My first ever product: another mission accomplished.

In 2011, I witnessed the robot that me and the team built performed polyp removal from patients in India. It was such a milestone and big achievement in my life. At that time I knew that I wanted to make something that could reach more people, I got to move from prototyping and conceptualization to product development and introduction. Since then I have been working in HP Singapore, Business Printing Division as Writing System Engineer.

Finally, the first product that I worked on is launched!!! Officejet Pro 6800 Series. It is different from the surgical robotics application that I worked before, but my objective is to get my hand dirty in developing a product that will reach more people. It was an interesting product development process, and I am very lucky to work with some of the brilliant people.

What did I contribute in this product? its called the printer calibration. If you have ever own any inkjet printer before, it is the first page printed after you setting up your printer.

Yes it is just a single function, a single page. But within this single page, it contains lots of interesting stuff. I am very happy to work on this feature because I feel connected with every user. Because I know what I am working at is delivering value to the customer.

This is another mission accomplished for me. I hope those who buy and use this printer will like it, and find it as a good investment that will help their business.

I would like to dedicate this piece of work to Bill Hewlett and David Packard, who are great leader, visionary and engineer.

“HP exists to invent the useful and significant.”~ Bill Hewlett and David Packard


Chateau De Versailles

After our morning stroll at Marche aux Puces, we went to Versailles. This is a castle located outside of Paris, and we took RER-C from Musée d’Orsay to Versailles Rive-Gauche. The palace is about 5-7 minutes walking distance from the train station. More informations about this estate can be found here: I used this website to bought the ticket and plan our visit.
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Euro Trip 2013

We had this desire to go to europe for quite sometime. After long thinking and researching (read: procrastination), one fine day we stumble upon this very cheap flight with 1 stop over at dubai. The price is only about S$700, which to us is really a good deal. Alas, this is the price before tax!! I am very disappointed and then I just stumble upon another flight operator, which offering $1070 for two ways Singapore-Paris, Amsterdam-Singapore. We thought this is a good deal especially that the flight is going to 2 different cities. I don’t like the idea of two ways flight to the same city while we are going to explore many cities. To me it will be a waste of time to the travel back to the same city that we arrive on day 1 just to go back.
Lo and behold, I bought the tickets without having any plan where are we going to go, we just find a window of around 16-17 days that we can take leave from our job and go for holiday! We thought we need to commit on this and stop the thinking process. (not long after this I also stumble on this post: , reflect back I am quite proud of making that leap of faith kind of action)

Found it interesting? Click Here to Read More!

Convocation 2011

Convocation 2011 with Irene

July 2011 I had 2 big events happening. It is like a month of harvesting. Other than going to India to witness the first human trial using the robot that I developed, I also attended my 2nd convocation in NTU.

I would like to dedicate this to Irene and my family. Who have continuously supported me, thank you.

Convocation 2011 with my family


A Mission Accomplished

I have been waiting for this time. A time when I achieved one of my dream, to use my engineering knowledge to create something that can be useful for people.

After I graduated in 2007 I chose to join a research group. In this group I have been developing a robotic system that is dedicated to help a gastroenterologist to perform complex and difficult surgery. Basically a gastroenterologist is limited to perform a therapeutic procedure as compared to a surgeon. A surgeon has two hands to do surgery, where a gastroenterologist use an endoscope. Or you also can read my previous post (Robot in the stomach). We can imagine a doctor who uses an endoscope to perform a surgery is similar when I ask you to eat using a chopstick by using your leg. It is possible just extremely difficult.

After many development of prototypes and refinement. Last week we went to Hyderabad, India to test the robotic system on human. In the past it has been tested on porcine model both death and alive. I was very excited to see the robot being used on real patient. It is one of my dream, to see this robot enter human stomach and remove a tumor or cancer.

I can freely write about this project now because there are many newspaper write about it as well. It is quite interesting to see our robot in the news paper. These are the list of online news coverage of the latest human trials  that we conducted:

I can say that having my first “baby” to be used on real patient has accomplished one of my dreams. If you are interested to find out more about the robot you can let me know. I will be very happy to write more about it. For technical stuff there are many technical papers published, I will make the list on the next post.

The Soul of Prayer

Benedict XVI recently gave a new series of teaching on the subject of prayer. I found out his teaching articles from Oka’s blog.

Prayer is one subject that I have known for some times,but still struggling to practice it as part of my life. We won’t pray unless we understand how important prayer is. Until we are really convinced that praying is very important.

I find praying is becoming more important in my life especially when I am reflecting and contemplating on my life. I have many questions that are not answer yet such as:

A Deeper look of Palm Sunday – Scripture Perspective

An article as published in Tomorrow newspaper by St Mary of the Angels, bukit batok, Singapore.

We are quite familiar with the Feast of Palm Sunday. We would go to get a palm leaf at the church, get it blessed and put it at our crucifix at home for one year. Maybe we are not quite familiar the history behind this feast. Why would Jesus ride a colt? What the crowd where shouting? Let us together take a deeper look from the scripture perspective on the feast of Palm Sunday.

The celebration of Palm Sunday, commemorates the entrance of Jesus to Jerusalem. It was recorded in the four gospels (Matthew 21:1-9, Mark 11:1-10, Luke 19: 28-39, John 12: 12-18). His entrance to Jerusalem is the fulfillment of the prophecy from Zechariah 9:9. Zechariah prophesied to Israel that their King would be coming triumphantly to them riding on a colt, the foal of a donkey instead of war horse. The colt signifies the humility of the King. The third king of Israel, Solomon also rode a mule when he was anointed as king (1 King 1: 38-40). A humble King is coming to us; He is coming as one of us. Perhaps this will help us to embrace Him better, to allow us to get closer to Him.

The crowd responded to Jesus’ entrance to Jerusalem by taking palm leaf and shouting “Hosanna!, Blessed is he who comes in the name of the Lord!” This is a direct quotation from Psalm 118:25-26. The word Hosanna is a Hebrew word which means save us. Psalm 118 is part of the Hallel, a Jewish prayer for praise and thanksgiving. It consists of Psalm 113 to 118. We may not be able to appreciate this psalm as our Jewish brothers and sisters do. Perhaps because we don’t have a deep longing for a Messiah as they do. Most of us no longer know about slavery, maybe because we don’t have a known history of slavery in our family. But maybe we are in a spiritual slavery; maybe we are being enslaved by pride, lust, greed, sloth, hatred, or sin. When we realize that we are enslaved, we will have desire to be free, we will long for a messiah or savior.

The Israelites were completely free from slavery when they were a strong nation led by King David. We would be completely free from the slavery of sin if we allow our life to be led by King Jesus. Allowing Jesus to reign in our kingdom is not an easy task but at least we can try to do the first step, to realize that we are in a slavery of sin and we have this desire to be free. Let us take a palm leaf and embrace Jesus’ entrance to our life, our Jerusalem, and shout to him “Save us!”.

Sacrament of Reconcilliation – Crossing Back the Line

Crossing the line

Last Thursday, I went to the penitential service at st Mary of the angels. It is a communal Sacrament of Reconciliation which is usually held a week before the Holy Week. It is an invitation from the Church to all its family member to confess their sin as a preparation for Easter. The different as compared to the usual confession is that at the penitential service the parishioner come together and pray together before they will go individually to confess their sins to the priest. So we can see the church full of people to confess their sins.

We confess our sins, of course because we committed sin before. We may have different understanding regarding sin. Perhaps it is about breaking God’s Law, or Church Law. Perhaps its about hurting other people. But let us take a look at the definition of Sin given by the Church. Its taken from the catechism paragraph 1849-1851


1849 Sin is an offense against reason, truth, and right conscience; it is failure in genuine love for God and neighbor caused by a perverse attachment to certain goods. It wounds the nature of man and injures human solidarity. It has been defined as “an utterance, a deed, or a desire contrary to the eternal law.”121

1850 Sin is an offense against God: “Against you, you alone, have I sinned, and done that which is evil in your sight.”122 Sin sets itself against God’s love for us and turns our hearts away from it. Like the first sin, it is disobedience, a revolt against God through the will to become “like gods,”123 knowing and determining good and evil. Sin is thus “love of oneself even to contempt of God.”124 In this proud self- exaltation, sin is diametrically opposed to the obedience of Jesus, which achieves our salvation.125

1851 It is precisely in the Passion, when the mercy of Christ is about to vanquish it, that sin most clearly manifests its violence and its many forms: unbelief, murderous hatred, shunning and mockery by the leaders and the people, Pilate’s cowardice and the cruelty of the soldiers, Judas’ betrayal – so bitter to Jesus, Peter’s denial and the disciples’ flight. However, at the very hour of darkness, the hour of the prince of this world,126 the sacrifice of Christ secretly becomes the source from which the forgiveness of our sins will pour forth inexhaustibly.

We may think committing sin is when we crossed the line. Well in reality I believe the line is drawn for my own sake. I must thank the Church for drawing the lines for me. Even though some people would think that the Church is just trying to control the people, in contrary I feel the Church is trying to prevent us from inflicting wound toward myself and other people. When I crossed the line it means I chose darkness over light. I chose Not-Love over Love. I chose immediate selfish gratification over eternal life. I chose FEAR over Courage and truth.

Penitential service give me a consolation, that I am not alone. Together with my other brothers and sisters in the church we pray together, and confess our sin to receive the forgiveness of our sin. I am very grateful for the blessing during the service, as I confessed my sin, God showed His love and forgiveness through His priest. God invited me to love Him more by repenting from my sins. So its not merely about doing right or wrong but about loving or less/not loving. Loving someone can be difficult.

We crossed the line when we commit sin, but through the Sacrament of Reconciliation, we are invited to repent, to turn back on our sin path and come back to God. We are invited like Peter when Jesus conversed with Him beside the campfire. We are invited to walk and cross back the line and to come back to the Light.

I pray for the Holy Week, so that we may love God more and encounter Jesus in our life.



This one is a small plant that grow at the side of the bricks wall. At first I was interested because there is this sense of resilience. Then it reminds me of this verses from Phil 4: 10-14

“Rejoice in the Lord greatly that now at length you have revived your concern for me; you were indeed concerned for me, but you had no opportunity.
Not that I complain of want; for I have learned, in whatever state I am, to be content.

I know how to be abased, and I know how to abound; in any and all circumstances I have learned the secret of facing plenty and hunger, abundance and want.
I can do all things in him who strengthens me.

Yet it was kind of you to share my trouble.”

The title for this simple picture is Strength. The small plant shows me that it receives strength from God. We may have some difficult situation in life like this small plant. It seems have no opportunity to grow, being crowded with other bigger tree and the bricks. It may experience malnutrition, but it doesn’t complain keep growing. We too I believe can be like this little plant, learn how to draw strength from God, and proclaim God’s glory.

Finding God In Picture

Once open an URL from one of my favorite website , and there is one section called Picturing God. I was inspired to capture several image where I could relate to God, or where there is this sense of God image.

Perhaps it is true that a picture could speak a thousand words. Photo taking is good to express my creativity especially when I dont have enough skill to draw. There will be several photos that I will upload occasionally. I do hope you enjoy both my writing and photo. Indeed we can find God in all things, maybe that is why we say that He is omnipresence. Not just to believe that He is everywhere but to encounter Him and Find Him.