk around the city centre too.

What makes it even more special to me is that I have no idea who CB is and, despite the presence of that @ourtimeourcity Twitter handle, the words in this poem do not register any hits on any search engine. Not yet anyway. It’s just stuck to a lamp post, adding something amazing to the city, something real.

2014-02-02 11.44.04

Sunday 19 January 2014

Walking around Dublin on a calm winter’s morning.

I was walking around Dublin this morning and got some pretty good shots of the Liffey looking like a pane of glass.

Liffey_HapennyBridge

I also noticed a lot of Graffiti\street art that I don’t remember seeing before:

Bondi Beach Club, a bit off to the left of the above picture.

BondiBeachclub-dublin

And some interesting stuff near Grand Canal Dock:

GrandCanalDock-Face1  GrandCanalHeartGraffitti

Grand Canal Dock itself is looking very nice these days.

GrandCanalDock

 

And then I came across this very nice piece near O’Connell Bridge. I’ve passed this quite a few times without noticing it.

O'ConnellBridgeFace

And finally two slightly weird ones. On the left is the gable end of “The British and Irish Shipping Company” building near Sir John Rogerson’s Quay. And no, the building does not have a rose window, that’s either graffiti or something left over from a film set. It’s definitely a drawing\poster, not real and very odd. 

On the right is a really weird piece of something mechanical embedded in the pavement in front of part of the Irish School of Art ( I think). It looks like a cross section of some form of cylinder head from an engine but the markings on the right list off metres and feet. Very cool looking though. It’s about 40cm or so in diameter if you want to get an idea of scale.

TheBritishandIrishshippingCo   SchoolofArtTempleBar

Sunday 3 March 2013

Keepy Uppy hack at Science Hack Day Dublin

Loads of fun, more posts to follow but some pictures for a start.




And all of this gives us data like this ( dropping a ball and then a kick, followed by freefall followed by another kick and freefall pair of events:


Freefall   G:     72 Duration 0.00238265 Launch Delay 2.64402304
FreeFall End

Launch G:    313 Duration 0.00305754
Launch End

Freefall   G:     70 Duration 0.02869233 Launch Delay 0.37855668
FreeFall End

Launch G:    445 Duration 0.04812543
Launch End
Freefall   G:     26 Duration 0.37386897 Launch Delay 0.06773423

Saturday 10 November 2012

More adventures with Raspberry Pi and an IMU

Buying a cheap IMU is definitely a good way to learn about working with sensors. When I last posted about this I'd managed to get some sensible data out of 3/4 of the sensors but hadn't realised all the fun I had ahead of me.

Right now I think I'm about 25% of the way through getting to a stage where I'll be confident about working with this thing but at least I'm now getting good data from all of the components and my Raspberry Pi can tell me this sort of information with a refresh rate of around 100hz:


Accelerometer xyz  g: 0.008,0.023,1.005                                         
Gyroscope xyz    dps: -0.061,0.166,-0.674                                       
Mag xyz        gauss: 0.002,0.055,-0.074                                        
Bearing          deg: 2.045                                                     
Gyro Temp      deg C: 28.000                                                    
Temp           deg C: 25.900                                                    
Pressure      Pascal: 99334.000                                                 
Bar Alt  m (sea lvl): 167.353


That might not look like much but getting this far has involved a lot of work with documents like this beauty, from Freescale.

I'm not finished with the Compass\Magnetometer yet, the bearing data I'm getting right now is only roughly calibrated and not tilt compensated but I now know what I need to do to get that properly corrected. The Gyro Temp sensor doesn't work but that's not a big deal, the barometric sensor gives me a good temperature reading.

The next challenge is getting these properly calibrated and establishing how accurate\noisy the particular components are. The compass and gyro are the big headaches on this front, the gyro because it is inherently a noisy signal and the compass because I need to actually code solid routines for handling both hard iron interference ( ie magnetic interference fixed with respect to the reference frame of the sensor ) and soft iron interference ( magnetic interference that varies with position ).

After a couple of days failing to understand the sensor data I had thought the compass ( a Honeywell HMC5883L ) was broken. When I thought I should be getting numbers that would vary between +-(something) in each axis as I rotated the sensor I was getting something very different:

Bearing             X              Y                     Z
0 -683 -473 -442
45 -773 -420 -436
90 -800 -311 -433
135 -749 -222 -436
180 -647 -194 -441
225 -561 -258 -447
270 -545 -354 -451
315 -589 -436 -449
360 -683 -472 -442


I blame the amount of time I have to work with PowerPoint for the fact that I couldn't see a pattern in that. In any case I thought I should simply be able to apply a tilt transform to make this better but that actually made things a lot worse. I really should have read the Freescale white paper earlier.

Anyway I got led on a number of wild goose chases as a lot of people seem to have issues with this sensor but none of the code that I found helped. I even tried switching over to an Arduino and testing code from a number of sources for that. The code worked, the values still didn't.

The light bulb moment came from a comment on a blog post about the HMC5883(L) from a guy called Cory who worked on a similar IMU that gave me the clue I needed to solve the problem. The comment wasn't actually about the IMU that I have but he said that the BMP085 pressure sensor they used was actually magnetic to some degree and my IMU also uses that pressure sensor. That meant that that there was probably a fairly significant hard iron interference issue on my little board and a quick graph of the above sample data showed me a smoking gun. Ideally, on a calibrated compass with no interference, the data below would have been a circle around the origin but the fact that what I was seeing was vaguely circular was enough to tell me that it was working and all I needed to do was to sort out the interference problem if I wanted it to be useful.


The really important lesson in this is it is always worth trying something visual if you are trying to make sense of data. I think that needs to go into The Rules, preferably with a number somewhere high up the list, just after the bit where you actually pay attention to things like calibration and sources of interference.

A slightly larger data set has given me a baseline transform for the hard iron interference - this is simply an x,y,z offset so it's only trivial code and while it is not as accurate as I want to get to it's more than enough to tell me that the sensor is working correctly. It now reliably indicates that North, East, South, and West are approximately 90deg apart at any rate.

All code is up on Bitbucket ( I seem to be having some sync issues with this right now, that should be sorted out shortly Fixed..).