DefCon 22

Picture taken by Aakin!

Sunday evening I collapsed on the couch with a nice big glass of red wine after having unloaded the very last of our stuff back into the house… thankful that I’m alive, in one piece, and that nothing critical went wrong this weekend. I have more awesome memories for the grey squishy hard drive. Here are the highlights on a few of my experiences :

Our Kids’ Second Big Recital >.<

DELTAS! They were there! This being our second time attending the con, we wanted to participate by bringing our own taste to the medicine. Friday night during the event of random fun and mischief, we had a nice dark sliver of space to set up all of our babies in. The best part being that we didn’t have any rules or restrictions for the space we were showing in like at Maker Faire. We could pretty much do anything we wanted; our own cooler filled with beer was present, our own speakers with music were set up, and we turned the back wall into a looming place of worship for those of us who accept robots into our hearts as personal overlords and saviors. ❤

However, setup left a bad taste in my mouth. We had issues during load-in involving some things we were led to believe would be provided in the room yet weren’t. This in itself wasn’t the problem; the resistance we encountered while trying to fix it was.  A few of the Goons seemed to get off on our dilemma, being purposely withholding instead of doing what they could to help, and then became pissy and annoyed with us once we resorted to taking matters in our own hands to get what we needed. If the people running Defcon expect others to go out of their way to set up art and events at their convention with nothing to show for the effort, the very least they can be is accommodating and maybe a little gracious. The Defcon staff we encountered were all stressed out and moody which might have been due to the lack of organization, or it could stand that in an economy where everyone is being paid with perceived status rather than money, undies will get knotted up… and egos will inflate. =/

Anyhow, once we were ready to go- dismay aside, everything went fucking awesome. We received an excellent response and got great feedback from fellow hardware hackers. It was the most rewarding experience to see people interact and dance around with the robots while radiating that megalomaniacal hype we’re aiming to bring out of people. I had many interesting, insightful conversations with other techie avant-garde, as well as with those of the goons who weren’t ten feet up their own asses. =]

At the end of the night Mark and I got to deconstruct our little ones alone in private. The hallways were silent, dark, and devoid of life, which was surreal in contrast to how congested they were at every other time. In our own zen we packed up the show, unloading at Mark’s place by 4:30 Saturday morning. I slept so hard I forgot where I was when I woke the next day back at the hotel.

Darknet was a huge success!

Photo taken by hackerphotos.com

Everyone was working until the final hour (minute) on every facet of this event to make sure it was loaded with kickass once Defcon began on Thursday. Of course, Smitty’s highly involved live RPG was all the rage this year. Holly shit. By the time I got down to the HHV in the morning, the DarkNet badge kits were sold out! I heard that on Saturday there were 600+ people in line to fight over the remaining 80!

The few they had left were auctioned off before Crash and Compile for over a hundred dollars a piece! I am SO PROUD of the whole team for the amount of effort they poured into coordinating things this year. It was no easy task, so I’m glad that the Defcon lords recognized this by making Darknet a black badge event this year!

We raised over four-thousand dollars for the EFF… and for me, the great part is knowing that we did it in style 😉 Darknet shirts happen to be sexy. Just saying. Virtual high-five team!

Fellow Makers Rock Defcon with their Laser Robots!

Mark and I met two really cool people at Maker Faire this year, Kathryn and Alvaro. This tech savvy duo of robot wielding awesomeness had a laser shooting gallery in San Mateo. Being their area of expertise, they brought an amped up laser turret with them this year to compete in the DefCon Bots challenge. The goal was basically to create a robot that could scan and find blue balls (teehee!!) moving through a depth of dark space and then aim a laser to shoot at them. That’s no easy task! We came to cheer them on this Saturday and were happy to catch their big win! They were up late making last-minute improvements on their laser baby, but it paid off in the end… =] Great work guys!!!

The best badge is the one you make yourself.

In a pop-up culture of status dictated by the thing hanging around your neck, there is much talk of badges at Defcon. Black badges, human badges, modding, decoding, hacking, and alas… making your own, which a few people did. As for us, Mark and I created a board out of the key I designed for the Darknet propaganda. It’s a nice little memento for this year which we proudly bared as board designers. Purple FTW!

We met someone who made an “Impostor” badge through OSH Park, which was the most snarky and creative rendition of the Defcon 22 badge at the entire con as far as I’m concerned :

All of the text negated everything on the original, for example saying “light arc” instead of “dark tangent” on the back, and “found” instead of “1o57”. Tehe. In love. The UV SMT LEDs were a nice touch too.

Then there is sharpie and gaff tape :

Because the better things in life are neon yellow.

Crash and Compile

Glitter. What? Nah… it wasn’t me. =]

So I didn’t wear a big penis this year. To change it up a little, my strategy was to annoy and systematically emasculate all of the competitors with dolls. I built a “Barbie bandolier” which held my many personas through which I communicated during the event. This got easier to do the more hopping drunk I became. – I was sure to make a doll-sized strap on as a throwback :

Though I spent a lot of time trying to derail team Frink, the defending champions, I poured twice as much effort into bothering the team who won this year… Sprechen Sie Dick Picks. No one could get these dudes to make eye contact with them. They had the purpose of a bullet train and though they did a good job of kicking everyone’s ass, I think they missed one other very important aspect of the whole event : by the end it should feel like a circus on stage… and everyone seemed more sober than I remember last year (but that might just be because I was more drunk than the rest). Congrats to all of you for competing! (and for putting up with our shenanigans)

Jeff and his crew did a fantastic job of preparing for the event again (Jeff is a rock star, as he also designed the board in the Darknet kit again this year in addition to preparing for the contest). Between the contest holders and the teams programming, we polished off three kegs of beer over four hours. It all went by so very fast. Here is the sexy trophy he made this year, a shiny head-sized D12 :

SYN Shop Teaches Soldering to the World

I’m happy to say that our local Hackerspace, SYN Shop, had a presence in the hardware hacking village this year! Brain along with several other volunteers manned the tables of tight and person soldering stations, happy to show those who had picked up a kit in the vendor area how to melt lead like a pro.

When Everything is Said and Done

The child-like wonder of falling down the rabbit hole was gone, but I felt like I found my own niche in the big picture this year. I’m proud of all my friends and the work they put forth to make the event what it was. =] Time to get back to work. We’ve got robots to ship and the rest of the world to take over.

This is another notch in our belt… or shiny thing on our wall. It’s all about enjoying the journey!

 

Robot Army : From Tupperware to 3D Printing

When I moved back home from art school in Chicago, one of the biggest drags was no longer having access to the beefy machine shop that was down the street from my apartment. I went from playing with a room-sized lathe and mill to having little more than a $20 soldering iron and dremel at my disposal. It seemed my metal-cutting days were going to end as soon as they started… well enough, this didn’t stop me from making the things I wanted to. I just had to use plastic now instead. Luckily for me, plastic was in abundance at my parent’s house. My mom hordes take-out containers and tupperware, so I had a bottomless stash to carve up.

Still pursuing my vision of creating the field of robotic flowers, I was trying to refine the design of my ‘steam’ into something a bit more controllable. At some point I ran across a video of a small delta robot someone had made on the internet. As I watched it bob up and down in that special twitchy, impatient way… I fell in love. From that moment on I became obsessed with building my own!

Long story short… Everything became a potential shape. I-beams. They’re everywhere :

I used a lot of crappy plastic hangers. They made great paddles to connect onto the servo horn like you see below :

In the beginning, mechanical joints mystified me. I didn’t quite understand what was going on with how a delta robot moved, so this prevented me from being particularly inventive with what I used to connect all the piece together. I read on a forum someplace that you could use 4-40 swivel ball links, which you can get from a hobby store… so I bought myself a set to try out. The thing is, they work great but they cost way more than any piece of plastic should (like… $18.00 for 12 of them. Just enough for one robot). ALSO, they require tiny spacers on either side of the ball. This helps give the rod a breadth of motion without smacking into the plastic piece its rotating in. The sucky part is that the pack of 12 joints form the hobby store only comes with half the number you’ll need (for a delta you need one on each side). The links are the pieces at the end of these 4-40 rods :

In order to make a whole field worth like I was planning, I’d need to find a cheaper alternative that was less hardware dependent. For now though, these worked. I attached my paddles made of hanger bits to these arms :

The next step was figuring out how to mount the delta robot. I realized that the servo motors would have to be elevated so that the paddles could swing below the angle of the table top. I didn’t have anything fancy to use at the time, so I took a pasta togo box from the cupboard and cut into it with my dremel to get some nice clearance slots :

The next thing to figure out was how on earth I was going to mount the actual motors onto my base. A normal person would have used L-brackets of some sort, so I did precisely that… except again, mine were made from strips of plastic cut from togo boxes. >.<

As you’ve guessed… the end effector was also eventually made from cut pieces of plastic. My first working prototype was practically a togo box with motors :

This was a great feat making my first functioning delta robot. I was proud of its frumpiness because though it wasn’t mechanically solid like a robot made of metal, it still worked. Of course, I wasn’t going to make a whole field of delta robots out of togo containers (although I probably could have because my mom surely had enough to do so). The next step was to shrink the design and refine the method so it could be repeated with ease.

My next prototype was still made of plastic, but I got classy and went to the Container Store and invested in some nice cylindrical boxes. These would become the new bases for my robots :

I repeated the same steps, cutting the clearance slots for the paddles and making small L-brackets to mount the motors to the base. The base the motors were connects to was actually the lid of the container so you could remove it and use the bottom part as an enclosure for the board running it (clever!) :

I had aspirations of building three of this particular prototype… to see if they could all be networked together and potentially all run at once :

The two-dollar micro servos I bought from some nondescript hobby store (imported from China) were terrible quality. Though my second prototype worked, it moved like it had Parkinson’s disease. =/

I wasn’t really happy with this… but two dollars a motor was all I could afford at the time (I was still living at home with the folks). Eager to try again when I could invest in some more quality materials… I started rethinking the entire design.

For the rest of the summer I meditated on what I had learned. The little blue servos from China stripped in a matter of days while I was testing out code… So I was left with nothing more than a delta shell.

One extremely fateful day I met the people of SYN Shop at an art faire downtown. The hackerspace was just a glimmer in someone’s eye at the time and was run out of the garage of the man who is now my collaborator (Mark Koch). They invited me to stop by some time and show off whatever I was working on. Eesh. Even though I was embarrassed and apprehensive, I brought the mangled corpse of my second delta prototype to show to people. In spite of its appearance, my gimpy child got a lot of attention for the mere fact that I managed to pull off making a delta robot from garbage. Mark had always wanted to build his own pick and place machine, so seeing my creation urged him to get off his butt and make one of his own.

This is when the discovery of 3D printing changed my life. Mark suggested that I design my delta’s parts in CAD and of all things…print them. I was familiar with 3D printers, however the one my art school had was huge and they charged an insulting amount just to produce tiny things with it. Up until then, I had no clue that desktop 3D printers even existed, so my mind was blown when I saw his Replicator for the first time. The usefulness of this tool was revolutionary. I could continue building my robots in plastic like I had been, but I wouldn’t have to machine my parts as if they were metal. How easy!

I spent the rest of the year learning Sketchup. This is a free piece of software that I highly recommend to beginners. It isn’t as powerful as Maya or Solidworks, but its intuitive so you can start making things with it immediately. You basically draw 2D shapes like you would in Illustrator and then extrude them upward to make basic geometrical objects. You can edit things from there of course. If you’re looking to design mechanical parts, this tool is a wet dream, but be patient because it has it’s irritating quirks and limitations.

One day during CES in 2013, Mark came onto something rather brilliant while we were discussing our designs over margaritas. The solution for those expensive and convoluted swivel ball links (that I had been stuck using) was to use some sort of U-joint that could compress onto ball bearings and twist freely in all directions. The idea was simple and genius :

This was an important quality because now we could completely divorced ourselves from having to source out any hobby parts. This means aside from some hardware, we no longer had to buy link joints, or cut rod in order to make the robot work. Everything was designed in CAD. Everything was 3D printed. My cost went down significantly, and at last I had the perfect model which I could realistically expect to afford building in mass… and all I had to do was hit ‘print’.

Once we mastered this technicality, it was a matter of implementing it throughout our designs. My personal delta robot went through many…….. many revisions before it became the thing it is now :

It was at some point last spring that our robots reached their pinnacle. My first complete and polished delta made from 3D printed parts was named Jeden (after the Polish word for one), and Mark’s hanging delta robot was named Amber (after an inside joke Mark and I had at the time). This was the revision of Jeden right before I got my neon yellow filament in the mail :

We had been working so hard that our collaboration was getting noticed by the others in our community and our friends from SYN Shop decided to interview us about our ‘rivalry’ for their first podcast :

We hadn’t really thought of one another as collaborators (or rivals for that matter) until that point in time. Once it was brought to our attention however we took off like rockets loaded with beer and nitrous. We’ve been working together ever since and within a year brought a delta robot kit to market… which is the thing I’m promoting so heavily right now on Kickstarter.

This campaign is not only getting us our funding to build that elusive art installation I’ve been wanting to create, it’s also the introduction of our new company to the maker community. Mark and I don’t expect this will be our last kit. We’re sort of hooked on this process now and already have plans for what’s next. We are Robot Army LLC and it looks like we’re here to stay =]

It’s been a fantastic journey. I’m getting to strike a couple of goals off my bucket list. I started this blog two years ago to prove to the world (and myself) that anyone with a little bit of drive and passion can bring something from their dreams into reality… even coming from a position where you lack experience or expertise. There is a wealth of open knowledge and support out there to be drawn upon. If you choose to use it, anything is possible.

Robot Army : Our First Rush

There were some experiences involved with launching a Kickstarter that I had been heavily anticipating. The most obvious of which being the excitement that follows your first big rush of backers. – Sort of like Christmas, but in the form of a global affirmation that your ideas are liked, understood, and that there is a place in the world for people who dare to seize their dreams.

Though Mark and I were off to a respectable start… our momentum pittered out rather quickly and for a good day and a half we crawled through six or seven percent. It was agonizing. Maybe we were expecting too much. Since we haven’t yet been picked up by any major feeds, its been a matter of sitting in front of the laptop every morning and kindly reminding/begging people to post about our project and help us get the word out.

After blasting yet another batch of such emails to a whole bucket of contacts, I sprawled out on the couch and dozed off. It was a nap of acceptance and release. At some point, Mark walked into the living room and yelled at me for sleeping. He sat down next to me quietly and gave me a hug, feeling something similar- which I can’t really define. A moment later I picked up my phone and checked to see how long I had been out, to find that I had an endless list of push notifications informing us that we had new backers.

Long story short… I suppose Kickstarter featured our project, and once this happened we started getting traffic in a big way. We went from 37% to 76% by the end of the day… which is huge! It’s still sort of funny that this wasn’t the result of any PR we have done. Never the less… it’s good to see your hard work pay off.

Today, I am answering questions about international shipping costs. It eludes me how I can only seem to get astronomical quotes outside of the US. =/ It’s like I’m missing something. Angry customers is bad- so I’m doing everything I can to fix this. We are almost to 90% now. I feel lite and giddy. I may have a piece of cheesecake in celebration. As soon as we are funded however, Mark and I are both getting mega steak.

Robot Army : Almost There

We’re down to the final stretch. Mark and I have been working on our Kickstarter video for the past ten days… which has been a hell I hadn’t anticipated. It was starting to seem like we were never going to vomit out the right takes that would communicate to our audience what they need to know about our kit. After a dozen or so sessions of filming, I decided I was over complicating things and rethought my strategy. Now after much adieu, our KS video is short, conversational, and in the spirit of what we know how to do best- which is shoot a podcast.

We have many, MANY outtakes from the past two weeks we spent trying in vain to pump out a work of art that wasn’t meant to be. So I’ve edited a few into short chunks which I plan to spoon feed out into the world over the next month. The one above is a rant we derailed on just prior to shooting the footage we actually used.

In other news, we’ve finally started producing our second run of delta robots, which is in reality a whole new revision since every part has been redesigned for one reason or another. These new children will be better and stronger and will eventually replace their brothers and sisters… but that’s just how evolution works, right?

Also, last Friday Mark and I sat down with a lawyer and did the paperwork for our corporation. My dad unknowingly gave us the idea for its name when he registered me for CES, filling in my company name for my badge as “Robot Army”. This was an excellent conversation starter while on the showroom floor. “What do you do?” everyone wanted to know. It felt goofy at first- but the name has its own radical sense of style, so it’s staying. Mark and I are now both owners of Robot Army LLC…….. So all the robots we make from now on will be legitimate. tehe…

The Kickstarter page is also just about finished. Once the rest of the technical crap is sorted, we’ll be ready to launch. It’s about a week away and I couldn’t be more excited! Wish us luck… oh, and join the mailing list! This is your call to action! : Robot Army Starter Kit

Robot Army : CES Week

This week was exhausting. It involved a lot of walking, chatting, setting up, tearing down, and practicing the good ‘ol elevator pitch. Myself, Mark, and his friend Gregg took off to make the most of CES- exploring for two long days on the showroom floor, and then attending events in the evening. It was a lot of fun and we made some new promising contacts (woo!).

Last night we did our first demo with the six working delta robots we have at Pololu Robotics. They held a nice shindig for those attending the convention who were involved with robotics and hackable electronics. It went over well and our kids did a fantastic job, seeing as it was their first recital. >.< Now to double our numbers… Mommy and Daddy must get busy.

Finally, with a moment to relax, Mark and I went over our BOM and caught up on emails this morning over bloody marries. We also started shooting our Kickstarter video now that I have my voice back! We plan to film discreet segments tomorrow around town, so hopefully by next week we’ll have enough content to edit into something awesome.

Robot Army : Kinect and Kinematics

All day Tuesday Mark messed with the delta math trying to map the motors to the Kinect input. It seemed like no progress was to be made until the 11th hour when he ran his code and everything suddenly went from fail to working perfectly. So that spooky kinematics hurdle has now been cleared.

Today is turning out to be a bit stressful. I’m preparing to leave for a ten-day winter pilgrimage back east to visit family, and as such am going over a list of things that Mark and I must both take care of over the duration that we are not conjoined at the hip. He’ll be handling all the tangible stuff – while I crunch numbers and go into deep marketing mode.

In other news, we were able to do some actual “light playing” this weekend. As a member of our hackerspace suggested, it would be really neat to see the delta robots paint with their LEDs in some long exposure shots. After another round of promotional pics, we took a robot in the bedroom, set the tripod up and turned out the lights…heh. The result was magical :

I can’t forget to mention that Rev B came in from OSH Park. WOO! If these work, I’ll be ordering another handful this week so that we have enough brains in time for January. With luck, our demo size just doubled from three to six- if not, I have new fancy pasties =]

Interested in making a delta robot? For the full scoop on Light Play, visit : lightplay.zoness.com

Robot Army : Delta Goes to Florida

Suz and Pawel are going to a robotics conference in Florida on Wednesday with one of my children in tow. In preparation, Mark came up with some demo code to run various routines at random which were inspired by the movements of my parrot, Mango. The little-one will bob and wiggle, attracting attention for a full weekend (while simultaneously being stress tested for endurance). Suz promises to send me some footage of the delta doing its thing, as well as get feedback from the crowd.

It is World Domination night at SYN Shop right now, my time to hold the fort. There’s a pretty good turn out and the room is buzzing with people working on projects, which makes me really happy to see. My promo cards came in the mail, and I’ve already handed out half the box in stacks for everyone I know to spread the word.

Tomorrow I head back over to Mark’s for more development, this time with the Kinect. He’s working on mapping the movement of the deltas to hand position (COOL) so hopefully by the end of the day we’ll have some progress footage to show that is a little more interesting. We’ll also do less fun stuff, like BOM noodling, and calling around for price quotes. =[ I also plan to have a go at designing some of the part variants that have been suggested in the comments in the past couple weeks. If I’m successful, I’ll post the results! Happy hackie-doing!

I’m Pretty Darn Thankful

So it’s that special time of year when my Polish family (and friends) jam into my grandmother’s living room for an evening of decadent eating and potential drunken arguments to the tune of Il Volo (the teenage Italian opera singing trio my mom is currently obsessed with).

New additions to this years feast are my cousin’s husband Andy (welcome to the family bro!) and Mark, who we baptized in sour cream two weeks ago… so he’s technically a Pollock now and I think my mom officially claimed him as her own- but anyhow. They’ll get whats coming to them soon enough.

As I sit here, basking in the aroma of Jeff’s homemade apple pie cooking in the oven, I reflect on the past year and all that I am truly thankful for (I’m going to get emo for a second now). It was just last November that I was preparing for major surgery and was suffering the height of my brain’s uncomfortable compression into the walls of my skull. I am sitting here one year later, alive, healthy, and living my dreams as such with an amazing group of friends to support me as I climb to the top of my own shit mountain. Life’s great =]

This past year rocked. Last November in Mark’s chilly compact workroom, I soldered my first SMT part to the first PC board I ever designed in Eagle… which was the first thing I ever etched in Jeff’s kitchen. I attended my first Maker Faire, and helped with two contests at Defcon 21. I even started my own podcast with the man who’d become my best friend and by doing so liberated this loud, neurotic, semi-perverted side of myself. I’ve hosted several themed shindigs, helped teach soldering classes at our hackerspace, worked a ShopBot without killing anyone in the process, and watched the people who I’ve gone on this journey with also grow as a result of having me in their lives.

My dreams are no longer somewhere out there beyond my reach as a direct result of those who have brought out the best in me. You all make living feel truly alive. –  I hope everyone I know gets to be someplace special tonight eating themselves into a satiated food coma. ❤

Ok, I’m done being soggy. The picture at the top is of my first robot, Flower, which I retrieved and brought over to Jeff’s last night. It’s now united with its progeny for the first time. ^.^

Robot Army : Cuddling my Spreadsheet

Today, I find myself wanting desperately to feel as though I’m doing something right. I think it’s likely all the rain we’ve had that’s tainting my mood, but I’m discouraged. I’ve been adding things to my bill of materials and the proportions are seeming less than hopeful in some areas.

Now I need to start shaving cost off things that are needlessly spendy. I guess this is where I learn to be inventive and shrewd all at once.

It might just be my lack of experience in doing PR related stuff- but I’m stuck again with the getting the word out part. Maybe I’m not begging loudly enough. I’ve never been all that good at asking for attention. So this is another hurdle to overcome.

This morning I did mock ups of several different variations Mark came up with for my delta’s arms. We foresee the cups that hold onto the ball bearings wearing out over time, so we’re trying to come up with a solution. One idea was to have a slit down the center of the U-joint that some hardware would compress together so that the tension on the ball could be adjustable :

The other thing Mark suggested was that I ditch the cup entirely. He said  it would be too difficult to mill if I decided to have my pieces machined. His idea to replace it was a simple square peg that had a “+” sign cut into it… leaving four small notches that would then grip the ball joint. I gave that a try too.

The compression design worked well. It’s a good idea, but if I go with this type of arm, I’ll have to add another 12 pieces of hardware, plus 12 washers and nuts per kit…

The replacement for the cup worked in theory- but the ball was apt to pop out left, right or any of the directions it didn’t have material forcing it in place. So maybe not such a good idea after all.

Other than that… I’m attending a hardware startup meetup tonight with Jeff and Mark. We should all learn something from it. Tomorrow is Friday and I’m back over at Mark’s to finish and send off Rev 2 of the delta brain to be fabbed at OSH Park. Small steps. Chin high.

Robot Army : We’ll Make More

Yesterday was another full day spent with Mark working on the Robot Army. He’s taken my sub par original revision of the delta brain board and is making it more practical for my needs and for my audience who will use it in the kit I’m Kickstarting.

So far he’s made one huge adjustment : making it so VCC is not directly opposite from ground on the I2c bus. Apparently you can flip the connector around and blow things up this way (oops). He was either making a point, or practicing ritual sacrifice by blue smoking one of our three test boards >.< This is just one of the examples where he has filled in for my general lack of experience with his circuit wizardry and electronic prowess.

While he tinkered, I did PR stuff. I’ve pretty much been rewording the same write-up in a dozen voices while emphasizing different aspects of the project depending on who I’m plugging myself to. This is getting rough because I’m complete numb to whether or not I’m communicating what I need to effectively anymore. Saying it over and over again is turning the content in my head into an information slushy machine.

Other than that, I’ve been looking at the layouts of other successful Kickstarter pages and taking notes. I know I don’t have to have it all ready yet, but I’ve made some new catchy graphics this weekend as well as taken a few dozen product photos to go in them. It’s a long but fun road!

Last night, Jeff and I were also looking at the EEG I’ve been thinking about buying. It turns out the version of the device I’ll need is $750. I’d love to have it now so I can start that portion of the development but hell… I can’t fork over that amount right now (even without having to pay for my computer’s repair). Mark however found an open EEG circuit that he said was pretty basic and might be worth a try for starters. – So that is something else to consider in the next week or so.

I’m hoping to order Rev 2 of the delta’s brain by this weekend. That’s the goal.