Robotics Research

Someone suggested that I write a little bit about my background in Robotics and the fact that I did a PhD in Robotics (Department of Electrical Engineering and Applied Physics). My thesis involved the emulation of basic animal behavior such as reflexes and fixed action patterns, as well as tree-search based artificial intelligence. I used neural networks in other contexts, but not for my PhD research. It also involved quite a bit of non-linear robot system control and the study of chaotic systems. I implemented my research on many kinds of robots but the robot I used the most was the 7-degrees of freedom Robotics Research Corporation Robot pictured below.

Seven jointed metallic robot surrounded by objects
Robotics Research Corporation Robot

It looks messy in the picture, and I should probably explain. I had hung a few boxes from the ceiling and placed a coatrack in front of the robot. There is also another robot just outside the picture to the left. I placed a sonar sensor, or perhaps more correctly eco-location equipment on the tip of the robot. I used the sonar/eco-location to create a 3D map of the robot’s surroundings. Since the sonar-sensor could not see everything at once I used the arm of the robot to search and investigate the surroundings, including discovering that the boxes were open on one side. The motion of the robot was guided by the sonar and was not directly programmed by me. The robot was able to avoid colliding with the objects, including the other robot as it was moving. I moved objects around and added clothes and hats to the coatrack to make it harder. It looked like an animal figuring out what was around it. This was in 1993.

A diagram showing the possible joint rotations of the RRC robot
The 7 possible joint rotations (degrees of freedom) of the RRC robot.

Maybe I should explain what 7-degrees of freedom mean. One degree of freedom could be a rotation (around a joint) or a translation. To arbitrarily position an object in space you need at least three degrees of freedom. To arbitrarily orient an object in space you need an additional three degrees of freedom. So, to arbitrarily position and orient a tool in space you need at least six degrees of freedom. Industrial robots frequently have six degrees of freedom. However, if you also want the robot arm to avoid collisions with objects in its space you need an additional degree of freedom. That’s why I needed a 7-degrees of freedom robot.

In the picture below an arc welding robot PW-10 is moving around unaware of its surroundings. The RRC robot detects that the PW-10 is in its space and perhaps approaching and quickly gets out of the way. Reflex control in action.

PW-10 Arc Welding Robot to the left. RRC robot on the right trying to avoid collision.
PW-10 Arc Welding Robot to the left. RRC robot on the right trying to avoid collision.

Robotics can be Math heavy (Algebra, Trigonometry, Calculus)

Part of the job of creating the control system is to create the kinematics, dynamics, and perhaps inverse kinematics, for the robot, and this is math heavy. Lots of algebra, calculus and trigonometry. I have included the Jacobian matrixes for the first four degrees of freedom for the RRC robot below. Just to illustrate how math heavy it is, and this is just four degrees of freedom. Note, doing this was not part of my research. It was just a basic mandatory task to get the robot to move predictably before you even get started.

I should say that as soon as I finished my PhD, I was offered a job at JPL in Los Angeles to work on an 11-degree of freedom robot that was supposed to be on the International Space Station. However, the government cut the funding for the project, so I never got to do it. Instead, I took a job with ABB Robotics. I did not get to do the math for the 11-degree robot but one of my first tasks at ABB Robotics in Wisconsin was to create the kinematic matrixes for more than 20 ABB robots.

Algebra is indeed a good skill in many professions. A lot of engineers, scientists, mathematicians, IT professionals use algebra in their work, and algebra teaches you how to think logically and methodically. Therefore, schools should teach it. Which is why I don’t find this common joke funny “Another Day Has Passed And I Didn’t Use Algebra Once”. I don’t find “Another Day Has Passed And I Didn’t Play An Musical Instrument Once” funny either but somehow I think the problem with the joke is more obvious to some people in the latter case.

4X4 matrix filled with trigonometry
Robotics can be math heavy (four dimensional Jacobian for RRC robot).
Equations corresponding to two terms
Robotics can be math heavy (four dimensional Jacobian for RRC robot continued).
Equations for four additional terms
Robotics can be math heavy (four dimensional Jacobian for RRC robot continued).
Additonal 14 terms
Robotics can be math heavy (four dimensional Jacobian for RRC robot continued).
Another 30+ terms
Robotics can be math heavy (four dimensional Jacobian for RRC robot).

Note, not all factors are explained or shown so to see the complete equation you have to open the link in the first paragraph.

Santa Lucia and The Nobel Prize Too

Today, December 13, is Saint Lucy’s Day (Santa Lucia in Swedish) in Sweden. On this day girls or young women dress up in white robes and the chosen St. Lucy places a crown of candles or lights in her hair, The other girls/women are referred to as “Tärnor”. Boys dress up in white robes and wear white cones on their heads. Some of the boys dress up as gnomes. Then they march through the streets or inside buildings. They sing songs and hand out Lucia buns, gingerbread cookies and other goodies. They typically do this early in the morning while it is still dark. If the Lucia group is inside, you typically turn off the lights to create the right ambiance.

St. Lucy dressed in a white robe with a red belt and with lights in her hair. With her she has a lot of Tärnor (dressed in white robes) and stjärngossar (dressed in white robes with white cones on their heads)
Lucia celebration: By Claudia Gründer – Claudia Gründer, CC BY-SA 3.0, https://commons.wikimedia.org/w/index.php?curid=3221537

This evening my daughter surprised me by baking the traditional saffron buns, so called Lusse Bullar or Lucia Buns in English. She prepared a Swedish meatball dinner and dressed up as St. Lucia. I had completely forgotten about St. Lucy, so it was a surprise. She did not want her picture online, so I am including online photos of St. Lucia.

A row of girls and boys dressed in white robes. The boys have cones on their heads.
A Lucia procession. Fredrik Magnusson, CC BY 2.0 , via Wikimedia Commons
St. Lucy in a white robe with lights in her hair followed by boys and girls in whote robes.
Lucia procession at award ceremony. Holger Motzkau 2010, Wikipedia/Wikimedia Commons (cc-by-sa-3.0), CC BY-SA 3.0 , via Wikimedia Commons
Two plates of Lucia buns (Lusse bullar), each with two raisins.
The Lucia buns my daughter baked. (My photo of course)
One of the Lucia Buns my daughter baked. It is yellow because it contains saffron.
One of the Lucia Buns my daughter baked.
Meatball dinner that my daughter prepared. There are rice, meatballs and a brown sauce on a plate.
Meatball dinner that my daughter prepared.

St. Lucy takes place during the Nobel Week. The Nobel award ceremony happen on December 10. It should be noted that we often speak of the Nobel Prize, but there are six Nobel Prizes. The prizes for Physics, Chemistry, Physiology or Medicine, Literature, and Economics, are awarded in Stockholm, Sweden. The Nobel Peace prize is awarded in Oslo, Norway.

Anyway, On December 13 a St. Lucy parade visit and sometimes surprise the Nobel Prize winners in Stockholm who are staying for a few days (they stay at the Grand Hotel). In the past, these surprises did not always work out well, as the St. Lucy group of white dressed women sometimes frightened laurates from East Asia. In East Asia white dressed women are often thought of as ghosts (yūrei and onryō). Think of Samara Morgan in the Ring movies. Therefore, they modified how the Lucia train (as it is called) marches through the hotel. For example, they no longer show up in people’s rooms unannounced.

As a little piece of interesting information this is a list of this year’s Nobel Prize winners.

  • Physics: Pierre Agostini; Ferenc Krausz; Anne L’Huillier – “for experimental methods that generate attosecond pulses of light for the study of electron dynamics in matter.”
  • Chemistry: Moungi Bawendi; Louis E. Brus; Alexey Ekimov – “for the discovery and synthesis of quantum dots.”
  • Physiology or Medicine: Katalin Karikó; Drew Weissman – “for their discoveries concerning nucleoside base modifications that enabled the development of effective mRNA vaccines against COVID-19”
  • Literature: Jon Fosse – for “his innovative plays and prose which give voice to the unsayable”.
  • Economics: Claudia Goldin – “for having advanced our understanding of women’s labour market outcomes”.
  • Peace Prize: Narges Mohammadi – “for her fight against the oppression of women in Iran and her fight to promote human rights and freedom for all.

Ice Hotel Adventure in Jukkasjarvi

Someone reminded me that today is the day of writing, so I decided to make a blog post even though I made one yesterday. This post is not about Leonbergers or dogs but about our visit to the ice hotel in Jukkasjärvi in northern Sweden. It was 2005 and the kids were still small. It was the first ice hotel in the world and is the biggest one.

I should say that Jukkasjärvi is located north of the arctic circle and is typically very cold in winter. The ice hotel itself does not have any bathroom, but they have an adjacent wood building with bathrooms, showers, and rooms for anyone who can’t stand the cold for too long. If you are OK with being a  bit cold, you sleep in sleeping bags on top of blocks covered by reindeer hides. Below are some selected photos that I took.

Elaborate beautiful white structure made of ice and snow.
This is the ice theater. It was located next to the ice hotel (not in the picture).

The ice hotel had put out lots of kick sleds, referred to as “spark” for people to use as a mode of transportation on the snow and ice, or just to sit on. As my dad, Stig, was sitting on one of them, our son came up to him and told him “Stig the hotel put out these sleds for children to play with. It is not for adults to sit on.” My dad was so surprised that he just handed him the sled.

He is standing and kicking with his feet to move forward with the sled. He is passing in front of the ice theater.
Our son David with one of the kick sleds called “spark”.
Photo is of a large ice table and ice chairs located in the middle of the lobby, which is filled tall pillars made of ice.
The lobby of the ice hotel. Our kids are sitting around a table of ice. A chandelier of ice is hanging above the table. The light is from fiber optics, so the ice won’t melt.
Another photo of the lobby at the ice hotel. My son David is barely visible behind one of the ice pillars.
My oldest son sitting at an ice table in the lobby.
Photo of men with a machine cutting ice blocks.
They got the ice blocks for the structure and for the art from nearby Torneå river.
Photo of my wife with our three children standing in front of the ice bar where two servers are standing. Everyone is holding glasses made of ice filled with juice.
We started the evening with a visit to the ice restaurant and bar. Everything in the ice restaurant was made of ice, the tables, the chairs, the counter, the glasses, the plates, and the art.
A photo of an ice table and 7 instruments made of ice standing on an ice stage.
This is a photo of the ice instruments standing on the ice stage.
A close up of an ice cello and an ice guitar.
Stig left and Ulla right sitting on an ice bed in their room.
My dad Stig and his girlfriend Ulla came with us on the trip.
We are all laying on top of our ice bed. We are inside our sleeping bags except my head and part of my body is out of the bag.
We are going to bed in our room. I think it was my wife Claudia who took the photo.

The day after I took some photos of the other rooms.

A close up of an elaborate ice bed
An ice room with an ice motorcycle and other ice art.
A very large ice bedroom.
An ice bedroom with an ice statue of a moose.
A long white icy hallway in the darkness.
This was the hallway where our room was located.
We are going on a dogsled tour. The ice theater is in the background, and you can see part of the ice hotel on the right.
You can see ten dogs and the sled with us on top of it. On the left is a kåta, a movable Sami structure (indigenous arctic Scandinavian people). It is similar to a Tipi.
The kids had a lot of fun during the dogsled tour.

Would you stay at an ice hotel?

Sleep Paralysis And The Beagle Boys

Photo of heavenly pyramid with a bed on top.
Sweet dreams, or maybe not. Photo by Mo Eid on Pexels.com

I opened my eyes and stared at the ceiling. As I tried to get out of bed, I realized I couldn’t move. No matter how hard I tried I couldn’t move a finger. I heard my parents talking downstairs so to get their attention I tried to scream but I couldn’t. I was completely paralyzed, and I did not understand how it had happened.

Photo from iStock photos purchased for 12 dollars. It shows a restrained man trying to get up from bed.
Man Suffering From Sleep Paralysis At Home. Purchased from iStock photos (order number 2093689644).

Then I saw three beings coming out of the walls, like the Cenobites in Clive Barkers Hellbound Heart. I should say I had not read the Hellbound Heart book or seen the movie at the time. It was just how it looked like. As they came closer, they looked down at me,  and I realized that they were the Beagle Boys from Duck Tales. They promptly started to torture me by sticking long needles into my back, and it really hurt. I knew it was some sort of hallucination, but I didn’t know how to stop it.

When you dream you don’t know that you are dreaming, and logic and common sense does not work. This was different. I was fully aware, and I understood that what I felt and what I saw couldn’t be real. I guessed that I had some sort of condition causing a hallucination. I would later find out that it was sleep paralysis, a sort of mixed state between being awake and asleep. It happened to me several times during my teenage years and later on it happened to me once as an adult.

Beagle Boys embedded from Wikipedia

Have you ever had sleep paralysis?

The Day Surstromming Gave American Students a Culture Shock in Their Own Country

In my recent post called “Culture Shock Sweden USA” I included a photo of myself opening and smelling a can of north Swedish fermented herring, or as it is properly called “surströmming”. It is a specialty from the north Swedish Highcoast where I grew up. Underneath the photo I wrote “Unfortunately, all the Americans experienced a culture shock from the fermented herring.” See the excerpt below. What I should maybe have mentioned in my post is that even though it was a joke, it was still true. People were not ready for what was coming.

I am standing in the middle holding a can of surströmming. I am surrounded by other Swedes.
Four Swedes inviting Americans to a fermented herring party. Fermented herring is a north Swedish specialty. Unfortunately, all the Americans experienced a culture shock from the fermented herring. I am the guy smelling the fermented herring can.

After I had posted “Culture Shock Sweden USA”, I posted a link to my blog on my Facebook and I received a few comments including comments from two people who actually were there at the fermented herring party in 1987. I’ve included the comments below.


Surströmming first-timer videos are getting pretty common these days, but I still always end up laughing until I can barely breathe when they start the uncontrollable retching! Always reminds of the Surströmming party and that nasty prank we pulled on the residents of Glaser House! 🤣 — Lee

Delicious memories….NOT!!! 🤢🤮 — Alyce


What happened was that as soon as I opened the can, all Americans dashed for the windows or doors trying to escape the smell. In the party invitation we had left out one or two details, like that surströmming is often said to be the worst smelling food in the world. The “nasty prank” Lee was referring to was me and him going around the dorm and placing left over surströmming in the ventilation drums of the dorm. I admit that was immature. Luckily, it did not work as well as we had hoped, or we probably would have both been expelled.

A dozen herrings and a fish called simpa.
Herrings that we caught in northern Sweden. Plus, a fish called Simpa.

This is an excerpt from Wikipedia on the topic:

Since gaining notoriety as one of the world’s smelliest foods, surströmming has become the focus of a number of “challenge” videos on YouTube and other platforms where people uninitiated to the food show themselves opening a can for the first time, usually to visceral reaction, and then try to eat the fish without additional preparation. Often the videos show the participants gagging, swearing, holding their nose, or vomiting.

To read more about surströmming on the disgusting food museum’s webpage click here.

In the end we had a good time. The smell dissipated and people ate and drank other things we offered. We swedes ate the surströmming but a few others tasted a little bit as well. We knew what the reaction would be, and we did not offer the fermented herring in the hopes that people would love it. It became a good source of conversation and jokes, and that’s what we hoped for. I should say that you normally open the cans outside and let the smell dissipate before you eat them. The surströmming taste mostly like pickled herring with lemon and lots of salt and you typically eat with onion and potato or rolled in soft and thin bread (tunnbröd).

My niece Alma holding a herring. My dad in the background.

Have you eaten any weird foods?

Culture Shock Sweden USA

This post is not about Leonbergers but about something entirely different; culture shock, which I think is an interesting topic. The Merriam-Webster dictionary defines culture shock as : “a sense of confusion and uncertainty sometimes with feelings of anxiety that may affect people exposed to an alien culture or environment without adequate preparation”.

Woman in shock
Photo by Andrea Piacquadio on Pexels.com

In 1987 I was selected to be part of a university level exchange student program. The exchange program was between Uppsala University in Sweden and Case Western Reserve University in Cleveland, Ohio. In total we were six Swedes (two from Uppsala). I was studying Engineering Physics in Sweden but in the US, I would continue studying Electrical Engineering because the Swedish Engineering Physics program was very similar to the Electrical Engineering program at CWRU.

Street view with a cathedral in the background.
Street view of the old city of the Swedish city of Uppsala (1000+ years old). Photo by Aliia Troitskaya on Pexels.com
Four Swedes. I am in the middle opening a can of fermented herring.
Four Swedes inviting Americans to a fermented herring party. Fermented herring is a north Swedish specialty. Unfortunately, all the Americans experienced a culture shock from the fermented herring. I am the guy smelling the fermented herring can.
Four Swedes and an Indonesian girl in a van in Florida.
Four Swedes and Jonas girlfriend from Indonesia. We were on a trip to Florida.
Indian girl left. Swedish girl right.
Swedish exchange student Linda and her Indian friend Anuradha.

I arrived in the US in August 1987, and I was not well prepared for what I would experience. That doesn’t mean it wasn’t a great experience but there were challenges. Interestingly, I would later experience reverse culture shock. Reverse culture shock means that after adjusting to your new country you experience another shock when coming back to your old country.

We are sitting around a dinner table.
Before heading out to Cleveland I visited Rakel, a Swedish friend who was living in California at the time. Here we are with our hosts Jay and Nancy Feinstein.

One of my first unpleasant discoveries was that the US uses imperial units instead of the metric system unlike most of the rest of the world. I quickly had to learn how to use inches, feet, miles, ounces, pounds, cups, gallons, etc. I knew about miles per hour versus kilometers per hour, but it had not dawned on me that it applied to everything. This is quite important in engineering.

Tape measure
Photo by Pixabay on Pexels.com

The academic environment was also quite different. In the US there were fewer classes, but you were often required to participate and there were quizzes and homework in addition to the final exam, which was short and relatively rushed. In Sweden you showed what you had learned on one big final exam that lasted 6-8 hours. How you achieved success on that exam was up to you. Well certain lab work had some weight also.

Boy taking an exam
Photo by Jeswin Thomas on Pexels.com

In addition, in Sweden there were no dorms, no fraternities, no Greek life, no meal plans, no college sports teams, no tuition, and no health insurance. Attending a university in Sweden is more like working for a company. You are more independent, and tuition is free, and Sweden has national healthcare. In Sweden there are clubs, organizations, and parties you can go to, but it is more adult and has no likeness to fraternities. I have no opinion on which system is better, but it was a challenge to suddenly adjust to a dorm, meal plans, a different kind of student life, tuition waivers (provided by Uppsala University), etc.

Three dorm buildings. Glaser in the middle.
This is the Glaser dorm at Case Western Reserve University where I stayed.

Another difficulty was that I was not fluent in English at the time. I had a hard time with conversation as well as understanding portions of some lectures. People in English speaking countries often do not understand the amount of work that goes into learning how to speak a second language fluently because unlike most of the rest of the world they never had to do it. English being the premier second language comes with great benefits for native English speakers. Learning to speak a language fluently is one thing, learning to speak it without an accent if you primarily learned it as an adult is quite another. A question I’ve gotten many times is ”why do you still speak with an accent?”. Well, Arnold Schwarzenegger certainly knows the answer to that question.

Yellow English grammar book
Photo by Ivan Samkov on Pexels.com

Another thing people in English speaking countries sometimes miss is that people in the rest of the world are often not as familiar with the culture in English speaking countries as they might expect them to be. Well at least that was the case back then. In high school I studied Swedish and Scandinavian literature, and a little bit of German, French, Italian, and English/American literature, but I did not know much about Shakespear or famous American authors, and if you think about it, this is not strange. In addition, I did not know much about American movies or American music, but that was because I, unlike most Swedes, had not paid much attention to English speaking culture and music in general.

A book by William Shakespear. Romeo and Juliet.
Photo by Sema Nur on Pexels.com

Add to that, the fact that Americans do not know much about cultural phenomenon in the world outside of the United States. For example, most Americans knew nothing about the world’s largest music competition, Eurovision. Eurovision is the largest song contest in the world. Countries compete against each other, and the final typically has as many viewers as the Superbowl, about 200 million. Americans also don’t know much about the second largest comic genre (largest at the time) in world, the French-Belgian Bandé-Dessiné (Astérix, Tintin, Spirou, etc.). So, we knew different things and were used to talking about different things, sometimes leading to awkward situations.

Scanned front cover of one of the Asterix comic books.

Which brings me to handegg. What most of the world call football is called soccer here, whilst a sport in which you handle an egg-shaped object mostly with your hands is called football, when it should be called “handegg”. When I arrived in the US, I had never heard of American football, but I quickly realized that I better know something about it. Later in the year I went to an indoor football game with a friend in Madison Square Garden in New York. Indoor football is a sport that has almost vanished, but it was still a thing back then. Can you guess who was called down to the field to play football at half time? I was. I told the host that I was from Sweden and that it was the first time I held a football. He showed me how to hold the ball and announced that I was from Sweden and had never held a football. The crowd was cheering for me, and luckily, I threw the ball into the goal two times out of three. Our team did not win but I did well.

Me holding a football in the arena at Madison Square Garden.
I am getting ready to throw the ball.
My friend Hakan and I. I am holding a football.
It went well, and I got to keep the ball (egg), my very first football.

Which brings me to the fact that Americans are typically polite, friendly and supportive of the underdog. They communicate well, they say excuse me when they bump into people, they smile a lot, and are often good conversationalists. Americans can be loud and not everyone is friendly but in general most Americans are friendly. I think this is a good thing that I am trying to emulate but it was yet another thing I needed to learn.

Some friendly Americans including my wife second from left. The others are (left to right) Jim Haggarty, something James Kirkpatrick and his wife.

One thing that might sound like critique is that Americans back then did not know world geography very well. Today’s youth seem to be a lot better educated in this regard. I should say that by the age of ten I knew every country in the world and their capitals, and I could say something about most of the larger countries. So, it was a little bit frustrating to me to speak to people who did not know where anything was. We met people who asked how long the drive from Sweden / or Europe was. A woman asked me where I was from and I said Sweden to which she replied, “is that where all the men wear skirts?”. I said, “no that is Scotland”. I believe that’s what she meant. Another woman asked me the same thing, and after hearing my answer, she said “Sweeting, that’s the name of your country? What a cute name for a country”. Or how about this conversation between the PhD advisor to a friend of mine and my friend’s boss:

Boss : My name is …, what is your name?

PhD advisor : My name is Bahram.

Boss : Baddam, that’s not an American name, is it?

PhD advisor : No, I am from Iran.

Boss : Iran I’ve never heard of that. Where is that?

PhD advisor : It’s in Persia.

Boss : Oh yeah Persia I’ve heard of that.

Photo of a world globe. Iran is in the middle.
Photo by NastyaSensei on Pexels.com

I overcame my culture shock, and we all did well at CWRU. It was a good year. Later that year I met my wife Claudia and with her I would experience a reverse culture shock a few years later. I was working for a Swedish robotics company, and we moved to Sweden with our oldest son for one and a half year. Not only did my wife have a culture shock but I did too, coming back to Sweden. How did that happen? Well, one reason was that in the US I had gotten used to a mix of cultures and ethic groups and Sweden is a very homogenous country. This mattered because through my wife, who is not Swedish, I got to know immigrants to Sweden. It is difficult to fit in when you are different and therefore immigrants tend to hang around other immigrants, so I learned to see Swedish society through their eyes, and I saw what I had never seen before. It took some time to get used to.

Claudia in a purple dress
My wife to be Claudia in 1988
Robot giving a woman a flower
Photo by Pavel Danilyuk on Pexels.com

Have you experienced culture shock? How about a reverse culture shock?

The 500 Years Anniversary of Swedish Independence

I am originally from Sweden, but I’ve lived in Texas for more than 20 years and in the US for 30 years. Therefore, I forgot June 6, which is the Swedish National Day. It is still June 6 in California and Hawaii but not in Texas and certainly not in Sweden, so I am a day late. I forgot. A blogger who isn’t even Swedish incidentally reminded me. It is also a special National Day because it is the 500-year anniversary of Sweden’s independence from Denmark.

Image showing the Swedish flag. It is yellow and blue. From Wikimedia commons.
Swedish Flag

Christian the Tyrant, or as the Danes call him Christian the Good, was a very bad man who chopped people’s heads off. The Danish version of history is that Christian the Good was a very good man who tried to save the Union. He still chopped off heads though. Luckily, we had this guy Gustav Vasa (or Gustav Wasa) who resisted, and he became king of Sweden on June 6, 1523, which is 500 years ago. He was also really good at skiing.

Portrait of Gustav Vasa of Sweden (from Wikipedia Commons).
Portrait of Gustav Vasa (from Wikipedia Commons).

Therefore, I have decided to post a couple of photos of the only Swedish Leonberger I’ve ever met personally, I haven’t been back to Sweden a lot. Her name is Amie, and she is from my neck of the woods, the high coast in northern Sweden. We met her at the top of a mountain, called the Skule mountain. Therefore, she is also the only Leonberger mountaineer I’ve ever met. To check out my original Amie post click here.

A female Leonberger standing on top of a bench on top of a mountain
Amie at the top of the Skule Mountain.
A female Leonberger standing on top of a bench on top of a mountain
Amie was playful but very well behaved.

Amie was very happy and playful despite having climbed a mountain. Below is what Amie and we saw from the mountaintop.

View from mountain top showing bays, fjords, mountains in the High Coast.
View from the Skule Mountain top (skull mountain).

I am also posting a few more photos from Sweden.

My three kids around an ice table in the lobby of the ice hotel in northern Sweden.
My kids at the ice hotel in northern Sweden (Jukkasjärvi).
My wife Claudia and our three kids in a dogsled.
My wife and kids getting ready for a dogsled tour in northern Sweden
Photo of a dogsled with 8 dogs. My wife and kids are on the sled in the back.
The dog sled. My wife and kids in the back.

One thing that is pretty unique about Sweden is the different concept of private property. You can own the fruits of property, a farmer’s field, a mine, but the land belongs to everyone regardless of who owns it. Well almost everywhere, there are a few exceptions such as military reservations and you have stay at least 200 meters away from dwellings. It’s called “Allemansrätten”, or all-peoples-right translated roughly. This means that you can walk, hike, camp, pick berries and mushrooms, etc., anywhere without having to worry about trespassing. You just can’t walk off with the gold from a goldmine or a farmer’s crop. This is very different from how it works in Texas. However, everyone in Sweden love it and we certainly take advantage of it when we visit. In the picture below we were hiking, and we stopped at this small forest lake and someone had hung a tire from a branch.

My son is jumping off a tire hanging from a branch and into a forest lake
My son is jumping off a tire into a forest lake.
The guard at Stockholm Castle and my kids
The guard by Stockholm Castle and my kids

Joining the Covenant of Dracula in Transylvania

I found out that today, or rather yesterday, that May 26 is World Dracula Day. It is celebrated to remember the day that the famous novel Dracula by Bram Stoker was published (1897). For most of you I am posting this one a day late. However, I found out about it a bit late. Check out VAMP JENN’S CORNER.

It reminded me of our trip to Romania and Transylvania in 2008. During that trip my son and I were inducted into the covenant of Dracula as special protectors of Dracula. Perhaps you could join as well? Viking Blood tastes pretty good and you can buy it at Specs. More on that later. (Photos by me).

Photo of a guy wearing a mask in the Bran Castle
Dressed up dude scaring tourists at the Bran Castle.

First a little bit about Dracula. Prince Vlad “Tepes” Draculea (Vlad the Impaler) known as Dracula was born in Sighisoara, Transylvania, Romania, in 1431. He was the second son of Vlad Dracul (Vlad the Dragon), who became the ruler of Wallachia in 1436. Wallachia is the province to the south of Transylvania. He got the nickname Vlad the Impaler because his favorite method of execution was to impale people, and he is rumored to have impaled tens of thousands. In 1442 the Ottoman Empire tried to invade Transylvania and Vlad Dracul and Vlad Tepes Draculea were imprisoned by the Ottomans. They were able to flee, and Vlad Tepes became the Voivod (ruler) of Wallachia, defender of Transylvania and ultimately the defender of all of Europe. For this reason, Vlad Tepes alias Dracula is a local hero, despite his impalement activities and being rumored to be a vampire.

Stray dog that we came across in Sighisoara. Do you think he was a vampire dog?

It was a Water polo team trip. In addition to the kids on the team, including my son Jacob, there was the coach Mihai, and two chaperones, me, and Jim Smith. We arrived in Bucharest (Wallachia) where the boys played water polo against other teams, and we also visited various tourist attractions such as the enormous Palace of the Parliament erected by Communist Dictator Nicolae Ceausescu. We also visited the Snagov island and the Snagov monastery located not far from Bucharest. The Snagov monastery is where Dracula’s grave is located and it is tended to by a monk, Dracula’s monk, and he was extremely happy to welcome us. He had been waiting for us.

Photo of the enormous Palace erected by Nicolay Ceausescu. It is the largest administrative building in the World.
This enormous Palace was erected by Nicolay Ceausescu. It is the largest administrative building in the World.
Photo of a room inside Ceausescu’s palace.
One of hundreds of public rooms in Ceausescu’s palace.
Photo of Dracula’s monk, Mihai the coach, and the seven kids plus two small dogs. My son Jacob is second from right in the dark green shirt.
Dracula’s monk, Mihai and the kids. My son Jacob is second from right in the dark green shirt. Notice the little dogs. Dracula had nice little dogs.
Photo of three of us standing right behind Dracula's grave on the Snagov island. I am to the right in blue, my son in the middle. I forgot his friend’s name. Dracula’s monk took the photo using my camera. Focus could have been better.
We are standing right behind Dracula’s grave. I am to the right in blue, my son in the middle and I forgot his friend’s name. Dracula’s monk took the photo using my camera. Focus could have been better.

Next the monk took us to Dracula’s well and he asked us if we were willing to join the covenant of Dracula as protectors of Dracula. I am not sure if that is the same as the order of the Dragon, the order that Dracula was part of. The monk said that my son was very special. He was the incarnation of the arch angel Gabriel and a special protector of Dracula. I am not sure if that had anything to do with me giving him a good tip earlier. I asked whom I was an incarnation of. The monk answered, no one special, you are just Pedro. I don’t know who Pedro is. Anyway, we drank from Dracula’s well and got inducted into the Dracula’s covenant.

Dracula's monk is preparing for us to drink from Dracula's well.
Drinking from Dracula’s well.

Next, we headed off to Transylvania where we visited the cities of Brasov and Sibiu and the town of Sighisoara. We stayed at a hotel “Casa cu Cerb” built inside the three-story house, at “Piata Muzeului” number 6, where Dracula was born. It was an interesting experience and we got to know the owner well. It is a famous small hotel with only ten guestrooms. We also ate at Dracula’s restaurant next-door. We had brain, not human brains, but cow brains, we aren’t zombies.

Plaque for Dracula's restaurant
Dracula ’s restaurant
Photo of fried brain at Dracula's restaurant
Brain food at Dracula’s restaurant

We also climbed the Transylvanian mountains and visited the Bran castle. The Bran castle is allegedly Dracula’s castle, but it is not really true. It is more of a tourist trap. The Poienari Castle, which we also visited, was on the other hand built or rather renovated by Dracula.

Photo of the Bran Castle
View of the Bran Castle
Photo of the courtyard in the Bran Castle
Courtyard inside Bran Castle.
Photo of stray dogs by the Bran Castle.
Stray dogs by the Bran Castle.
Photo of my son Jacob and a team mate at the Poienari Castle
My son at the Poienari Castle
Photo of the coach Mihai in the Transylvanians mountains
Mihai in the Transylvanian Mountains
Photo of a beer I drank today. Darkness Falls, a run barrel aged coconut milk stout from Fort Worth, Texas, ABV 9.8%. Perfect for Dracula Day.
Darkness Falls, a run barrel aged coconut milk stout from Fort Worth, Texas, ABV 9.8%, that I drank today. Perfect for Dracula Day.
Photo of Viking Blood a Danish mead, ABV 19.0%. I drank it some time ago. Perfect for Dracula Day.
Viking Blood a Danish mead, ABV 19.0%, that I drank some time ago. Perfect for Dracula Day.

Measuring Alcohol in Homebrewed Beer

This is my third post in the “other hobbies” category. The other two are “The Climate Journeys of Thomas and Larry” and “Eurovision Victory for Sweden”. This category has nothing to do with Leonbergers and dogs, well almost nothing. I guess it is a get to know the blogger kind of category.

In this post I am explaining how you measure the alcohol level in a home beer brew. You can find this information online and in books, but I am explaining it very succinctly. It is quite simple, and you don’t need to read a ten-page explanation. A few photos with a brief explanation will do.

When you brew beer at home you start by boiling the wort. You boil water and you add the malts and the hops for the flavoring and the aroma at specific times. This all depends on the recipe you are following. The wort easily boils over, which upsets my wife, but luckily my dog Rollo loves to lick the wort off the kitchen floor. He’ll lay there and wait for me to screw up. Don’t worry, the wort contains no alcohol at this point, which makes this a good point to measure what is called gravity. I should mention that you need to let the wort cool off before doing your measurements and before adding the yeast (or you’ll kill it). I use an ice bath to do this.

A big pan boiling wort consisting of water, malts and hops.
Boiling wort, water, malts, hops.

It is difficult to measure the alcohol directly. You need to set up a chemistry lab in the kitchen, which would upset your wife. Therefore, you use an indirect method using a hydrometer. During the fermentation process, yeast converts sugars into alcohol (and carbon dioxide). As the sugar is used up, the wort slowly becomes less dense. By measuring the density before and after fermentation, you can calculate how much alcohol is in the finished beer. In the beer world this is called measuring the gravity. You can buy a hydrometer in a lot of places including Amazon.

Photo of hydrometer in measure cup. It is showing 1.018.
Original gravity/density Was 1.072. Final gravity/density was 1.018 (in picture).

The density/gravity of water is used for reference as 1.000. To be exact, it also depends on the temperature, but for now we’ll ignore that. You measure the gravity before fermentation has started, just before you pitch (add) the yeast. The temperature at this point should be around room temperature, 72 degrees (60 to 75 degrees). This is called the original gravity (OG). Then after fermentation (in your container, carboy, whatever) you measure it again. This is called the final gravity (FG).

I should add that after the fermentation in your container/carboy is done you add a little bit more sugar (called priming sugar), you bottle the beer, and you let it ferment a little bit more, which will add a little bit more alcohol as well as carbon dioxide. You want some carbon dioxide in the beer but not too much. This extra amount of alcohol is not accounted for using the final gravity. However, it is typically around 0.2% and if you wish to include it, you can just add that number.

Photo of the homebrew bottling process using siphoning instead of pouring. This is to achieve some filtering and to avoid splashing. There is a beer in the photo. It is Pliny the Elder is one of the best India Pale Ales in the world.
The bottling process using siphoning instead of pouring to achieve some filtering and to avoid splashing. Splashing can cause excessive oxidation which can ruin the beer the same way bananas turn brown. The beer I am drinking Pliny the Elder is one of the best India Pale Ales in the world.

Using the original gravity (OG) and the final gravity (FG) you can now calculate the ABV, Alcohol By Volume, by using the formula below. For my latest brew, an IPA (India Pale Ale), which I bottled yesterday, I got OG = 1.072 and FG = 1.018. Ideally FG is around 1.010, but for whatever reason I did not get there.

ABV = (OG – FG) x 131.25 = 0.054 x 131.25 = 7.1%

So that would be 7.3% with the bottle fermentation.

There is a more exact formula:

ABV = (76.08 x (OG – FG) / (1.775 – OG)) * (FG/0.794) = which in my case yields ABV = 7.23% which would yield 7.43% with the bottling. I can add the recipe predicted ABV = 7.5%. There are also formulas that account for the temperature at the point of measurement of original gravity and the final gravity. But I think this is good enough.

Eurovision Victory for Sweden

Today (well actually yesterday by now) was the Eurovision final (from the UK) and Sweden won. For those who don’t know, Eurovision is the largest song contest in the world. Countries compete against each other, and the final typically has as many viewers as the Superbowl, about 200 million. You are allowed to sing in your native language or in English. Not all participating countries are European, for example, Turkey, Israel, Armenia, Azerbaijan, and Cyprus are frequent participants, but they are not European countries, and this year Australia participated, The Eurovision is a huge cultural phenomenon that is not well known in the United States. I’ve noticed that the natively English-speaking countries often miss out on big worldwide cultural phenomena that are not entirely based on English. Typically, famous music groups do not participate, but many famous music groups got started or were propelled by the Eurovision, for example, ABBA (waterloo 1974) and Celine Dion (1988).

Anyway, this is a Leonberger blog but sometimes I post about other things and my home country Sweden winning the Eurovision is a big deal for me, so I made a post about it. I am also posting number two (Finland) and number three (Israel). Which one do you think is best? I won’t be offended if it is not Sweden.

Photo from Swedish Eurovision celebration from New York Times.
Sweden in the Eurovision
Sweden, Eurovision 2023
Finland, Eurovision 2023
Israel, Eurovision 2023

Russia was banned from participating this year, and some other countries that usually do like Turkey, Bulgaria, and Hungary did not participate. These were the top seven.

  1. Sweden
  2. Finland
  3. Israel
  4. Italy
  5. Norway
  6. Ukraine
  7. Belgium
Map of Europe with countries getting to the Eurovision final 2023 in green and participating countries that did not in red and countries that did not participate but usually do in yellow.
Finalists in green, participants not making it to the final in red, in yellow countries that typically participate but didn’t.