I was playing around with some Linked Data SPARQL query engine stuff today and it generated the following query against its SQL data store.  Now, I’m not a database expert or anything, but something tells me that you can probably optimize this query somewhat.

SELECT id,  value FROM rdf_entities WHERE id IN (1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1159, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1169, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1172, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 1197, 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1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1199, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 1206, 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Visual Studio never fails to come up with amusing ways to go horribly wrong.

And yet somehow, “Append” is immune.

The more complex a system becomes, the more interesting it is likely to be when a catastrophe strikes.

Take, for example, a cup of water on an empty table.  When the cup gets knocked over, the water spills out on the table and isn’t terribly exciting.  Let’s replace the water with some Hawaiian Punch.  Now you knock it over and you get a red pool on the table and a red stain left behind once you clean it up.  See?  More interesting.

So let’s add a bit more to it.  Like, say, a computer.  You know, keyboard, mouse, tower.  Stuff like that.  And speakers.  And a rat’s nest of cabling to connect it all together.  Change the table to a computer desk.  Put a nice light colored carpet underneath all of it.  We can’t forget the power strips on the ground behind the set up, either.  And, oh yeah, a slight incline making the desk higher in the front.

Now tip over the cup.

The mouse pad, keyboard, speaker cable, and tower effectively contain all of the liquid in a small space on the desk.  Nothing spills out the front, nothing spills out the side.  However, let’s not forget the incline.  The incline causes what would be a containment fence on a level surface to become a funnel, which swiftly and efficiently drains the pool of sugary liquid through a narrow space between a section of the desk and the computer tower, and out the backside of the desk, where it produces a red cascade directly onto the rat’s nest of wiring, the power strips, and the white carpeting below.

Yeah.  That was -AWESOME-  You just can’t anticipate that kind of failure.

That’s it.  I’m calling it.  This Crazy Project Weekend is over.

And it’s a big truck of fail.

The biggest problems are the motors.  They just don’t do what I tell them to do.  If they did, this would be a different story.  But I’ve spent over three days tweaking the motors and the robotics and I just can’t get it working.  Maybe I can get a Stelladaptor and try tweaking it with direct feedback.  Maybe I’d be able to do continuous smooth motion if I could have tracked all the bombs properly.  Maybe I just don’t know what I’m doing.

At least I was able to identify the playfield elements and get the computer to tell what the next move should be, even if I couldn’t actually get it to make that move.  The basic recognition and logic was a lot easier than it was for Pong, mainly because trajectories didn’t really matter.  However, I wasn’t quite able to get the bomb tracking/prediction logic working, which would have reduced the tendency for the robot to get distracted temporarily and miss a bomb.  The full tracking also would have made it possible to detect patterns and move smarter.  I also get the feeling that there’s something already in OpenCV that would have taken care of the object detection and motion tracking for me.  That library is so big and I’m not a computer vision expert, so I don’t really know what’s there or how to use it all.  The book and the documentation aren’t always enough.

And then that virus.  Stupid virus.  Make me waste half a day because the bloody computer stops working.  THAT WAS AWESOME.

The segmented auto-calibration thing did work.  I was able to adjust the robot power and swap out gears and the calibration generally figured out the new pixel/degree ratio.  If the motors were more consistent, then it probably would have worked better.  At any rate, that’s a decent technique that I’ll have to remember for the future.  And I’ll have to clean up the code for it, right now it’s kinda messy.

In the end, I did not accomplish what I set out to do.  The best score the robot ever got was 63, and that was a fluke.  And I didn’t even get close to trying to get it to play on a real TV.

And that’s why I don’t work for NASA.

That ain’t right.

And I only have five hours left.

On the one hand, I’ve solved the delay problem.

On the other…  Well…  This:

IT’S OUT OF CONTROL!  RUN FOR YOUR LIVES!

Can you spot the bug here?

Okay, now just 2993 more points to go for the prize!

The gripper piece of the spinner assembly is a bit stronger than I’d anticipated.

That wasn’t supposed to happen…