categories:
4
about
resume
pictures
robotics
index.html
&title;
Dom's Page
⊤
Dominic Jonak's Homepage
&main;
<ul>
 - latest update (1/6):
<li>Added SOTF and LRI to <a href="robotics.html">robotics</a> section
<li><a href="galleryRobots.html">added</a> <a href="galleryConcepts.html">some</a> <a href="galleryPeople.html">more</a> <a href="galleryPlaces.html">photos</a>
<li>added <a href="galleryUK.html">UK</a> and <a href="galleryMexico.html">Mexico</a> sections to gallery
<li>behind the scenes changes
<li>rearranged the photos (split up the images, added Chile section)
<li>added picture of Clementine
<li>removed some older stuff
</ul>
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&end;
about.html
&title;
Dom's Page: About Me
&top;
Something About Me . . .
&main;

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<img src="inlineImages/bannerAbout.jpg" width=100% border=0>
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<br>

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<img class="shadowImage" src="inlineImages/cooking.jpg" width=240 height=180 border=0>
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<p>
If you ask around, you'll hear some combination of volleyball, computer science and cooking.
There are plenty of other things to be sure; friends, family, free t-shirts.
But if you ask around, you'll keep hearing the basics over and over.
It will get tedious.
</p>

<p>
Depending on who you run into you might hear some other crazy stories:
<dl>
<dt> -
Some people will tell you tales about mysterious lands with names like
"Poland" or "Chile."  These places probably don't even exist!
<dt> -
Another crowd will claim to tell you about my family and talk a town named like a rifle, a royal dog and a brat.<br>
<dt> -
And ofcourse a few will try to convince you that in my leisure I play with
handheld UFOs and operate a device that freezes objects in time.
</dl>
</p>

<p>
Don't believe a word they say, those stories are probably complete bunk.
</p>

<p>
Instead you should ask me and get it straight from the horse's mouth!
</p>

</td></tr>

<tr><td>&nbsp;</td></tr>

<tr><td>
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<img class="shadowImage" src="inlineImages/vballInSand.jpg" width=240 height=180 border=0>
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<tr><td>&nbsp;</td></tr>

<tr><td>
<div class="dropshadow">
<img class="shadowImage" src="inlineImages/nomad.jpg" width=240 height=180 border=0>
</div>
</td></tr></table>

&bottom;
code.html Code
allclasses.html Courses
features/faces/index.html Faces
&end;
resume.html
&title;
Dominic Jonak's Resume (January 2007)
&top;
Dominic Jonak's Resume (January 2007)
&main;


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<center>
      <table border=0 cellspacing=0 cellpadding=0>
	<tbody>
	  <tr>
	    <td colspan=2 class=header>
dom@cmu.edu<br>
www.andrew.cmu.edu/~djj
	      <div class=contents></div>
	    </td>
	  </tr>  <!-- end of header -->

	  <tr>
	    <td valign=top class=section>
Education:
	    </td>
	    <td valign=top>

	      <div class=contents>
<b>Carnegie Mellon University</b>, Pittsburgh, PA<br>
Bachelor of Science in Computer Science, 2003<br>
Phi Beta Kappa, College Honors, University Honors
	      </div>

	      <div class=spacerBetweenSections></div>

	    </td>
	  </tr>  <!-- end of education -->

	  <tr>
	    <td valign=top class=section>
Professional<br>Experience:
	    </td>
	    <td valign=top>

	      <div class=contentsHeader>
	        <div class=employerOrActivity>
<b>Senior&nbsp;Research&nbsp;Programmer</b>;&nbsp;Carnegie&nbsp;Mellon&nbsp;University<br>
Robotics Institute, Field Robotics Center
	        </div>

	        <div class=timeAndPlace>
Pittsburgh,&nbsp;PA<br>
2007&nbsp;-&nbsp;current
	        </div>
	      </div>

	      <div class=contents>
<ul class=list>
</ul>
	      </div>

	      <div class=contentsHeader>
	        <div class=employerOrActivity>
<b>Research Programmer</b>; Carnegie Mellon University<br>
Robotics Institute, Field Robotics Center
	        </div>

	        <div class=timeAndPlace>
Pittsburgh,&nbsp;PA<br>
Fall&nbsp;2003&nbsp;-&nbsp;2007
	        </div>
	      </div>

	      <div class=contents>
<ul class=list>
<li>Projects include Life in the Atacama (LITA), <br>
Life on Ice; Robotic Antarctic Explorer (LORAX), <br>
Deep Phreatic Thermal Explorer (DEPTHX) <br>
and Science Autonomy/Science on the Fly
<li>Executive and health monitoring functionality in systems<br> with over 20 software modules
<li>Refinements to navigation resulting in reliable multi-km traverses
<li>Remote operations; plan generation and data analysis
<li>Field operations; end-to-end plan execution and data uplink
</ul>
	      </div>

	      <div class=contentsHeader>
	        <div class=employerOrActivity>
<b>Research Assistant</b>; Carnegie Mellon University<br>
Robotics Institute, Field Robotics Center
	        </div>

	        <div class=timeAndPlace>
Pittsburgh,&nbsp;PA<br>
Spring&nbsp;2003&nbsp;-&nbsp;Fall&nbsp;2003
	        </div>
	      </div>

	      <div class=contents>
<ul class=list>
<li>Analyzed rover performance under various metrics
<li>Developed a customizable parser for binary logs
<li>Wrote middleware for testing networking code
</ul>
	      </div>

	      <div class=spacerBetweenSections></div>

	    </td>
	  </tr>  <!-- end of professional experience -->

	  <tr>
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Teaching<br>Experience:
	    </td>

	    <td valign=top>

	      <div class=contentsHeader>
	        <div class=employerOrActivity>
<b>Carnegie Mellon University</b><br>
20-770 "Networking and Communications"<br>
15-200 "Data Structures"<br>
15-251 "Great Theoretical Ideas of CS"
	        </div>

	        <div class=timeAndPlace>
Pittsburgh, PA<br>
Spring&nbsp;2003<br>
Fall&nbsp;of&nbsp;2000,&nbsp;2001,&nbsp;2002<br>
Spring&nbsp;2001
	        </div>
	      </div>

	      <div class=contentsHeader>
	        <div class=employerOrActivity>
Student Tutor, Computer Science Department
	        </div>

	        <div class=timeAndPlace>
Fall&nbsp;2000&nbsp;-&nbsp;Spring&nbsp;2003
	        </div>
	      </div>

	      <div class=spacerBetweenSections></div>

	    </td>
	  </tr>  <!-- end of teaching experience -->

	  <tr>
	    <td valign=top class=section>
Academic<br>Projects:
	    </td>

	    <td valign=top>

	      <div class=contentsHeader>
	        <div class=employerOrActivity>
<b>Senior Thesis in Pervasive Computing</b>
	        </div>

	        <div class=timeAndPlace>
Fall&nbsp;2002&nbsp;-&nbsp;Spring 2003
	        </div>
	      </div>

	      <div class=contents>
<ul class=list>
<li>Studied user privacy vs. system effectiveness
<li>Developed data-driven web site using Apache and MySQL
</ul>
	      </div>

	      <div class=contentsHeader>
	        <div class=employerOrActivity>
<b>Video Game Programming</b>
	        </div>

	        <div class=timeAndPlace>
Fall&nbsp;2002
	        </div>
	      </div>

	      <div class=contents>
<ul class=list>
<li>Developed <i>Wobble!</i> a networked multiplayer game
<li>Voted "Best Overall Game" from over 20 entries
</ul>
	      </div>

	      <div class=spacerBetweenSections></div>

	    </td>
	  </tr>  <!-- end of academic projects -->

	  <tr>
	    <td valign=top class=section>
Skills:
	    </td>

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		<tbody>
		  <tr>
		    <td>
		      Programming:&nbsp;
		    </td>
		    <td>
		      C,&nbsp;C++,&nbsp;Java,&nbsp;shell&nbsp;scripts,&nbsp;Berkley&nbsp;Sockets,&nbsp;matlab,&nbsp;openGL
		    </td>
		  </tr>

		  <tr>
		    <td>
		      Development:&nbsp;
		    </td>
		    <td>
		      Linux, emacs, valgrind, gdb and other GNU utilities
		    </td>
		  </tr>

		  <tr>
		    <td>
		      Web:
		    </td>
		    <td>
		      HTML, javascript, CSS, HTTP
		    </td>
		  </tr>

		  <tr>
		    <td>
		      Languages:
		    </td>
		    <td>
		      Basic French, Conversant in Polish
		    </td>
		  </tr>

		</tbody>
	      </table>

	    </td>
	  </tr>  <!-- end of skills -->

	</tbody>
      </table>

</center>

&bottom;
resume/htmlresume16.html Printable<br>Version
&end;
resumesupport.html
&title;
Dominic Jonak's Resume Addendum
&top;
Dominic Jonak's Resume Addendum
&main;
<center><a href="resume/htmlresume16.html">Resume</a> from Fall 2006</center>
<!--
<p>
Alternatively, you can view <a href="resume/txtresume13.txt">plain text</a>, 
<a href="resume/pdfresume13.pdf">PDF</a>, <a href="resume/psresume13.ps">Postscript</a> versions.
-->
<p>
Ofcourse I can't fit everything into one little cv, or even this whole web-site.
But you can browse around a bit and learn something about me.
Besides <a href="robotics.html">robotics</a>, here are a few other things I'd like to draw your attention to:

<table border=0 cellspacing=10>

<td valign=top>
<a href="features/portfolio/index.html">Writing Portfolio</a>
</td><td>
A broad collection of writing samples.
</td><tr><td valign=top>
<a href="features/thesis/index.html">Senior Thesis</a>
</td><td>
My senior research thesis.  Includes slides for three talks, two posters, and my thesis paper.
</td><tr><td valign=top>
<a href="features/wobble/index.html"><i>Wobble!</i></a>
</td><td>
A networked multi-player game which earned my partner and I the "Best Overall Game" award.
</td><tr><td valign=top>
<a href="graphics.html">Graphics</a>
</td><td>
My animations from 15-451, Computer Graphics I.
</td><tr><td valign=top>
<a href="allclasses.html">Courses</a>
</td><td>
A big list of my classes, with a rating and short description of each.  Also has some links to more detailed web pages of a few classes I particularly enjoyed.
</td></table>
&bottom;
&end;

pictures.html
&title;
Dom's Page: Pictures
&top;
Show me the Pictures
&main;

<table border=0 cellpadding=0 cellspacing=0 width=100%><tr><td colspan=2>
<img src="inlineImages/bannerPictures.jpg" width=100% border=0>
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<br>

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.galleryLink{font-size: 1.5em}
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<center><table border=0 cellpadding=0 cellspacing=0>

<tr><td align=center>
<a href="galleryConcepts.html"><div class="dropshadow">
<img alt="Concepts" class="shadowImage" src="photos/gallery/downsampled/p1020596.jpg" width=240 height=180 border=0>
</div></a>

</td><td align=center>

<a href="galleryPeople.html"><div class="dropshadow">
<img alt="People" class="shadowImage" src="photos/gallery/downsampled/p1020075.jpg" width=240 height=180 border=0>
</div></a>

</td></tr><tr><td align=center>

<a href="galleryConcepts.html"><span class="galleryLink">Concepts</span></a>

</td><td align=center>

<a href="galleryPeople.html"><span class="galleryLink">People</span></a>

</td></tr><tr><td align=center>

<a href="galleryPittsburgh.html"><div class="dropshadow">
<img alt="Pittsburgh" class="shadowImage" src="photos/gallery/downsampled/p1020590.jpg" width=240 height=180 border=0>
</div></a>

</td><td align=center>

<a href="galleryPlaces.html"><div class="dropshadow">
<img alt="Places" class="shadowImage" src="photos/gallery/downsampled/img_3778.jpg" width=240 height=180 border=0>
</div></a>

</td></tr><tr><td align=center>

<a href="galleryPittsburgh.html"><span class="galleryLink">Pittsburgh</span></a>

</td><td align=center>

<a href="galleryPlaces.html"><span class="galleryLink">Places</span></a>

</td></tr><tr><td align=center>

<a href="galleryChile.html"><div class="dropshadow">
<img alt="Places" class="shadowImage" src="photos/gallery/downsampled/img_4060.jpg" width=240 height=180 border=0>
</div></a>

</td><td align=center>

<a href="galleryUK.html"><div class="dropshadow">
<img alt="Places" class="shadowImage" src="photos/gallery/downsampled/img_2956.jpg" width=240 height=180 border=0>
</div></a>

</td></tr><tr><td align=center>

<a href="galleryChile.html"><span class="galleryLink">Chile</span></a>

</td><td align=center>

<a href="galleryUK.html"><span class="galleryLink">United&nbsp;Kingdom</span></a>

</td></tr><tr><td align=center>

<a href="galleryMexico.html"><div class="dropshadow">
<img alt="Places" class="shadowImage" src="photos/gallery/downsampled/p1080245.jpg" width=240 height=180 border=0>
</div></a>

</td><td align=center>

<a href="galleryRobots.html"><div class="dropshadow">
<img alt="Robots" class="shadowImage" src="photos/gallery/downsampled/p1020109.jpg" width=240 height=180 border=0>
</div></a>

</td></tr><tr><td align=center>

<a href="galleryMexico.html"><span class="galleryLink">Mexico</span></a>

</td><td align=center>

<a href="galleryRobots.html"><span class="galleryLink">Robots</span></a>

</td></tr>

</table></center>

<p style="clear: both; padding-top: 1em">
In addition to those galleries, here are some more photos:
<ul>
<li>I photographed the famed <a href="architectsLeap.html">Architect's Leap</a> in Wean Hall.</li>
<li>I helped Brigitte fix the LCD on her <a href="ibookRepair.html">iBook</a>.  Unfortunately the hard drive died a few weeks later.</li>
</ul>

&bottom;
galleryConcepts.html Concepts
galleryPeople.html People
galleryPittsburgh.html Pittsburgh
galleryPlaces.html Places
galleryChile.html Chile
galleryUK.html UK
galleryMexico.html Mexico
galleryRobots.html Robots
architectsLeap.html Architect's&nbsp;Leap
ibookRepair.html iBook&nbsp;Repair
&end;


code.html
&title;
Dom's Page: Code
&top;
Hackin' Code and such...
&main;

<table border=0 cellpadding=0 cellspacing=0 width=100%><tr><td colspan=2>
<img src="inlineImages/bannerCode.jpg" width=100% border=0>
</td></tr></table>

This is rather low priority section...
<p>
You may want to try playing <a href="features/wobble/index.html">Wobble!</a>, it'll hold your attention for a few minutes though it really needs to be updated.
<p>
Here's something you might find useful: <a href="autogen.html">autogen</a> the program I use to maintain this site.
<p>
Here's a handy script to <a href="features/makewebgallery.sh">make web
galleries</a>.  It uses <code>convert</code> to create thumbnails and generates a bunch of
html files.  Pass around a link to the resulting gallery.html file.
<p>
A project covering <a href="churches.html">Pittsburgh churches</a>

&bottom;
features/wobble/index.html Wobble!
autogen.html Autogen
churches.html Churches
&end;
robotics.html
&title;
Dom's Page: Robotics
&top;
Robotics
&main;

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<table border=0 cellpadding=0 cellspacing=0 width=100%><tr><td colspan=2>
<img src="inlineImages/bannerRobotics.jpg" width=100% border=0>
</td></tr></table>

<br>

<table border=0 cellpadding=0 cellspacing=0><tr><td colspan=2>

<p>
I started in the Field Robotics Center after graduation, however my fascination started as an undergraduate.  I was fortunate enough to take <a href="mrpl.html">Mobile Robot Programming Lab</a> with Illah and this was an excellent introduction.  Senior year I got another break, I got involved with a major project at the FRC that eventually turned into a full-time position.
</p>

</td></tr>
<tr><td colspan=2>&nbsp;</td></tr>
<tr><td valign="top">

<div class="dropshadow">
<a href="http://www.frc.ri.cmu.edu/projects/atacama">
<img class="shadowImage" src="inlineImages/zoe-Atacama.jpg" width=240 height=180 border=0 alt="Zoe in the Atacama"></a>
</div>

</td><td valign="top">

<p>
Life in the Atacama (LITA) explored the limits of life in harsh desert environments and developmented methodologies for remote exploration in general.  We used Hyperion and Zoe to autonomously navigate the Atacama desert in Chile.  The rovers were directed by a remote science team to characterize promising areas using a suite of instruments.  I started with data analysis then continued into systems integration, rover operation and navigation.
</p>

</td></tr>
<tr><td colspan=2>&nbsp;</td></tr>
<tr><td valign="top">

<div class="dropshadow">
<a href="http://www.frc.ri.cmu.edu/projects/lorax">
<img class="shadowImage" src="inlineImages/nomad.jpg" width=240 height=180 border=0 alt="Nomad on Mascoma Lake"></a>
</div>

</td><td valign="top">

<p>
Life on Ice; Robotic Antarctic Explorer (LORAX) involved retrofitting Nomad with a turbine and porting software from Zoe.  The culmination of our field test on Mascoma lake in New Hampshire was a 14km autonomous traverse, two laps around the frozen lake.  Although this demonstrated the feasibility of circling an exposed peak in the antarctic, the project was not selected for deployment.  My role centered around porting software and operating the rover.
</p>

</td></tr>
<tr><td colspan=2>&nbsp;</td></tr>
<tr><td valign="top">

<div class="dropshadow">
<a href="http://www.frc.ri.cmu.edu/projects/depthx">
<img class="shadowImage" src="inlineImages/depthx.jpg" width=240 height=180 border=0 alt="Clementine at the ARL test tank"></a>
</div>

</td><td valign="top">

<p>
Deep Phreatic Thermal Explorer (DepthX) involved building a new vehicle and evolving Zoe's software to this new platform.  Through this rover, we mapped large sink holes in Mexico, including the first map of Zacaton.  Due to the environment, this this vehicle was completely autonomous and routinely operated for hours without any contact.  My role included system integration, navigation, rover operation and fault monitoring.
</p>

</td></tr>
<tr><td colspan=2>&nbsp;</td></tr>
<tr><td valign="top">

<div class="dropshadow">
<a href="http://www.frc.ri.cmu.edu/projects/atacama">
<img class="shadowImage" src="inlineImages/zoe-Amboy.jpg" width=240 height=180 border=0 alt="Zoe at Amboy"></a>
</div>

</td><td valign="top">

<p>
Science on the Fly (SOTF) was, in many respects, an extension of Life in the Atacama.  We continued using Zoe and added new software to interpret science data in the lava flow around Amboy Crater.  The key behavior we developed was to autonomously select targets and drive to them based on the data collected en route.  I helped maintain Zoe's existing functionality and made changes to allow internal software specify navigation goals (rather than a scripted plan as in LITA).
</p>

</td></tr>
<tr><td colspan=2>&nbsp;</td></tr>
<tr><td valign="top">

<div class="dropshadow">
<a href="http://www.frc.ri.cmu.edu/projects/lri">
<img class="shadowImage" src="inlineImages/scarab.jpg" width=240 height=180 border=0 alt="Scarab at Robot City"></a>
</div>

</td><td valign="top">

<p>
Lunar Rover Initiative (LRI) created a mobile drilling platform with the goal of drilling for water in lunar craters.  The resulting rover, Scarab, could drive autonomously in the dark and had a novel mechanical design.  We demonstrated the capability of traveling over complex terrain and drilling on steep slopes.  I helped with most of the software including the operating environment, low-level interfaces to lasers and the motor controller and integration with Zoe's navigator and executive.
</p>

</td></tr></table>

&bottom;
mrpl.html Mobile&nbsp;Robot
http://www.frc.ri.cmu.edu/projects/atacama LITA
http://www.frc.ri.cmu.edu/projects/lorax LORAX
http://www.frc.ri.cmu.edu/projects/depthx DepthX
http://www.frc.ri.cmu.edu/project/lri/ LRI
&end;
wallpaper.html
&title;
Dom's Page: Desktop Photos
&top;
Pictures for your Desktop
&main;
Here are some nice pictures I've taken.  I've scanned them in, post-processed them a little, and scaled to make nice 1024x768 desktop wallpapers.  (Ok, so some of them might not be great as backgrounds... But they're pretty nice shots - you could definitely make a screensaver with them...)
<center><table border=0 cellpadding=5>
<td><center>
<a href="photos/wallpapers/sunsetNEbg.jpg"><img src="photos/wallpapers/sunsetNEbgthumb.jpg" height=160 width=160 border=0></a>
</center></td>
<td><center>
<a href="photos/wallpapers/sunsetwightbg.jpg"><img src="photos/wallpapers/sunsetwightbgthumb.jpg" height=160 width=160 border=0></a>
</center></td>
<td><center>
<a href="photos/wallpapers/torontolakebg.jpg"><img src="photos/wallpapers/torontolakebgthumb.jpg" height=160 width=160 border=0></a>
</center></td>
<tr>
<td><center>
The end of summer in<br>New England.
</center></td>
<td><center>
Another sunset, this one<br>from the Isle of Wight.
</center></td>
<td><center>
A snow-covered lake in<br>Toronto's Hyde park.
</center></td>

<tr>

<td><center>
<a href="photos/wallpapers/castlebg.jpg"><img src="photos/wallpapers/castlebgthumb.jpg" height=160 width=160 border=0></a>
</center></td>
<td><center>
<a href="photos/wallpapers/mountainbg.jpg"><img src="photos/wallpapers/mountainbgthumb.jpg" height=160 width=160 border=0></a>
</center></td>
<td><center>
<a href="photos/wallpapers/italylakebg.jpg"><img src="photos/wallpapers/italylakebgthumb.jpg" height=160 width=160 border=0></a>
</center></td>
<tr>
<td><center>
Old Italian castle,<br>near Mont Blanc.
</center></td>
<td><center>
The Swiss highlands<br>after a summer rain.
</center></td>
<td><center>
A gorgeous lake<br>in Italy.
</center></td>

<tr>

<td><center>
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Three shots from Rocky Mountain National Park in Colorado.
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Three shots of the Italian side of Mont Blanc.
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Three shots from the highest mountain in England and Wales.<br>
(Mount Snowdon ~1km)
</center></td>

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Pictures from the fells back home!
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Tintern Abbey
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The Welsh coastline.
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Land's End, England.
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Three shots of the British countryside.
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&bottom;
gallery.html Gallery
randompics.html Random&nbsp;Pics
&end;
allclasses.html
&title;
Dom's Page: Courses I Survived
&top;
What to Take and What to Avoid
&main;
Here's a complete list of the courses I have credit for.  I've ordered them by course number and added a ranking (1-10).  Keep in my that some of these might no longer exist or have been renamed/renumbered (*ahem* intro).  I've also put a brief synopsis of each course down at the bottom, in case you're curious what the class is or why I rated it the way I did.  These are actually pretty informative since I have some notes about professors and occasional updates about what has changed since I took it.
<table border=0 cellspacing=10>
<td>Number</td><td>Course</td><td>Instructor(s)</td><td>Units</td><td>Semester</td><td>Rating</td><tr>
<td>15-127</td><td>Introduction to Programming and Computer Science</td><td>Stehlik, Roberts</td><td>10</td><td>1</td><td>9</td><tr>
<td>15-151</td><td>Mathematical Foundations of Computer Science</td><td>Clarke, Sutner</td><td>9</td><td>1</td><td>5</td><tr>
<td>15-211</td><td>Fundamental Structures in Computer Science 1</td><td>Morris, Thrun</td><td>12</td><td>2</td><td>7</td><tr>
<td>15-212</td><td>Principles of Programming</td><td>Crary, Lafferty</td><td>12</td><td>3</td><td>8</td><tr>
<td>15-213</td><td>Intro to Computer Systems</td><td>Bryant, O'Hallaron</td><td>12</td><td>3</td><td>9</td><tr>
<td>15-251</td><td>Great Theoretical Ideas in Computer Science</td><td>Rudich</td><td>12</td><td>2</td><td>10</td><tr>
<td>15-381</td><td>Artificial Intelligence</td><td>Carbonell, Moore</td><td>9</td><td>4</td><td>8</td><tr>
<td>15-399</td><td>Constructive Logic</td><td>Awodey</td><td>9</td><td>5</td><td>3</td><tr>
<td>15-412</td><td>Operating Systems</td><td>Kesden</td><td>18</td><td>6</td><td>9</td><tr>
<td>15-441</td><td>Computer Networks</td><td>Steenkiste, Harchol-Balter</td><td>12</td><td>6</td><td>9</td><tr>
<td>15-451</td><td>Algorithms: Design and Analysis</td><td>A. Blum, Sutner</td><td>9</td><td>5</td><td>6</td><tr>
<td>15-462</td><td>Computer Graphics I</td><td>Welling</td><td>12</td><td>4</td><td>9</td><tr>
<td>15-493</td><td>Video Game Programming</td><td>Kuffner</td><td>12</td><td>7</td><td>7</td><tr>
<td>15-539</td><td>Independant Study in CS Pedagogy</td><td>(Rudich)</td><td>12</td><td>4</td><td>10</td><tr>
<td>15-599</td><td>Undergraduate Research Thesis</td><td>(Steenkiste)</td><td>18</td><td>7-8</td><td>9</td><tr>
<td>15-781</td><td>Machine Learning</td><td>Mitchell, Moore</td><td>12</td><td>7</td><td>7</td><tr>
<td>16-199</td><td>Building the Future</td><td>Atkeson</td><td>4</td><td>4</td><td>9</td><tr>
<td>16-362</td><td>Mobile Robot Programming</td><td>Nourbakhsh</td><td>12</td><td>5</td><td>10</td><tr>
<td>18-100</td><td>Intro to Electrical and Computer Engineering</td><td>Sullivan</td><td>12</td><td>3</td><td>6</td><tr>
<td>19-601</td><td>Information Warfare</td><td>Morel</td><td>12</td><td>8</td><td>7</td><tr>
<td>21-115</td><td>Differential Calculus (AP credit)</td><td>-</td><td>5</td><td>-</td><td>-</td><tr>
<td>21-116</td><td>Integral Calculus (AP credit)</td><td>-</td><td>5</td><td>-</td><td>-</td><tr>
<td>21-117</td><td>Integration and Differential Equations</td><td>Tolle</td><td>5</td><td>1</td><td>5</td><tr>
<td>21-118</td><td>Calculus of Approxomation</td><td>Tolle</td><td>5</td><td>1</td><td>5</td><tr>
<td>21-241</td><td>Matrix Algebra</td><td>Tolle</td><td>9</td><td>2</td><td>7</td><tr>
<td>21-259</td><td>Calculus in Three Dimensions</td><td>Schaeffer</td><td>9</td><td>3</td><td>5</td><tr>
<td>21-355</td><td>Advanced Calculus</td><td>Hrusa</td><td>9</td><td>5</td><td>9</td><tr>
<td>21-484</td><td>Graph Theory</td><td>Martin</td><td>9</td><td>6</td><td>7</td><tr>
<td>21-621</td><td>Intro to Lebesgue Integration</td><td>Hrusa</td><td>6</td><td>7</td><td>7</td><tr>
<td>33-104</td><td>Experimental Physics (with lab)</td><td>Luokkala, Feenstra</td><td>9</td><td>2</td><td>6</td><tr>
<td>33-111</td><td>Physics for Science Students 1 (AP credit)</td><td>-</td><td>12</td><td>-</td><td>-</td><tr>
<td>33-112</td><td>Physics for Science Students 2</td><td>Swendsen, Feenstra</td><td>12</td><td>1</td><td>6</td><tr>
<td>36-217</td><td>Probability Theory and Random Processes</td><td>Genovese</td><td>9</td><td>4</td><td>9</td><tr>
<td>48-095</td><td>Architecture for Non-Majors</td><td>Celento</td><td>9</td><td>5</td><td>9</td><tr>
<td>69-130</td><td>Tennis</td><td>Moss</td><td>3</td><td>8</td><td>5</td><tr>
<td>69-131</td><td>Volleyball</td><td>Webb</td><td>3</td><td>7,8</td><td>8</td><tr>
<td>70-340</td><td>Business Communications</td><td>Kirkpatrick</td><td>9</td><td>8</td><td>7</td><tr>
<td>73-100</td><td>Principles of Economics</td><td>Dalton</td><td>9</td><td>4</td><td>4</td><tr>
<td>76-101</td><td>Interpretation and Argument</td><td>Gripp</td><td>9</td><td>1</td><td>3</td><tr>
<td>76-271</td><td>Introduction to Professional Technical Writing</td><td>Cheng</td><td>9</td><td>8</td><td>7</td><tr>
<td>79-266</td><td>Times of Feast, Times of Famine</td><td>Lynch</td><td>9</td><td>2</td><td>2</td><tr>
<td>80-100</td><td>What Philosophy Is</td><td>Buldt</td><td>9</td><td>5</td><td>7</td><tr>
<td>80-180</td><td>Nature of Language</td><td>Simons</td><td>9</td><td>3</td><td>2</td><tr>
<td>85-211</td><td>Cognitive Psychology</td><td>Lovett</td><td>9</td><td>6</td><td>5</td><tr>
<td>88-120</td><td>Reason Passion and Social Cognition</td><td>Lerner</td><td>9</td><td>6</td><td>8</td><tr>
<td>99-068</td><td>Fun With Robots</td><td>(Robotics Club)</td><td>1</td><td>7</td><td>5</td><tr>
</table><p>

15-127: Mark and Jim! Together!!  Oh yeah, the taught us something too, introductory programming or something.  They would've got a 10 if remembered the course for the material as well as their antics.
<i>Update: Intro is constantly changing so your mileage may vary.  The big thing though is that there is no more special version for majors.</i>
<p>
15-151: The bane of freshman year.  Horrible intro to discrete math.  I hate being a guinea pig.  Fine, so I learned stuff, not very well though.
<p>
15-211: The second semester data structures course.  It was kinda mediocre.  We did have some good labs, and the theory was taught quite well, but I'll never forgive them for using java.
<p>
15-212: ML! Recursion! Continuations! Good course.  Quite hard, but that was my first time with functional programming and I think they did a great job presenting it.  Why just an 8? well, what can you REALLY use ML for?
<p>
15-213: Getting down to the basics, pure C.  This was a great class, those labs (coding malloc, a web proxy, and defusing the bomb!) will stay with me for a while.  GDB and pointer hacking was a lot of fun, multi-threading was cool, and the networking code was good too.  The only thing that kept this course from getting a 10 was the lectures, I remember getting up bright and early only to be put back to sleep.
<p>
15-251: Leaps and bounds above 151, this course finally stretched and broke my limits.  It got me thinking about problems in totally different ways and improved my reasoning skills tremendously.  This is basically the bar for other classes to match.  I won't even begin to list topics, which are quite broad, but the course isn't about the particulars of the material.  It's on a meta-level above that; how to approach material.  Rudich is quite the lecturer so don't miss this one, it's a perfect 10!  
<i>Update: This has been split up into two classes.</i>
<p>
15-381: The title is a little misleading, we actually learned about what AI isn't. We got a nice survey of neural nets, markov systems, and general search techniques.  In other words, we solved problems that typically take 'intelligence'.  Not a terribly tough course, but quite interesting anyway.  That and Moore was a great lecturer.
<p>
15-399: Eh... it fulfills a category and isn't very hard so it does have some benefits.  But it is also slow and boring and not well structured.  Basically, avoid this class unless you're willing to put up with these sort of problems.
<i>Update: I heard the class is much better now!</i>
<p>
15-412: OS will kick your ass!  But I learned so much!! This was a very interesting course that exposed me to what really happens under the hood.  Also I finally got to work on large interesting projects.  My major gripe is that I had to drop my partner half way through the last project and this definitely soured my experience.
<i>Update: Like 251, this great class is being split in half because someone complained it's too hard.</i>
<p>
15-441: Another great course that everyone should take.  I'm not so sure it teaches you systems programming also the support and feedback were lacking, but Mor's lectures were absolutely wonderful and definitely got me thinking.  Oh yeah, and you really learn how the internet works :)  Definitely take it with Mor Harchol-Balter, she's really enthusiastic about this stuff!
<p>
15-451: This felt very much like a rehash of 251.  I did like the 'presentation' aspect though since you could also chat with the TAs.
<p>
15-462: Computer graphics was FUN!  Take this class! You hack lots of code and debug by looking at pictures.  Yes, it IS a 400 level course, and there's a reason for that, but it's so refreshing to look at pictures for a change!  So why not a 10?  Well, the problem with this course is that it often feels like a guided study and that's because I remember the labs only.  Although labs were the major part of the class, they were fairly disjoint from everything else.
<i>Update: This class is very different now, I hear it still good though.</i>
<p>
15-493: What can I say, you get to hack a game.  I was a guinea pig here and a lot of the class sucked, but the focus was definitely on the final project.  This open-ended assignment was simply to write a video game as well as a webpage and report for it.  Working with a new friend we took home the best-overall game award and the end of the semester!  I expect this to become a great course after a few iterations so stay tuned.
<p>
15-539: Second semester of sophomore year I did an independent study in CS pedagogy.  I became part of the course staff for 15-251.  Taking a second look at the course, this time from the other point of view, was incredibly enlightening.  Aside from learning to speak well, prepare materials, and approach students, I also got a second look at the course material and added to it.
<p>
15-599: Everyone should try research, it's definitely unique.  And you also learn interesting things with communication as you'll give several short presentations, make two posters,  and write a huge paper.  It is a full year though so make sure you find an advisor you like and a field you're interested in.  This also lets you interact with professors in a very different way... suffice to say the whole thing is a unique experience.
<p>
15-781: Builds on AI, but doesn't extend it far enough in my opinion.  Overview classes are nice and this one definitely provoked some creative discussion with eager grad students.  As usual, Moore is an awesome guy so it's worth taking.
<p>
16-199: This was a project based course where we actually built stuff!  Andrew, Justin, and I formed a team code-named librient.  We put together a web-page and had a lot of fun making all the toys.  It's definitely not a 10, this was only a mini-course and the first time being taught, but if it were expanded...
<p>
16-362: Great class! It's a lot of fun to actually see your robot run in the real world and debug by looking at physical behaviors.  It is closer to research than a traditional class... but I think that's a huge plus!  And Illah (last name pronounced Nor-baush) is great, so sign up for this one.
<p>
18-100: Learned some basic circuit/logic stuff... not too interesting, but it did have a saving grace.  This course had a lab component and we built a gps receiver! Very cool! Fun with soldering fumes and ICs :)
<p>
19-601: I was very disappointed by this class, it wasn't at all what I expected.   I just assumed it would be more technical, that we would actually be creating exploits and doing case studies of some of the major attacks.  Instead this class was filled with a huge variety of students, some had no prior knowledge of computer networks or encryption, others were masters students with industry experience in security.  We ended up talking a lot about policy which wasn't what I had signed up for.  One saving grace was the interesting guest lectures from CERT.  If you want to hack code, stay away from this class.  If you want an easy A, with no work, no need to attend class, and no stress then this is the 12 unit filler for you.
<p>
21-11x: Basic calculus courses... boring but I had it with Tolle who was fun.
<p>
21-241: Matrix... learned a lot of math stuff, and it was geared for cs majors.  Kinda boring, but I think all cs majors should know this material.  Also taught by Tolle :)
<p>
21-259: Calc in 3D.  Boring, and NOT taught by Tolle :(  It's the other math requirement for graphics, though I don't think I learned much here.  Still, it was a good review of matrix.
<p>
21-355: The material is kind of bland and dry, you really need to appreciate math for its own sake.  But Hrusa is the man and made it a lot of fun anyway; assuming he's teaching again, I highly recommend this class.
<p>
21-484: Much of this was review of past cs classes.  Interesting material and not very demanding.  Not an outstanding class but certainly not a bad one.
<p>
21-621: A too-fast introduction to measure theory.  Despite Hrusa's best efforts, I didn't find the material nearly as interesting as advanced calc.
<p>
33-104: Did some basic physics experiments... nothing groundbreaking, and writing the lab reports sucked.  But I still like getting my hands dirty so that was fun.
<p>
33-112: I was really into physics at the time and enjoyed electricity and magnetism.  I'm not sure why so many people do so poorly in it... Granted the material is a bit abstract and dry, but the math isn't hard and it relates nicely to the big picture.
<p>
36-217: I had this with Genovese, who is a great teacher.  It's your basic probability stuff.  We had plenty of interesting problems to tackle and it was also geared for cs majors.  Still, math gets boring after a while and I didn't have any friends in the class.
<i>Update: I heard this class has taken a turn for the worse when Genovese stopped teaching.</i>
<p>
48-059: Architecture was a great class.  Much of the time is spent at home just building stuff.  Class itself is more like a big discussion period and very engaging.  The projects themselves were really tough on me because, apparently, I have no artistic talent.  Still, this one goes in my all-time favorites, mostly thanks for one of the coolest profs ever.
<p>
69-130: The coach was so unenthusiastic, it was boring.  On the plus side you do get to use a whole hopper of balls and can go off on your own.
<p>
69-131: I'm a volleyball nut and Julie is a great instructor.  I took this class twice even :)  Oh, and this class meets in the main skibo gym... I had a little trouble finding it my first day because she has this habit of cancelling class.
<p>
70-340: Brushed up my resume and really improved my interviewing skills - this seems to be all business majors do anyway so they know what they're talking about.  Otherwise it felt like baby sitting - Claudia gives off this grandmother aura.  I'm not the first to complain about the group work, the work ethic of my groupmates was waaaaaay below what I'm used to.
<p>
73-100: Basic econ, don't think I actually learned anything in this class, but Dalton was cool and I never fell asleep.
<p>
76-101: Required english class, otherwise I wouldn't have taken it.  Not much to say here.
<p>
76-271: A refreshing view of written communications.  I don't think I learned much here, but it was a different perspective.
<p>
79-266: Unlike econ, I'm SURE I didn't learn anything here.  Easy class, and it fulfills a breadth requirement...
<i>Update: I think this one is gone, so no more easy A for you.</i>
<p>
80-100: We had a visiting German professor who I really enjoyed.  Much of the course seemed to be a waste, however we did break into some nice philosophical  debates and the papers didn't feel like a chore.
<i>Update: I've seen the prof back on campus so maybe you'll get to take a class with him afterall.</i>
<p>
80-180: Nature of language sucked, it felt like a waste with no redeeming activities, plus I think she tried to teach things that were just plain incorrect.
<p>
85-211: Cognitive psyc had some interesting topics but hardly any depth... a very cursory overview of a huge range of topics.  On the plus side, she got her BS in CS.
<p>
88-120: Lerner was a great lecturer and got me interested in business and psychology stuff that I wouldn't have otherwise cared about or even notived.
<p>
99-068: It was rewarding to actually see my own robot navigate a physical maze.  This stuco provided an interesting distraction but not much more.

&bottom;
mrpl.html Mobile&nbsp;Robot
graphics.html Graphics
anm.html Architecture
fwr.html FWR
&end;
autogen.html
&title;
Dom's Page: Project: Site Creator
&top;
How I Built This Site
&main;
Most sites have a consistent look and feel to them.  Some way for the visitor to know where they are.  Well, programatically, this translates to a page skeleton that gets filled in with content.  Sure you can be all fancy and use server-side asp or even generate the content on the fly, but that doesn't make much sense for a static site, like a personal webpage.
<p>
So I wrote a simple (in concept anyway) program that takes in a layout file and content file, and it generates each webpage in the site by inserting content into the layout.  Not too hard to imagine, but this thing saves you the hassle of cut-and-pasting everything.  This might not be a big deal with a tiny site, but every change that I make needs to get propogated to two dozen other html files.
<p>
Plus now that I have it in code it's easy to add extra touches.  If I decide to make roll-over links on the right I can do it in a snap.  Or even something as major as adding an extra category isn't a big deal.
<p>
Here's the C source: <a href="features/autogen.c">autogen.c</a>.  You can also grab my files to help you figure out how to use it: <a href="source.txt">source.txt</a>, <a href="layout.html">layout.html</a>.  There isn't much documentation yet, maybe I'll add some if I ever improve the program to make it more universal and less tailored for my site (eg, a lot of things you might not want are hard-coded in).
&bottom;
&end;

leaguestats.html
&title;
Dom's Page: Project: League Stats
&top;
League Stats
&main;
This code can display league statistics in a colorful, easy-to-understand format.
Both the person viewing the stats and the person entering the data should have no trouble using this code.
It does, however, include an awful lot of javascript and may take the browser a noticeable time to render.
<p>
I tailored this towards HSVL; a volleyball league that has 3 divisions with 8 teams in each.
Every team plays all 7 opponents in their division and final rankings are generated.
Based on those rankings, some teams move up and down to better suit their skill level, then the cycle repeats with the new division rosters.
<p>
Back to the code...  my first few iterations failed on the data-entry front.
Although entering arrays of data is straight-forward for people familiar with javascript, it was too intimidating for novices.
Instead I opted for a more user-friendly approach; scores are entered in a human-readable format:
<pre>
week 1\
\
division a\
\
Team Pharmacare Beat South Hills 4 to 0\
Giant Spikes & Tykes Beat Fighting Horwatts 3 to 1\
Marcy Beat Jammers 3 to 1\
Shindig Tied Misfits 2 to 2\
\
division b\
\
Hammertime Beat En Fuego 4 to 0\
Last But Not Least Beat Mayview 3 to 1\
Power D(r)inkers beat Nico's 4 to 0\
Safe Sets beat Shuman 3 to 1\
</pre>
<p>
The browser will parse this and generate appropriate statistics.
It will also do a number of sanity checks and try to display helpful debugging information when an error is encountered.
There are a number of special cases including postponed games and shortened matches.
<p>

If you're interested in the code, view the source of this page and grab everything between
"&lt;!-- league stats code starts here --&gt;" and "&lt;!-- league stats code ends here --&gt;" (yes, all 774 lines).
Feel free to email me with questions and suggestions.
If you want to use it make sure to give me credit.

<p>
Here is an example using actual data (4 weeks into the first trimester of the 2006-2007 season).

<!-- league stats code starts here -->
<script>

/* add more results here

   IMPORTANT: make sure to put a slash at the end of each line
   don't leave any blank lines

   [insert comments by using braces like this]
   comments can be useful for noting postponed games, forfeits, and scores
 */
var input="\
\
week 1\
\
division a\
\
Team Pharmacare Beat South Hills 4 to 0\
Giant Spikes & Tykes Beat Fighting Horwatts 3 to 1\
Marcy Beat Jammers 3 to 1\
Shindig Tied Misfits 2 to 2\
\
division b\
\
Hammertime Beat En Fuego 4 to 0\
Last But Not Least Beat Mayview 3 to 1\
Power D(r)inkers beat Nico's 4 to 0\
Safe Sets beat Shuman 3 to 1\
\
division c\
\
A.J's Team Beat Novas 4 to 0\
Leapin Lizards Beat Just Us 3 to 1\
All Stars Beat Bumps & Grind 3 to 1\
Veni Vidi V'ball Tied Seconds 2 to 2\
\
week 2\
\
division a\
\
South Hills Beat Misfits 3 to 1\
Fighting Horwatts Beat Jammers 3 to 1\
Team Pharmacare Beat Shindig 3 to 1\
Giant Spikes & Tykes Tied Marcy 2 to 2\
\
Division b\
\
Last But Not Least Beat En Fuego 4 to 0\
Safe Sets Beat Nico's 4 to 0\
Shuman Beat Power D(r)inkers 3 to 1\
Mayview Tied Hammertime 2 to 2\
\
Division c\
\
AJ's Team Beat Seconds 4 to 0\
Veni Vidi V'ball Beat Novas 3 to 1\
Leapin Lizards Beat Bumps & Grinds 3 to 1\
All Stars Beat Just Us 3 to 1\
\
week 3\
\
division a\
\
Giant Spikes & Tykes Beat Jammers 4 to 0\
Misfits Beat Team Pharmacare 4 to 0\
Marcy Tied Fighting Horwatts 2 to 2\
[Shindig Vs South Hills Postponed]\
\
division b\
\
Mayview Beat En Fuego 4 to 0\
Safe Sets Beat Power D(r)inkers 3 to 1\
Hammertime Beat Last But Not Least 3 to 1\
[Nico's Vs Shuman Postponed]\
\
division c\
\
AJ's Team Beat Veni Vidi V'ball 4 to 0\
All Stars Beat Leapin Lizards 4 to 0\
Novas Beat Seconds 4 to 0\
Just Us Beat Bumps & Grinds 3 to 1\
\
week 4\
\
Division a\
\
Marcy Beat Team Pharmacare 3 to 1\
South Hills Beat Jammers 3 to 1\
Fighting Horwatts Tied Misfits 2 to 2\
Shindig Tied Giant Spikes & Tykes 2 to 2\
\
Division B\
\
Hammertime Beat Power D(r)inkers 4 to 0\
En Fuego Beat Nico's 3 to 1\
Shuman Beat Mayview 2 to 1\
Safe Sets Tied Last But Not Least 2 to 2\
\
Division c\
\
Veni Vidi V'Ball Beat Leapin Lizards 4 to 0\
Seconds Beat Just Us 4 to 0\
AJ's Team Beat All Stars 3 to 1\
Novas Beat Bumps & Grind 3 to 1\
";

</script>

<style>

/* feel free to edit the color of each team
   these RGB values are in hex and have a descriptive comment
   also you can split up the teams further for more precise colorations
 */
.team0, .team8, .team16 {background-color: #FF9999 /* Red */}
.team1, .team9, .team17 {background-color: #FFFF99 /* Yellow */}
.team2, .team10, .team18 {background-color: #99FF99 /* Green */}
.team3, .team11, .team19 {background-color: #99FFFF /* Cyan */}
.team4, .team12, .team20 {background-color: #9999FF /* Blue */}
.team5, .team13, .team21 {background-color: #FF99FF /* Purple */}
.team6, .team14, .team22 {background-color: #EEEEEE /* Light Gray */}
.team7, .team15, .team23 {background-color: #999999 /* Dark Gray */}
</style>

<script>
var errorFlag=0;

/* [teamindex wins losses] */
var winLosses=[];

/* each entry is [week division homeTeam awayTeam wins losses]
   or just [comment]
   week is 1,2...8
   division is 0,1,2
   homeTeam and awayTeam are strings
   wins and losses are 0,1...9
   comment is a string
*/
var parsedInput=[];

/* weeklyInput[week][team] is [overallWins overallLosses thisWeekWins thisWeekLosses]
   also sorted by week and team
   no data is indicated with -1
   overallWins and overallLosses will not contain negative numbers
*/
var weeklyInput=[];

/* each entry is [index name division] 
   name is a string
   division is 0,1,2
*/
var teamNames=[];

/*** Low-level helper functions for parsing input ***/
var spaces=" \t\n";
function isSpace(c){return spaces.indexOf(c)!=-1;}
function getNum(c){return "0123456789".indexOf(c);}
function getDiv(c){return "abc".indexOf(c.toLowerCase());}

function firstSpace(str){
  var n=-1;
  for(var c=0;c<spaces.length;c++){
    var i=str.indexOf(spaces.charAt(c));
    if(n==-1 || (i!=-1 && i<n))n=i;
  }
  return n;
}

function firstNonSpace(str, i){
  for(var c=i;c<str.length;c++)
    if(-1 == spaces.indexOf(str.charAt(c)))
      return c;
  return -1;
}

function firstToken(str){
  var n = firstSpace(str);
  if(n<1)return str;
  return str.substring(0, n);
}

function startsWith(str, word){
  return word.toLowerCase() == firstToken(str).toLowerCase();
}

function beatOrTied(str){
  if(startsWith(str, "beat"))return 1;
  if(startsWith(str, "tied"))return 0;
  return -1;
}
function isweek(str){return startsWith(str,"week");}
function isdiv(str){return startsWith(str,"division");}
function skip(str, n){return str.substring(n, str.length);}

function skipSpaces(str, i){
  var n = firstNonSpace(str, i);
  if(n<i)n=i;
  if(n>0)return skip(str, n);
  return str;
}

function advanceToNextToken(str){
  var s = firstToken(str);
  return skipSpaces(str, s.length);
}


/*** Additional helper functions for parsing input ***/
function firstTeam(str){
  var ret="";
  while(str.length>0){
    var word = firstToken(str);
    str = advanceToNextToken(str);
    if(beatOrTied(word)>=0)break;
    if(ret.length>0)ret+=" ";
    ret+=word;
    if(ret.length>30)return ""
  }
  return ret;
}

function secondTeam(str){
  var ret="";
  while(str.length>0){
    var word = firstToken(str);
    str = advanceToNextToken(str);
    if(startsWith(word, "to"))break;
    if(ret.length>0)ret+=" ";
    ret+=word;
    if(ret.length>30)return ""
  }
  if(ret.length<3)return "";
  return ret.substring(0, ret.length-2);
}

function getScore(str, scores){
  var rest = str;

  /* extract the number of games won */
  var numWon = getNum(rest.charAt(0));
  if(numWon<0)
    return badParse(str, "expected number of games won, got \""+rest.charAt(0)+"\"");
  rest = skipSpaces(rest, 1); /* skip the number and advance */

  /* extract the word "to" */
  if("to" != firstToken(rest).toLowerCase())
    return badParse(str, "expect \"to\" beween scores, got \""+firstToken(rest)+"\"");
  rest = advanceToNextToken(rest);

  /* extract the number of games lost */
  var numLost = getNum(rest.charAt(0));
  if(numLost<0)
    return badParse(str, "expected number of games lost, got \""+rest.charAt(0)+"\"");
  rest = skipSpaces(rest, 1); /* skip the number and advance */

  /* save the scores */
  scores.push(numWon);
  scores.push(numLost);
  return rest;
}

function badParse(str, err){
  document.writeln("<b>Error: "+err+"<br></b>");
  document.writeln("There is something wrong with the data you input...<br>");
  document.writeln("Check for errors around: \"");
  if(str.length>30)document.writeln(str.substring(0, 30));
  else document.writeln(str);
  document.writeln("\"<br>");
  errorFlag=1;
  return "";
}

/* variables used to build up a record, used by multiple calls to parseStr */
var Week=1;
var Division=-1;
var HomeTeam="";
var AwayTeam="";
var Score=[];

function addRecord(){
  parsedInput.push([Week, Division, HomeTeam, AwayTeam, Score[0], Score[1]]);
}
function addComment(comment){
  parsedInput.push([comment]);
}

/* this function extracts a single line of input:
   either a comment, week, division, or a game result
   returns the rest of the input, the unparsed portion
   in case of error, calls badParse, which sets errorFlag
 */
function parseStr(str){
  /* the string should either start with "week" or "division", 
     it could also be a comment in braces
     otherwise it must be a game result */

  if(str.charAt(0)=='['){/* ignore the comment */
    var endOfComment = str.indexOf(']');
    if(endOfComment==-1)return badParse(str, "no ] after comment");
    var Comment = str.substring(1, endOfComment);
//    document.writeln("<b>Read comment "+Comment+"</b><br>");
    addComment(Comment);

    return skip(str, endOfComment+1);
  }

  if(isweek(str)){/* set the week */
    Week=-1;
    var rest = advanceToNextToken(str);
    if(rest.length<=0)return badParse(str, "looks like a week");
    Week = getNum(rest.charAt(0));
    if(Week<=0 || Week>7)return badParse(str, "Bad week number");
    rest = skipSpaces(rest, 1); /* skip the number and advance */
//    document.writeln("<b>Set week "+Week+"</b><br>");
    return rest;
  }

  if(isdiv(str)){/* set the division */
    Division=-1;
    var rest = advanceToNextToken(str);
    if(rest.length<=0)return badParse(str, "looks like a division");
    Division = getDiv(rest.charAt(0));
    if(Division==-1)return badParse(str, "Bad division");
    rest = skipSpaces(rest, 1); /* skip the letter and advance */
//    document.writeln("<b>Set division "+Division+"</b><br>");
    return rest;
  }

  /* this should be a game of the form
     (team) (result) (team) (number) to (number)
     note that team names can have spaces
     number will be a single digit number
     result will be "beat" or "tied"
   */
  HomeTeam = firstTeam(str);
  if(HomeTeam.length<=0)return badParse(str, "looks like a game, couldn't get first team");
  var rest = skipSpaces(str, HomeTeam.length);

  var beat = beatOrTied(rest);
  if(beat==-1)return badParse(str, "looks like a game, expected beat or tied");
  rest = advanceToNextToken(rest);

  AwayTeam = secondTeam(rest);
  if(AwayTeam.length<=0)return badParse(str, "looks like a game, couldn't get second team");
  rest = skipSpaces(rest, AwayTeam.length);

  Score=[];
  rest = getScore(rest, Score);
  if(Score.length!=2 || Score[0]<0 || Score[1]<0)
    return badParse(str, "looks like a game, couldn't get score");

  if(beat && Score[0]<Score[1])
    return badParse(str, Score[0]+" does not beat "+Score[1]);
  if(!beat && Score[0]!=Score[1])
    return badParse(str, Score[0]+" does not tie "+Score[1]);
  if(Score[0] + Score[1] > 4)
    return badParse(str, "Bad score, more than 4 games played: "+Score[0]+" to "+Score[1]);

  addRecord();

  return rest;
}

/*** end of input parsing functions ***/

/* debugging function just spews all the data as it was read */
function writeParsedData(){
  document.writeln("<table border=1>");
  document.writeln("<tr><td>Week</td><td>Division</td<td colspan=2>Teams</td><td>Result</td></tr>");
  for(var i=0;i<parsedInput.length;i++){
    var record = parsedInput[i];
    document.write("<tr>");
    if(record.length==6){
      document.write("<td>"+record[0]+"</td>");
      document.write("<td>"+"ABC".charAt(record[1])+"</td>");
      document.write("<td>"+record[2]+"</td>");
      document.write("<td>"+record[3]+"</td>");
      document.write("<td>"+record[4]+" to "+record[5]+"</td>");
    }else{
      document.write("<td colspan=5>"+record[0]+"</td>");
    }
    document.writeln("</tr>");
  }
  document.writeln("</table>");
}

/*** functions dealing with team names (mostly to convert to an index) ***/
/* remove non-letters */
function alphaOnly(str){
  var s = str.toLowerCase();
  var ret="";
  for(var i=0;i<s.length;i++){
    var c = s.charAt(i);
    if(c>="a" && c<="z")ret+=c;
  }
  if(ret=="")ret=str;
  return ret;
}

function compareNames(nameA, nameB){
  var a=alphaOnly(nameA);
  var b=alphaOnly(nameB);
  var len=a.length;
  if(len<b.length)len=b.length;
  if(a==b || a.substring(0, len-1)==b.substring(0, len-1))return 0;
  if(a<b)return -1;
  return 1;
}

function teamComp(a, b){
  if(a[2]!=b[2])return (a[2]-b[2]);
  return compareNames(a[1], b[1]);
}

function teamIndex(division, name){
  //document.writeln("Searching for team \""+name+"\" in division "+division+"<br>");
  for(var i=0;i<teamNames.length;i++)
    if(0 == teamComp(teamNames[i], [-1, name, division]))
      return i;
  return -1;
}

/* adds the team if necessary */
function checkTeam(division, name){
  if(teamIndex(division, name)!=-1)return;
  //document.writeln("Adding team \""+name+"\"<br>");
  teamNames.push([teamNames.length, name, division]);  
}

/* populate teamNames by scanning all the games */
function createTeamNames(){
  for(var i=0;i<parsedInput.length;i++){
    var record = parsedInput[i];
    if(record.length==6){
      checkTeam(record[1], record[2])
      checkTeam(record[1], record[3])
    }
  }
}

/* some sanity checking... */
function checkTeamNames(){
  teamNames.sort(teamComp);

  /* look for multiple entries */
  for(var i=0;i<teamNames.length-1;i++){for(var j=i+1;j<teamNames.length;j++){
    if(0 == compareNames(teamNames[i][1], teamNames[j][1])){
      document.writeln("<b>"+teamNames[i][1]+" appears in multiple divisions</b><br>");
      errorFlag=1;
  }}}

  /* make sure we have the right number of teams in each division */
  var teamsPerDivision = [0,0,0];
  for(var i=0;i<teamNames.length;i++)
    teamsPerDivision[teamNames[i][2]]++;
  if(teamsPerDivision[0]!=8)
    document.writeln("<b>division A has "+teamsPerDivision[0]+" teams instead of 8</b><br>");
  if(teamsPerDivision[1]!=8)
    document.writeln("<b>division B has "+teamsPerDivision[1]+" teams instead of 8</b><br>");
  if(teamsPerDivision[2]!=8)
    document.writeln("<b>division C has "+teamsPerDivision[2]+" teams instead of 8</b><br>");
  if(teamsPerDivision[0]!=8 || teamsPerDivision[1]!=8 || teamsPerDivision[2]!=8)
    errorFlag=1;
}

/* debugging function to print out all the teams found in the data */
function writeTeamNames(){
  for(var division=0;division<3;division++){
    document.writeln("<table border=1>");
    document.writeln("<tr><td colspan=3 style=\"text-align:center\">Division "+"ABC".charAt(division)+"</td></tr>");
    document.writeln("<tr><td></td><td>Team Name</td><td>Internal Representation</td></tr>");
    var counter=0;
    for(var i=0;i<teamNames.length;i++){
      if(division == teamNames[i][2]){
        counter++;
        document.write("<tr>");
        document.write("<td>"+counter+"</td>");
        document.write("<td>" + teamNames[i][1]  + "</td>");
        document.write("<td>" + alphaOnly(teamNames[i][1]) + "</td>");
        document.writeln("</tr>");
      }
    }
    document.writeln("</table>");
  }
}

/*** end of team name functions ***/

/* returns the score, clamped to 0 */
function checkForNeg(score){
  if(score<0)return 0;
  return score;
}

function makeWeeklyInput(){
  /* find out how many weeks of data we have */
  var maxWeek=0;
  for(var i=0;i<parsedInput.length;i++)
    if(parsedInput[i][0]>maxWeek)
      maxWeek=parsedInput[i][0];

  for(var week=1;week<=maxWeek;week++){
    var addme=[]
    if(week>1)
      for(team=0;team<24;team++)addme.push([weeklyInput[week-2][team][0], weeklyInput[week-2][team][1], -1, -1]);
    else
      for(team=0;team<24;team++)addme.push([-1, -1, -1, -1]);

    for(var i=0;i<parsedInput.length;i++){
      if(parsedInput[i][0]==week){
        var ind = teamIndex(parsedInput[i][1], parsedInput[i][2]);
	  if(ind==-1 || addme[ind][2]!=-1){
          document.writeln("<b>Error, duplicate data for team "+parsedInput[i][2]+" at week "+week+"</b> (was the second game supposed to be for week "+(week+1)+"?<br>");
          errorFlag=1;
          return;
        }
        addme[ind][2] = parsedInput[i][4];
        addme[ind][3] = parsedInput[i][5];

	addme[ind][0] = checkForNeg(addme[ind][2]);
	addme[ind][1] = checkForNeg(addme[ind][3]);
        if(week>1)addme[ind][0] += checkForNeg(weeklyInput[week-2][ind][0]);
        if(week>1)addme[ind][1] += checkForNeg(weeklyInput[week-2][ind][1]);

//document.writeln(parsedInput[i][2]+" won/lost "+addme[ind][2]+"/"+addme[ind][3]+" on week "+week+", bringing the overall record to "+addme[ind][0]+"/"+addme[ind][1]+"<br>");

        ind = teamIndex(parsedInput[i][1], parsedInput[i][3]);
        if(ind==-1 || addme[ind][2]!=-1){
          document.writeln("<b>Error, duplicate data for team "+parsedInput[i][3]+" at week "+week+"</b> (was the second game supposed to be for week "+(week+1)+"?<br>");
          errorFlag=1;
          return;
        }
        addme[ind][2] = parsedInput[i][5];
        addme[ind][3] = parsedInput[i][4];

	addme[ind][0] = checkForNeg(addme[ind][2]);
	addme[ind][1] = checkForNeg(addme[ind][3]);
        if(week>1)addme[ind][0] += checkForNeg(weeklyInput[week-2][ind][0]);
        if(week>1)addme[ind][1] += checkForNeg(weeklyInput[week-2][ind][1]);

//document.writeln(parsedInput[i][3]+" won/lost "+addme[ind][2]+"/"+addme[ind][3]+" on week "+week+", bringing the overall record to "+addme[ind][0]+"/"+addme[ind][1]+"<br>");

      }
    }

    for(team=0;team<24;team++){
      addme[team][0] = checkForNeg(addme[team][0]);
      addme[team][1] = checkForNeg(addme[team][1]);
    }

    weeklyInput.push(addme);
  }

}

/*** helper functions to determine weekly win/loss record and final rank ***/
/* compare two teams based on most wins, 
   in case of a tie, it then uses least losses,
   in case of another tie, it finally uses alphabetical order
*/
function nameWinLossComp(a, b){
  if(a[2]!=b[2])return b[2]-a[2];
  if(a[3]!=b[3])return a[3]-b[3];
  if(a[1]<b[1])return -1;
  return 1;
}

var finalRanks=[];
function generateFinalRanks(){
  var data=[];
  for(var i=0;i<8*3;i++){
    finalRanks.push(i);
    data.push([i, teamNames[i][1], winLosses[i][1], winLosses[i][2]]);
    if(i%8==7){/* finished this division */
      /* create and save the finalRanks */
      data.sort(nameWinLossComp);
      for(var j=0;j<8;j++)finalRanks[data[j][0]]=j;
      data=[]; /* reset for the next division */
    }
  }
}

function getWinLosses(){
  for(var i=0;i<24;i++)winLosses.push([i,0,0]);
  for(var i=0;i<parsedInput.length;i++){
    if(parsedInput[i].length==6){
      var a = teamIndex(parsedInput[i][1], parsedInput[i][2]);
      var b = teamIndex(parsedInput[i][1], parsedInput[i][3]);
      if(a<0 || a>=24 || b<0 || b>=24){
        errorFlag = 1;
        document.writeln("Bad teams: "+parsedInput[i][2]+", "+parsedInput[i][3]+"<br>");
        return;
      }
      winLosses[a][1]+=parsedInput[i][4];
      winLosses[a][2]+=parsedInput[i][5];
      winLosses[b][1]+=parsedInput[i][5];
      winLosses[b][2]+=parsedInput[i][4];
    }
  }
  generateFinalRanks();
}

/*** these two functions write out the actual standing tables ***/

/* displays the top table, which shows the current standings within each division */
function writeWinLosses(){
  /* generate sorted overall records for each division */
  var A=[];
  var B=[];
  var C=[];
  for(var i=0;i<8;i++){
    A.push([i, teamNames[i][1], winLosses[i][1], winLosses[i][2]]);
    B.push([i+8, teamNames[i+8][1], winLosses[i+8][1], winLosses[i+8][2]]);
    C.push([i+16, teamNames[i+16][1], winLosses[i+16][1], winLosses[i+16][2]]);
  }
  A.sort(nameWinLossComp);
  B.sort(nameWinLossComp);
  C.sort(nameWinLossComp);

  /* write the table header */
  document.writeln("<table border=1><tr>");
  document.writeln("<td colspan=11 style=\"text-align:center\">Overall Standings</td>");
  document.writeln("</tr><tr>");
  document.write("<td>Division A</td><td>Wins</td><td>Losses</td>");
  document.write("<td rowspan=9>&nbsp;</td>");
  document.write("<td>Division B</td><td>Wins</td><td>Losses</td>");
  document.write("<td rowspan=9>&nbsp;</td>");
  document.write("<td>Division C</td><td>Wins</td><td>Losses</td>");
  document.writeln("</tr>");

  /* write the table contents, do each division from 1st to last place */
  for(var i=0;i<8;i++){
    document.write("<tr>");
    var td = "<td class=team"+i; /* color these based on the (sorted) rank */
    document.write(td+">"+A[i][1]+"</td>"); /* team name */
    document.write(td+" style=\"text-align:center\">"+A[i][2]+"</td>"); /* wins */
    document.write(td+" style=\"text-align:center\">"+A[i][3]+"</td>"); /* losses */

    td = "<td class=team"+(i+8); /* color these based on the (sorted) rank */
    document.write(td+">"+B[i][1]+"</td>"); /* team name */
    document.write(td+" style=\"text-align:center\">"+B[i][2]+"</td>"); /* wins */
    document.write(td+" style=\"text-align:center\">"+B[i][3]+"</td>"); /* losses */

    td = "<td class=team"+(i+16); /* color these based on the (sorted) rank */
    document.write(td+">"+C[i][1]+"</td>"); /* team name */
    document.write(td+" style=\"text-align:center\">"+C[i][2]+"</td>"); /* wins */
    document.write(td+" style=\"text-align:center\">"+C[i][3]+"</td>"); /* losses */
    document.writeln("</tr>");
  }
  document.writeln("</table>");
}

/* displays the second table which shows each teams' stands every week */
function writeWeeklyProgression(){
  var weeklyRank=[];

  for(var week=1;week<=weeklyInput.length;week++){
    var A=[];
    var B=[];
    var C=[];
    for(var i=0;i<8;i++){
      A.push([i, teamNames[i][1], weeklyInput[week-1][i][0], weeklyInput[week-1][i][1], weeklyInput[week-1][i][2], weeklyInput[week-1][i][3]]);
      B.push([i+8, teamNames[i+8][1], weeklyInput[week-1][i+8][0], weeklyInput[week-1][i+8][1], weeklyInput[week-1][i+8][2], weeklyInput[week-1][i+8][3]]);
      C.push([i+16, teamNames[i+16][1], weeklyInput[week-1][i+16][0], weeklyInput[week-1][i+16][1], weeklyInput[week-1][i+16][2], weeklyInput[week-1][i+16][3]]);
    }
    A.sort(nameWinLossComp);
    B.sort(nameWinLossComp);
    C.sort(nameWinLossComp);

    weeklyRank.push([A, B, C]);
  }

  var incompleteWeeks=[];
  for(var week=1;week<=weeklyInput.length;week++){
    var addme=[0, 0, 0];
    for(var division=0;division<3;division++)
      for(var i=0;i<8;i++)
        if(-1 == weeklyRank[week-1][division][i][2] ||
           -1 == weeklyRank[week-1][division][i][3] ||
           -1 == weeklyRank[week-1][division][i][4] ||
           -1 == weeklyRank[week-1][division][i][5])
	  addme[division]=1;
    incompleteWeeks.push(addme);
  }

  document.writeln("<table border=1>");

  for(var division=0;division<3;division++){
    if(division>0)document.write("<tr><td colspan="+(2+2*weeklyInput.length)+">&nbsp;</td></tr>");
    document.write("<tr><td colspan="+(2+2*weeklyInput.length)+" style=\"text-align: center\">");
    document.write("Weekly Standings for Division "+"ABC".charAt(division)+"</td></tr>");

    document.write("<tr><td></td>");
    for(var week=1;week<=weeklyInput.length;week++){
      document.write("<td colspan=2>Week "+week);
      if(incompleteWeeks[week-1][division])document.write(" (incomplete)");
      document.write("</td>");
    }
    document.writeln("<td></td></tr>");
    document.write("<tr><td></td>");
    for(var week=1;week<=weeklyInput.length;week++)
      document.write("<td>This&nbsp;Week</td><td>Overall</td>");
    document.writeln("<td></td></tr>");

    for(var i=0;i<8;i++){
      document.write("<tr>");
      for(var week=1;week<=weeklyInput.length;week++){

        var ind = weeklyRank[week-1][division][i][0];
        var rank = finalRanks[ind];
	var td = "<td class=team"+rank+" style=\"text-align:center\">";
	var tdLeft = "<td class=team"+rank+">";

        if(week==1)
          document.write(tdLeft+weeklyRank[week-1][division][i][1]+"</td>");

        var won = weeklyRank[week-1][division][i][4]; /* this week wins */
        var lost = weeklyRank[week-1][division][i][5]; /* this week losses */
	if(won<0)
          document.write(td+"No&nbsp;Data</td>");
        else
          document.write(td+won+"&nbsp;and&nbsp;"+lost+"</td>");

        won = weeklyRank[week-1][division][i][2]; /* overall wins */
        lost = weeklyRank[week-1][division][i][3]; /* overall losses */
        document.write(td+won+"&nbsp;and&nbsp;"+lost+"</td>");

        if(week==weeklyInput.length)
          document.write(tdLeft+weeklyRank[week-1][division][i][1]+"</td>");

      }
      document.writeln("</tr>");
    }
  }

  document.writeln("</table>");
}

/* this is the 'main' function that does all the work, 
   it first calls the parser and looks for errors,
   then generates/sanity checks data
   after that we either print out debugging information or the actual standings
*/
function parseData(){
  document.writeln("<div id=error>The input is undefined...<p>That probably means you forgot to put a slash at the end of a line</div>");
  if(input)document.writeln("<style>#error{visibility:hidden;height:0;width:0}</style>");
  else return;

  while(input.length>0)input = parseStr(input);
  createTeamNames();
  checkTeamNames();
  if(!errorFlag)getWinLosses();
  if(!errorFlag)makeWeeklyInput();
  if(errorFlag){
    document.writeln("There was a problem with your data ...<p>");
    document.writeln("Below you'll see some debugging information to help you find the mistake.<br>");
    document.writeln("First you'll see how your data was interpretted, then you'll get a table of all the teams.<br>");
    document.writeln("<hr>Verify the parsed data (this is how your input data was interpretted, look for incorrect weeks or divisions):<hr>");
    writeParsedData();
    document.writeln("<hr>Verify the team names (look for missing teams, typos in the internal representation, or teams in the wrong division):<hr>");
    writeTeamNames();
  }else{
    writeWinLosses();
    writeWeeklyProgression();
  }
}
parseData();

</script>


<noscript>
<h2>Error: this page requires javascript</h2>
</noscript>
<!-- league stats code ends here -->


&bottom;
&end;
cmupics.html
&title;
Dom's Page: Pictures of CMU
&top;
Not Quite Postcards...
&main;
Here are some pictures of our gorgeous campus.  Somehow I get the feeling that the university won't turn these into postcards, but cross your fingers!
<table border=0 cellpadding=15> 
<td>
  <table border=0 cellpadding=1>
  <td colspan=3>
    <center><font size=5> 
    What do CMU students do on a snow day?
    Make snow-lemmings!
    </font></center>
  </td>
  <tr>
  <td align=right><a href="photos/cmupic/snowline.jpg"><img src="photos/cmupic/snowlinethumb.jpg" border=0></a></td>
  <td align=center><a href="photos/cmupic/snowpush.jpg"><img src="photos/cmupic/snowpushthumb.jpg" border=0></a></td>
  <td align=left><a href="photos/cmupic/snowfall.jpg"><img src="photos/cmupic/snowfallthumb.jpg" border=0></a></td>
  <tr>
  <td><center><font size=5>All our lemmings lined up.</font></center></td>
  <td><center><font size=5>Push one down...</font></center></td>
  <td><center><font size=5>...and it goes SPLAT.</font></center></td>
  </table>
</td><tr><td> 
  <table border=0 cellpadding=1> 
  <td> 
  <img src="photos/cmupic/car1.jpg" height=240 width=320 border=0> 
  </td><td> 
  <img src="photos/cmupic/car2.jpg" height=240 width=320 border=0> 
  </td><tr><td> 
<center><font size=5> 
Thinking of bringing<br>a car to campus...? 
</font></center> 
  </td><td> 
  <img src="photos/cmupic/car3.jpg" height=240 width=320 border=0> 
  </td> 
  </table> 
</td><tr><td> 
  <table border=0 cellpadding=1> 
  <td> 
  <img src="photos/cmupic/stack1.jpg" height=240 width=320 border=0> 
  </td><td> 
  <img src="photos/cmupic/stack2.jpg" height=240 width=320 border=0> 
  </td><tr><td> 
  <img src="photos/cmupic/stack3.jpg" height=240 width=320 border=0> 
  </td><td> 
<center><font size=5>
Is this a smoke stack?<br>Actually, its a leak :)  
</font></center> 
  </td> 
  </table> 
</td><tr><td> 
  <table border=0 cellpadding=1> 
  <td> 
  <img src="photos/cmupic/clock1.jpg" height=240 width=320 border=0> 
  </td><td> 
  <img src="photos/cmupic/clock2.jpg" height=240 width=320 border=0> 
  </td><tr><td> 
<center><font size=5> 
One of the best known<br>landmarks here on<br>campus; the clock. 
</font></center> 
  </td><td> 
  <img src="photos/cmupic/clock3.jpg" height=240 width=320 border=0> 
  </td> 
  </table> 
</td> 
</table><p>
&bottom;
gallery.html Gallery
randompics.html Random&nbsp;Pics
architectsLeap.html Architect's&nbsp;Leap
ibookRepair.html iBook&nbsp;Repair
whatIsBuggy.html What&nbsp;is&nbsp;Buggy
pinhead.html Pinhead
&end;
graphics.html
&title;
Dom's Page: Computer Graphics
&top;
Computer Graphics
&main;
Graphics is over, so here's what I got from it, my four animations!
<ol>
<li>The first, <a href="photos/cmuclass/tree.mpg">tree.mpg</a> is a bunch of hand-drawn scenes with slight movements between frames, basically we wrote a miniphotoshop and created an animation by hand.  Even with this simple animation you can get an idea of the different operations my program supported.
<li>The second project was generalized cylinders in OpenGL.  I played with a <a href="photos/cmuclass/mobius.mpg">mobius strip</a> for my animation and added some closed-loop code to get that effect.
<li>Third was the raytracer.  I implemented antialiasing, recursive raytracing, and transmition.  For my animation I used <a href="photos/cmuclass/spheres.mpg">three shiny spheres</a> and showed off how to squish them.  Note the nice reflections too.
<li>And for my final project I elected to do blobby models.  This was a major addition to my raytracer, but they are a really cool primitive.  Take a look at the <a href="photos/cmuclass/hand.mpg">hand</a> I made and watch the blobbies interact and merge.
</ol>
&bottom;
mrpl.html Mobile&nbsp;Robot
anm.html Architecture
fwr.html FWR
allclasses.html Courses
&end;
mrpl.html
&title;
Dom's Page: Mobile Robot
&top;
Mobile Robot Programming
&main;
        <center><table border=0 cellpadding=5>
	<td colspan=3><center>
Here's our team "Batteries Not Included" with our dressed up robots.<br>
These pictures are from the final competition, held 11/27/2001.<br>
From left to right, our team members were:<br>
Rob Siemborski, Da Xu, myself, and Norm Tubman.
    </center></td><tr>
        <td><center> 
<a href="photos/cmuclass/robotgroup1.jpg"><img src="photos/cmuclass/robotgroup1thumb.jpg" height=160 width=160 border=0></a> 
        </center></td><td><center>
<a href="photos/cmuclass/robotmaze.jpg"><img src="photos/cmuclass/robotmazethumb.jpg" height=160 width=160 border=0></a> 
        </center></td><td><center>
<a href="photos/cmuclass/robotgroup2.jpg"><img src="photos/cmuclass/robotgroup2thumb.jpg" height=160 width=160 border=0></a> 
        </center></td><tr>
        <td><center>
A picture of our group<br>"Batteries Not Included".
        </center></td><td><center>
A bird's eye view of<br>one of the mazes.
        </center></td><td><center>
Yet another picture of<br>our group and robots.
        </center></td><tr>
        </table></center>
Mobile Robot Programming (16-362) was one of my favorite classes here.  We were given these nomad scouts and laptops, plus some simple code to interface with the robot at a very primitive level.  Entirely in java, we built up some complex, high-level behaviors.  Later in the semester we added a magnet and CMOS camera to the front.  Finally the end of the semester culminated in a class-wide competition.
<p>
Each team had a pair of robots placed in a maze.  The mazes were all symetrical so each match had a team on each half of the maze.  The mazes all had a dividing line so the teams could not leave their half of the maze.  On the walls we balanced 'gold' (a bright green sheet of paper sitting on a hunk of metal).  The objective was to collect 5 pieces of gold.
<p>
This sounds pretty easy until you consider everything that might go wrong.  Some pieces of gold are accessible to both teams, so there's a race to pick those up.  The robots on the same team could interfere with each other by planning intersecting paths.  The robot might not be stable and knock over a wall, possibly knocking over some gold as well!  There could be a bug in our code effectively killing one robot.  The camera might give false readings since the lighting conditions are certainly not uniform.  Or even mechanical failure, the robot's sonars could die!  This laundry list is far from complete, but each of these issues was to be addressed in code.
<p>
So the focus was not only on a fast robot, or an intelligent one, but rather on a robust program that could gracefully handle failures.  Different teams had their own solutions.  One group (which didn't make it to the semi-finals) decided that managing two robots was simply too difficult and had one hide in a corner while the other did all the work!  Crazy as it sounds, this isn't a bad idea since you always have a backup plan.  Another group implemented traffic rules, when two robots are about to collide, one of them waits while the other gets out of the way.  This leads to some funny (and in one case fatal) behavior, but works in general.  
<p>
In our group, we had implemented a lot of things that did not make it into our final robot.  Early on, our robot was quite fast, but we decided that the risk of shoving walls was too high and so we end up with reasonably fast but very stable movement code.  Our sonars were optimized to only fire the sonars that we needed.  This was a big speed boost, but left us incredibly vulnerable to "sonar death" so we removed that code.  We had our robot running 'vdr' movement, this allowed it to make very graceful and smooth turns resulting in a huge speed gain on winding corridors.  This too was deemed too unstable since it occassionally clipped corners.  As for planning, we had each robot plan a full path and the second robot would never cross it.  This is quite restrictive and we wanted the other robot to atleast start moving towards a goal.  This optimization never made it to the finished product either.
<p>
We're proud of what did make the final cut.  Our robots planned their way to a goal using a speedy algorithm called 'brushfire' (aka 'wavefront') which was tweaked heavily and renamed 'forestfire'.  The robots also communicated properly maintaining a shared notion of the state of the maze.  Should a robot get lost, we used a seperate planner to perform localization.  Combining these three, our robots performed very well in our simulator.  The movement code was slowed down and ended up being very reliable.  The remainning issue was the camera.  This was never solved completely so we had our robots revisit all the gold after they were finished.  This worked very well and got us an extra piece of gold in the preliminary matches.  Surprisingly, no other team added this improvement.  Overall our robot was very fault tolerant which earned us a spot in the semi-finals.
<p>
The day of the final competition there were four teams left, leaving two semi-final rounds and one competition.  Plus the winner of the competition would then play a human controlled pair of robots.  Our team, Batteries Not Included, played in the second semi-final match.  In the first semi-final match, one team immediately lost a robot to an unknown failure, yet still managed to win the match in an amazing stroke of luck.  In our match however, there were no failures and the other team was just plain faster.  Thus we were eliminated by the eventual winner.  The final match was quite interesting as well.  Again one team immediately lost a robot, so the outcome seemed obvious.  However an unfortate glitch occured to the other team late in the match, so the first team seemed destined to win.  In fact they just had to use their one remaining robot to collect all the gold and it would be just enough to win.  So the tables were turned and once again the outcome seemed obvious.  But wouldn't you know it, another glitch crippled this final robot costing them the title!  Neither team collected five pieces, and the winner of the competition was decided on a technicality.
<p>
Anyway, I really enjoyed this course and HIGHLY recommend it.  For a 12 unit course it's not quite as demanding as I expected.  It ends a few weeks before the end of the semester too, which is really nice.  It's taught only in the fall and a follow-up research-type course is offered in the spring.
&bottom;
graphics.html Graphics
anm.html Architecture
fwr.html FWR
allclasses.html Courses
&end;
anm.html
&title;
Dom's Page: Architecture for Non-Majors
&top;
Architecture for Non-Majors
&main;
This class showed me just how little artistic ability I had.  When I signed up I thought architecture would involve, you know, drawing and stuff.  Actually we spent the whole time designing and building things.  Man, that's hard!
<p>
<center><table border=0>
<td><center>
<a href="photos/cmuclass/anm-eggdrop.jpg"><img src="photos/cmuclass/anm-eggdropthumb.jpg" height=160 width=160 border=0></a>
</center></td><td><center>
<a href="photos/cmuclass/anm-candle-unlit.jpg"><img src="photos/cmuclass/anm-candle-unlitthumb.jpg" height=160 width=160 border=0></a>
</center></td><td><center>
<a href="photos/cmuclass/anm-candle-lit.jpg"><img src="photos/cmuclass/anm-candle-litthumb.jpg" height=160 width=160 border=0></a>
</center></td><tr><td><center>
My egg parachute.<br>
It needs seatbelts.
</center></td><td><center>
My ugly candle holder.<br>
(Bad picture not my fault!)
</center></td><td><center>
Nicer when lit.<br>
(Bad picture not my fault!)
</center></td>
</table></center>
<p>
The first one was our only group project, we made ink blots and had to design a building with that cross-section.  Among our entire group we spent upwards of 50 hours building a squid-like temple.
<p>
In the cube project we built a 3-D representation of a collection of 2-D shapes.  This was confusing at first, but actually was a lot of fun to imagine these shapes being pulled and stretched into volumes.  
<p>
Another project was the egg-drop.  Using only paper and "fasteners" (like tape and glue), we had to transport an egg down one flight onto a target.  Those who made it tried theirs on a five storey drop!  Mine made a soft landing then overturned, the egg rolled out straight into a wall and cracked open!  Eli did much better, his was the most accurate in the entire class landing an inch or two away from the target.
<p>
The last project was a candle holder.  I built an ugly looking lantern with a red screen.  In the darkness it had a wonderful glow and a swinging handle improved the effect.  However I should have tested it a bit more - the glue started fuming and the red plastic began to curl under the heat.
&bottom;
mrpl.html Mobile&nbsp;Robot
graphics.html Graphics
fwr.html FWR
allclasses.html Courses
&end;
fwr.html
&title;
Dom's Page: Fun With Robots
&top;
Fun With Robots
&main;
This was a StuCo ("student college", little courses about random topics, mostly taught by students) course run by the co-presidents of the <a href="http://www.roboticsclub.org">robotics club</a>.  We built our own little robot using a comercial chip, soldering together a board, and attaching a bread board for extentions.  
<p>
<center><table border=0>
<tr><td><center>
<img src="photos/cmuclass/fwr3.jpg" height=480 width=640><br>
A close-up of my robot, notice the two photosensors and 3 IR emitter/detector pairs precariously balanced on the breadboard.<p>&nbsp;
<center></td></tr><tr><td><center>
<img src="photos/cmuclass/fwr2.jpg" height=480 width=640><br>
My robot in action... it's lost in the maze.<p>&nbsp;
<center></td></tr><tr><td><center>
<img src="photos/cmuclass/fwr1.jpg" height=480 width=640><br>
It's charging towards the exit now!<p>&nbsp;
<center></td></tr>
</table></center>
The main focus of the class was to build a robot that could navigate a maze.  Mine used the bug algorithm, a very simplistic algorithm that follows a wall until it gets out.  In this case I had my robot try to keep a wall to it's right side.  Notice that in addition to the one in front, I have two detectors on the right side; one in the corner and one in the middle.  Just outside the maze there was a bright light which was out beacon that we tried to go to.  I had a pair of sensors in the middle looking to the left and right, however they were angled too far forward so I missed the light and ran off the table!
&bottom;
mrpl.html Mobile&nbsp;Robot
graphics.html Graphics
anm.html Architecture
allclasses.html Courses
&end;
randompics.html
&title;
Dom's Page: Random Pics
&top;
Random Pics
&main;
Here's what you can do around cmu with a camera (and in some cases a little
digital editting).
<p>
<center><table border=0>

<tr><td>
<center><a href="photos/cmupic/markfinal.jpg">
<img src="photos/cmupic/markfinalthumb.jpg" height=160 width=160>
</a></center>
</td><td>
<center><a href="photos/cmupic/cathyfinal.jpg">
<img src="photos/cmupic/cathyfinalthumb.jpg" height=160 width=160>
</a></center>
</td></tr>
<tr><td>
<center>
Mark getting up personal with<br>
recent graduate Ed Latimer.
</center>
</td><td>
<center>
Cathy Fitchner<br>
(aka Wonder Woman)
</center>
</td></tr>

<tr><td>
<center><a href="photos/cmuclass/gamedev_cluster_back.jpg">
<img src="photos/cmuclass/gamedev_cluster_backthumb.jpg" height=160 width=160>
</a></center>
</td><td>
<center><a href="photos/cmuclass/gamedev_cluster_clock.jpg">
<img src="photos/cmuclass/gamedev_cluster_clockthumb.jpg" height=160 width=160>
</a></center>
</td></tr>
<tr><td>
<center>
The night before demos...
</center>
</td><td>
<center>
...we were up a little late.
</center>
</td></tr>

<tr><td>
<center><a href="photos/cmupic/crane.jpg">
<img src="photos/cmupic/cranethumb.jpg" height=160 width=160>
</a></center>
</td><td>

</td></tr>
<tr><td>
<center>
Construction on campus
</center>
</td><td>
<center>
</center>
</td></tr>

</table>
&bottom;
cmupics.html CMU&nbsp;pics
architectsLeap.html Architect's&nbsp;Leap
ibookRepair.html iBook&nbsp;Repair
whatIsBuggy.html What&nbsp;is&nbsp;Buggy
pinhead.html Pinhead
&end;


gallery.html
&title;
Dom's Page: Photography
&top;
Photography
&main;
&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_0272.jpg
&galleryImage; photos/gallery/downsampled/img_0272.jpg
&galleryTitle; Snowy Lamp
&galleryText;
	Taken at home one winter.
	This is on the front steps outside the front door.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4668.jpg
&galleryImage; photos/gallery/downsampled/img_4668.jpg
&galleryTitle; Beam Me Up
&galleryText;
	This was around noon in an abandoned warehouse at LTV.
	A hole for a fan allowed a big ray of light through.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1000059.jpg
&galleryImage; photos/gallery/downsampled/p1000059.jpg
&galleryTitle; Terrence Profile
&galleryText;
	This is a shot of Terrence at the sand courts.
	I like the green background.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1000086.jpg
&galleryImage; photos/gallery/downsampled/p1000086.jpg
&galleryTitle; Eric Diving
&galleryText;
	Terrence took this shot from a huge distance.
	Eric is diving after the ball and trying to "snow cone" it.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1000096.jpg
&galleryImage; photos/gallery/downsampled/p1000096.jpg
&galleryTitle; Brigitte Digging
&galleryText;
	Brigitte shows off her characteristic good form.
	That foot should be cropped out of the bottom left.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1000212.jpg
&galleryImage; photos/gallery/downsampled/p1000212.jpg
&galleryTitle; Ball to the Face
&galleryText;
	I didn't close my block tightly and "goal posted" the ball.
	I like the tensed muscles and motion blur on the ball.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020501.jpg
&galleryImage; photos/gallery/downsampled/p1020501.jpg
&galleryTitle; Laser Cutting
&galleryText;
	Eli is holding up a copper plate with a smoking hole.
	He just removed it from the path of high-energy laser beam.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020596.jpg
&galleryImage; photos/gallery/downsampled/p1020596.jpg
&galleryTitle; Decaying Leaf
&galleryText;
	Taken in the fells while walking my dog.
	This was one of the last remaining leaves on the tree.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4358.jpg
&galleryImage; photos/gallery/downsampled/img_4358.jpg
&galleryTitle; Mascoma Lake
&galleryText;
	I went to Mascoma lake for the LORAX project.
	This is in New Hampshire, near White River Junction.
	The ice was about 18 inches think and heavily snow covered.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020619.jpg
&galleryImage; photos/gallery/downsampled/p1020619.jpg
&galleryTitle; Hazy Sun
&galleryText;
	I took this while stuck in traffic on the turnpike.
	This was a very hazy day, producing the halo effect.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020711.jpg
&galleryImage; photos/gallery/downsampled/p1020711.jpg
&galleryTitle; Ornament
&galleryText;
	This is a crystaline ornament on our tree.
	A normal string light illuminates the scene.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020895.jpg
&galleryImage; photos/gallery/downsampled/p1020895.jpg
&galleryTitle; Candles
&galleryText;
	These candles were part of the center piece at our table.
	The normal overhead lights were on as well, but the fast shutter speed made them irrelevant.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030941.jpg
&galleryImage; photos/gallery/downsampled/p1030941.jpg
&galleryTitle; Steeler Photo
&galleryText;
	This is in the parade after the superbowl victory.
	With packed crowds, this was the way to see the action.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020627.jpg
&galleryImage; photos/gallery/downsampled/p1020627.jpg
&galleryTitle; Wean Flooding
&galleryText;
	A water main broke on campus and wiped out the server room.
	This hydrant was opened to relieve the pressure.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040121.jpg
&galleryImage; photos/gallery/downsampled/p1040121.jpg
&galleryTitle; Club House
&galleryText;
	This is the club house on the East side of LTV.
	The shot was taken with high zoom.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020590.jpg
&galleryImage; photos/gallery/downsampled/p1020590.jpg
&galleryTitle; Carnegie Mellon
&galleryText;
	This is a classic shot of the old part of campus.
	It was taken from the hills over Pitt.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1050354.jpg
&galleryImage; photos/gallery/downsampled/p1050354.jpg
&galleryTitle; Pool Side
&galleryText;
	This is a closeup of the side of a small pool.
	The tan colors come from a wooden frame.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040126.jpg
&galleryImage; photos/gallery/downsampled/p1040126.jpg
&galleryTitle; Solar Panels
&galleryText;
	A close up of the solar panels on Zoe.
	A light drizzle left these beads of water.
	You can see some refraction in the larger drops.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040570.jpg
&galleryImage; photos/gallery/downsampled/p1040570.jpg
&galleryTitle; Long Reach
&galleryText;
	A long reach machine.
	This one demolished the planetary robotics building.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040648.jpg
&galleryImage; photos/gallery/downsampled/p1040648.jpg
&galleryTitle; Pennsylvanian
&galleryText;
	Taken from the rotunda outside the Pennsylvanian.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040890.jpg
&galleryImage; photos/gallery/downsampled/p1040890.jpg
&galleryTitle; Pirates' Fireworks
&galleryText;
	A shot of downtown Pittsburgh lit by fireworks after a Pirates game.
	PNC park is just across the river to the right.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040631.jpg
&galleryImage; photos/gallery/downsampled/p1040631.jpg
&galleryTitle; Wet Bulbs
&galleryText;
	Wet light bulbs after a summer rain.
	These illuminate the walkway of the Amtrak station.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050279.jpg
&galleryImage; photos/gallery/downsampled/p1050279.jpg
&galleryTitle; Figure Eight
&galleryText;
	The DEPTHX rover is just below the scene and the white wall is several meters behind this knot.
	I like the simple focus on a complicated object.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050468.jpg
&galleryImage; photos/gallery/downsampled/p1050468.jpg
&galleryTitle; Army Men
&galleryText;
	These toy army men are glued to the window.
	This 'art' was installed at a gallery in downtown Pittsburgh.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050494.jpg
&galleryImage; photos/gallery/downsampled/p1050494.jpg
&galleryTitle; LTV Flower
&galleryText;
	A closeup of a flower at LTV.
	It contrasts nicely with the out of focus flowers in the background.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020798.jpg
&galleryImage; photos/gallery/downsampled/p1020798.jpg
&galleryTitle; Paul Portrait
&galleryText;
	This is a headshot of Paul one winter.
	A freak heat wave allowed us to go outside in t-shirts.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050692.jpg
&galleryImage; photos/gallery/downsampled/p1050692.jpg
&galleryTitle; Vintage Grand Prix
&galleryText;
	Taken at the Vintage Grand Prix.
	The car in the foreground broke down and pulled to the side.
	A flagger (inching into the shot) is waving the caution flag.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030013.jpg
&galleryImage; photos/gallery/downsampled/p1030013.jpg
&galleryTitle; Puppy in the Woods
&galleryText;
	My "puppy" in the fells.
	As usual she is on the lookout for something to chase.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1050537.jpg
&galleryImage; photos/gallery/downsampled/p1050537.jpg
&galleryTitle; Happy Than
&galleryText;
	Than has just finished knocking down a shed.
	The happiness and satisfaction really shows.
	The dirt and goggles remind me of hard-working steel workers.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1050712.jpg
&galleryImage; photos/gallery/downsampled/p1050712.jpg
&galleryTitle; VR Lauren
&galleryText;
	Taken at the Wood Street Galleries.
	Lauren is lying on a water bed and wearing non-functioning goggles.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040037.jpg
&galleryImage; photos/gallery/downsampled/p1040037.jpg
&galleryTitle; Saint Stanslaus
&galleryText;
	A cross atop Saint Stanslaus in the Strip district.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_2956.jpg
&galleryImage; photos/gallery/downsampled/img_2956.jpg
&galleryTitle; Lands End
&galleryText;
	Lands End is the the Southwestern tip of England.
	The soft grasses and meadows end abruptly at these cliffs.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3078.jpg
&galleryImage; photos/gallery/downsampled/img_3078.jpg
&galleryTitle; Welsh Coastline
&galleryText;
	This was taken near the Northwestern tip of Wales.
	The low mountains look impressive as they jut into the ocean.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3095.jpg
&galleryImage; photos/gallery/downsampled/img_3095.jpg
&galleryTitle; Upon Snowdon
&galleryText;
	This is the view from Mount Snowdon, the highest mountain in England and Wales.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3108.jpg
&galleryImage; photos/gallery/downsampled/img_3108.jpg
&galleryTitle; English Countryside
&galleryText;
	A pastoral view of the English countryside.
	Grazing sheep, rolling hills and neat hedges.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3706.jpg
&galleryImage; photos/gallery/downsampled/img_3706.jpg
&galleryTitle; Dark Woods
&galleryText;
	This is the final leg of a trail up a small mountain in Maine.
	It was a very foggy day, making the scene even darker than usual.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/img_3725.jpg
&galleryImage; photos/gallery/downsampled/img_3725.jpg
&galleryTitle; Lonely Tree
&galleryText;
	This little tree managed to take roof on the side of a cliff.
	It reminds me of motivational posters.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3753.jpg
&galleryImage; photos/gallery/downsampled/img_3753.jpg
&galleryTitle; Sunset with Boat 
&galleryText;
	A late summer sunset over Moosehead Lake in Maine.
	This is from the shore by the cabin we stayed at.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3778.jpg
&galleryImage; photos/gallery/downsampled/img_3778.jpg
&galleryTitle; Moosehead Lake
&galleryText;
	We hired a plane to fly us over Moosehead Lake in Maine.
	The speed and dirty windows produced this dreamy shot.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4334.jpg
&galleryImage; photos/gallery/downsampled/img_4334.jpg
&galleryTitle; Nomad
&galleryText;
	This is Nomad on Mascoma Lake.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030667.jpg
&galleryImage; photos/gallery/downsampled/p1030667.jpg
&galleryTitle; Rolling Fog
&galleryText;
	This is a spot where afternoon fog rolls over the coastal range.
	The fog was particularly strong today and started early.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030696.jpg
&galleryImage; photos/gallery/downsampled/p1030696.jpg
&galleryTitle; Geologist in Fog
&galleryText;
	A geologist with rock hammer and clipboard.
	He is peering through fog into a deep ravine.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030431.jpg
&galleryImage; photos/gallery/downsampled/p1030431.jpg
&galleryTitle; Dunescape
&galleryText;
	A sand dune formed on the side of large hill.
	It encompasses the entire foreground while a sunset illuminates the nearby mountains.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4060.jpg
&galleryImage; photos/gallery/downsampled/img_4060.jpg
&galleryTitle; La Portada
&galleryText;
	La Portada is an eroded arch just off the Chilean coast.
	It is located north of Antofagasta, on the way to the airport.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4778.jpg
&galleryImage; photos/gallery/downsampled/img_4778.jpg
&galleryTitle; Office Building
&galleryText;
	Clouds are reflected off this office building.
	I like the three distinct layers; clouds, interior and exterior.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1010209.jpg
&galleryImage; photos/gallery/downsampled/p1010209.jpg
&galleryTitle; Broken PTU
&galleryText;
	This is the top of Zoe's mast.
	The pan-tilt unit is broken and has been removed.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010706.jpg
&galleryImage; photos/gallery/downsampled/p1010706.jpg
&galleryTitle; Desert Sunset
&galleryText;
	Sunset over the Atacama desert.
	The moon can been glimpsed in the top right.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010753.jpg
&galleryImage; photos/gallery/downsampled/p1010753.jpg
&galleryTitle; Foreboding Clouds
&galleryText;
	A strong weather front quickly covered the area in dense clouds.
	I got this shot as they started to sweep in.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010871.jpg
&galleryImage; photos/gallery/downsampled/p1010871.jpg
&galleryTitle; Road to Nowhere
&galleryText;
	A road in the desert.
	Ancient phone poles and washboarded roads betray the disuse.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010925.jpg
&galleryImage; photos/gallery/downsampled/p1010925.jpg
&galleryTitle; Evening Bunkhouse
&galleryText;
	A long exposure shot of an dormitory entrance.
	We stayed in a similar one nearby.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020075.jpg
&galleryImage; photos/gallery/downsampled/p1020075.jpg
&galleryTitle; Me and Zoe
&galleryText;
	Chris took this shot of me.
	Zoe is visible over my shoulder in the distance.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020109.jpg
&galleryImage; photos/gallery/downsampled/p1020109.jpg
&galleryTitle; Zoe and Moon
&galleryText;
	This was taken on a solstice.
	The setting sun gives a nice red, mars-like illumination.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1020318.jpg
&galleryImage; photos/gallery/downsampled/p1020318.jpg
&galleryTitle; Chris at MIM
&galleryText;
	This is a shot of Chris outside the MIM.
	He chose yellow, though other colors were available.
&galleryLine;

&galleryEnd;
&bottom;
&end;

galleryMisc.html
&title;
Dom's Page: Photography: Misc
&top;
Photography: Misc
&main;
&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_0272.jpg
&galleryImage; photos/gallery/downsampled/img_0272.jpg
&galleryTitle; Snowy Lamp
&galleryText;
Taken at home one winter.
This is on the front steps outside the front door.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020596.jpg
&galleryImage; photos/gallery/downsampled/p1020596.jpg
&galleryTitle; Decaying Leaf
&galleryText;
Taken in the fells while walking my dog.
This was one of the last remaining leaves on the tree.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020619.jpg
&galleryImage; photos/gallery/downsampled/p1020619.jpg
&galleryTitle; Hazy Sun
&galleryText;
I took this while stuck in traffic on the turnpike.
This was a very hazy day, producing the halo effect.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020711.jpg
&galleryImage; photos/gallery/downsampled/p1020711.jpg
&galleryTitle; Ornament
&galleryText;
This is a crystaline ornament on our tree.
A normal string light illuminates the scene.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020895.jpg
&galleryImage; photos/gallery/downsampled/p1020895.jpg
&galleryTitle; Candles
&galleryText;
These candles were part of the center piece at our table.
The normal overhead lights were on as well, but the fast shutter speed made them irrelevant.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1050354.jpg
&galleryImage; photos/gallery/downsampled/p1050354.jpg
&galleryTitle; Pool Side
&galleryText;
This is a closeup of the side of a small pool.
The tan colors come from a wooden frame.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040570.jpg
&galleryImage; photos/gallery/downsampled/p1040570.jpg
&galleryTitle; Long Reach
&galleryText;
A long reach machine.
This one demolished the planetary robotics building.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040631.jpg
&galleryImage; photos/gallery/downsampled/p1040631.jpg
&galleryTitle; Wet Bulbs
&galleryText;
Wet light bulbs after a summer rain.
These illuminate the walkway of the Amtrak station.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050279.jpg
&galleryImage; photos/gallery/downsampled/p1050279.jpg
&galleryTitle; Figure Eight
&galleryText;
The DEPTHX rover is just below the scene and the white wall is several meters behind this knot.
I like the simple focus on a complicated object.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030013.jpg
&galleryImage; photos/gallery/downsampled/p1030013.jpg
&galleryTitle; Puppy in the Woods
&galleryText;
My "puppy" in the fells.
As usual she is on the lookout for something to chase.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4778.jpg
&galleryImage; photos/gallery/downsampled/img_4778.jpg
&galleryTitle; Office Building
&galleryText;
Clouds are reflected off this office building.
I like the three distinct layers; clouds, interior and exterior.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010925.jpg
&galleryImage; photos/gallery/downsampled/p1010925.jpg
&galleryTitle; Evening Bunkhouse
&galleryText;
A long exposure shot of an dormitory entrance.
We stayed in a similar one nearby.
&galleryLine;

&galleryEnd;
&bottom;
&end;


galleryConcepts.html
&title;
Dom's Page: Photography: Concepts
&top;
Photography: Concepts
&main;


&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020596.jpg
&galleryImage; photos/gallery/downsampled/p1020596.jpg
&galleryTitle; Decaying Leaf
&galleryText;
	Taken in the fells while walking my dog.
	This was one of the last remaining leaves on the tree.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020619.jpg
&galleryImage; photos/gallery/downsampled/p1020619.jpg
&galleryTitle; Hazy Sun
&galleryText;
	I took this while stuck in traffic on the turnpike.
	This was a very hazy day, producing the halo effect.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020895.jpg
&galleryImage; photos/gallery/downsampled/p1020895.jpg
&galleryTitle; Candles
&galleryText;
	These candles were part of the center piece at our table.
	The normal overhead lights were on as well, but the fast shutter speed made them irrelevant.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1050354.jpg
&galleryImage; photos/gallery/downsampled/p1050354.jpg
&galleryTitle; Pool Side
&galleryText;
	This is a closeup of the side of a small pool.
	The tan colors come from a wooden frame.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040631.jpg
&galleryImage; photos/gallery/downsampled/p1040631.jpg
&galleryTitle; Wet Bulbs
&galleryText;
	Wet light bulbs after a summer rain.
	These illuminate the walkway of the Amtrak station.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050279.jpg
&galleryImage; photos/gallery/downsampled/p1050279.jpg
&galleryTitle; Figure Eight
&galleryText;
	The DEPTHX rover is just below the scene and the white wall is several meters behind this knot.
	I like the simple focus on a complicated object.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4778.jpg
&galleryImage; photos/gallery/downsampled/img_4778.jpg
&galleryTitle; Office Building
&galleryText;
	Clouds are reflected off this office building.
	I like the three distinct layers; clouds, interior and exterior.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1120472.jpg
&galleryImage; photos/gallery/downsampled/p1120472.jpg
&galleryTitle; Wooden Post
&galleryText;
	This is a wooden post near Amboy Crater.
	I like the interplay of straight vs curved, ordered vs chaotic, man-made vs natural.
&galleryLine;

&galleryEnd;
&bottom;
galleryPeople.html People
galleryPittsburgh.html Pittsburgh
galleryPlaces.html Places
galleryChile.html Chile
galleryUK.html UK
galleryMexico.html Mexico
galleryRobots.html Robots
&end;


galleryRobots.html
&title;
Dom's Page: Photography: Robots
&top;
Photography: Robots
&main;

&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040126.jpg
&galleryImage; photos/gallery/downsampled/p1040126.jpg
&galleryTitle; Solar Panels
&galleryText;
	A close up of the solar panels on Zoe.
	A light drizzle left these beads of water.
	You can see some refraction in the larger drops.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4334.jpg
&galleryImage; photos/gallery/downsampled/img_4334.jpg
&galleryTitle; Nomad
&galleryText;
	This is Nomad on Mascoma Lake.
	The ice was about 18 inches thick; enough to hold Nomad, our truck
	and crew.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1010209.jpg
&galleryImage; photos/gallery/downsampled/p1010209.jpg
&galleryTitle; Broken PTU
&galleryText;
	This is the top of Zoe's mast.
	The pan-tilt unit is broken and has been removed.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020109.jpg
&galleryImage; photos/gallery/downsampled/p1020109.jpg
&galleryTitle; Zoe and Moon
&galleryText;
	This was taken on a solstice.
	The setting sun gives a nice red, mars-like illumination.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1080634.jpg
&galleryImage; photos/gallery/downsampled/p1080634.jpg
&galleryTitle; Clementine at Night
&galleryText;
	This photo of Clementine was taken during coring tests.
	A diver is in the water in the top right.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1130141.jpg
&galleryImage; photos/gallery/downsampled/p1130141.jpg
&galleryTitle; Scarab
&galleryText;
	This is a shot of Scarab at Robot City.
	This was shortly before the big demo, a few days before the lasers were moved down from the mast.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1120090.jpg
&galleryImage; photos/gallery/downsampled/p1120090.jpg
&galleryTitle; Zoe and the Sun
&galleryText;
	This is a shot of Zoe's pan-tilt unit.
	I like the angle and the fiery sunrise.
&galleryLine;

&galleryEnd;
&bottom;
galleryConcepts.html Concepts
galleryPeople.html People
galleryPittsburgh.html Pittsburgh
galleryPlaces.html Places
galleryChile.html Chile
galleryUK.html UK
galleryMexico.html Mexico
&end;


galleryPlaces.html
&title;
Dom's Page: Photography: Places
&top;
Photography: Places
&main;

&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4358.jpg
&galleryImage; photos/gallery/downsampled/img_4358.jpg
&galleryTitle; Mascoma Lake
&galleryText;
	I went to Mascoma lake for the LORAX project.
	This is in New Hampshire, near White River Junction.
	The ice was about 18 inches think and heavily snow covered.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1070717.jpg
&galleryImage; photos/gallery/downsampled/p1070717.jpg
&galleryTitle; End of the Storm
&galleryText;
	A bit of sun shines down on Lake Ontario after a storm.
	This was taken from a high-rise near the shore in Toronto.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3706.jpg
&galleryImage; photos/gallery/downsampled/img_3706.jpg
&galleryTitle; Dark Woods
&galleryText;
	This is the final leg of a trail up a small mountain in Maine.
	It was a very foggy day, making the scene even darker than usual.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/img_3725.jpg
&galleryImage; photos/gallery/downsampled/img_3725.jpg
&galleryTitle; Lonely Tree
&galleryText;
	This little tree managed to take roof on the side of a cliff.
	It reminds me of motivational posters.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3753.jpg
&galleryImage; photos/gallery/downsampled/img_3753.jpg
&galleryTitle; Sunset with Boat 
&galleryText;
	A late summer sunset over Moosehead Lake in Maine.
	This is from the shore by the cabin we stayed at.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3778.jpg
&galleryImage; photos/gallery/downsampled/img_3778.jpg
&galleryTitle; Moosehead Lake
&galleryText;
	We hired a plane to fly us over Moosehead Lake in Maine.
	The speed and dirty windows produced this dreamy shot.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1120829.jpg
&galleryImage; photos/gallery/downsampled/p1120829.jpg
&galleryTitle; Grand Canyon
&galleryText;
	It's the Grand Canyon.
	It's amazing.
	As much as I like the photo, it's nothing like being there.
&galleryLine;

&galleryEnd;
&bottom;
galleryConcepts.html Concepts
galleryPeople.html People
galleryPittsburgh.html Pittsburgh
galleryChile.html Chile
galleryUK.html UK
galleryMexico.html Mexico
galleryRobots.html Robots
&end;


galleryChile.html
&title;
Dom's Page: Photography: Chile and the Atacama
&top;
Photography: Chile and the Atacama
&main;
&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030667.jpg
&galleryImage; photos/gallery/downsampled/p1030667.jpg
&galleryTitle; Rolling Fog
&galleryText;
	This is a spot where afternoon fog rolls over the Chilean coastal range.
	The fog was particularly strong that day and started early.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030431.jpg
&galleryImage; photos/gallery/downsampled/p1030431.jpg
&galleryTitle; Dunescape
&galleryText;
	A sand dune formed on the side of large hill.
	It encompasses the entire foreground while a sunset illuminates the nearby mountains.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4060.jpg
&galleryImage; photos/gallery/downsampled/img_4060.jpg
&galleryTitle; La Portada
&galleryText;
	La Portada is an eroded arch just off the Chilean coast.
	It is located north of Antofagasta, on the way to the airport.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010706.jpg
&galleryImage; photos/gallery/downsampled/p1010706.jpg
&galleryTitle; Desert Sunset
&galleryText;
	Sunset over the Atacama desert.
	The moon can been glimpsed in the top right.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010753.jpg
&galleryImage; photos/gallery/downsampled/p1010753.jpg
&galleryTitle; Foreboding Clouds
&galleryText;
	A strong weather front quickly covered the area in dense clouds.
	I got this shot as they started to sweep in.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010871.jpg
&galleryImage; photos/gallery/downsampled/p1010871.jpg
&galleryTitle; Road to Nowhere
&galleryText;
	A road in the desert.
	Ancient phone poles and washboarded roads betray the disuse.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1010925.jpg
&galleryImage; photos/gallery/downsampled/p1010925.jpg
&galleryTitle; Evening Bunkhouse
&galleryText;
	A long exposure shot of an dormitory entrance.
	We stayed in a similar one nearby.
&galleryLine;

&galleryEnd;
&bottom;
galleryConcepts.html Concepts
galleryPeople.html People
galleryPittsburgh.html Pittsburgh
galleryPlaces.html Places
galleryUK.html UK
galleryMexico.html Mexico
galleryRobots.html Robots
&end;



galleryUK.html
&title;
Dom's Page: Photography: England, Scotland and Wales
&top;
Photography: England, Scotland and Wales
&main;
&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_2947.jpg
&galleryImage; photos/gallery/downsampled/img_2947.jpg
&galleryTitle; Wild Flowers
&galleryText;
	Some wild unkempt plant-life in England.
	Even the natural meadows look proper over there.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_2956.jpg
&galleryImage; photos/gallery/downsampled/img_2956.jpg
&galleryTitle; Land's End
&galleryText;
	Land's End, the southwestern tip of England.
	There is a small sandy beach nearby, but most of the coast looks like this.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3078.jpg
&galleryImage; photos/gallery/downsampled/img_3078.jpg
&galleryTitle; Welsh Coastline
&galleryText;
	This is the view from the northwestern Wales.
	The hills are fairly low, but look intimidating as they reach the ocean.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3097.jpg
&galleryImage; photos/gallery/downsampled/img_3097.jpg
&galleryTitle; Mount Snowdon
&galleryText;
	The view from Mount Snowdon, the highest peak in England and Wales.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3108.jpg
&galleryImage; photos/gallery/downsampled/img_3108.jpg
&galleryTitle; English Countryside
&galleryText;
	A pastoral scene of the English countryside.
	Complete with grazing sheep, fertile land and rolling hills.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_3114.jpg
&galleryImage; photos/gallery/downsampled/img_3114.jpg
&galleryTitle; Imposing Valley
&galleryText;
	A typical view driving through the many glens and valleys.
	This shot taken from a moving car.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1060182.jpg
&galleryImage; photos/gallery/downsampled/p1060182.jpg
&galleryTitle; Miniature Island
&galleryText;
	This tiny island can be found behind a damn in northern Scotland.
	The damn is one of many	hydro-electric power plants that operate under
	the moto "power from the glens".
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1060186.jpg
&galleryImage; photos/gallery/downsampled/p1060186.jpg
&galleryTitle; Scottish Hills
&galleryText;
	The view from a small mountain in Scotland.
	Like its neighbors, this one is accesible only by hiking though tall grasses.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1060373.jpg
&galleryImage; photos/gallery/downsampled/p1060373.jpg
&galleryTitle; Mountain Road
&galleryText;
	This is a single-lane road through the hills of the Isle of Skye.
	It features steep drop-offs, blind turns and great views.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1060405.jpg
&galleryImage; photos/gallery/downsampled/p1060405.jpg
&galleryTitle; Flower and Mountain
&galleryText;
	Taken just off the road through Glen Coe.
	On a summer day you'll see families enjoying picnic in spots like this.
&galleryLine;

&galleryEnd;
&bottom;
galleryConcepts.html Concepts
galleryPeople.html People
galleryPittsburgh.html Pittsburgh
galleryPlaces.html Places
galleryChile.html Chile
galleryMexico.html Mexico
galleryRobots.html Robots
&end;



galleryMexico.html
&title;
Dom's Page: Photography: Mexico
&top;
Photography: Mexico
&main;
&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1080245.jpg
&galleryImage; photos/gallery/downsampled/p1080245.jpg
&galleryTitle; Cenote Zacaton
&galleryText;
	Zacaton is a massive thermal sinkhole.
	Floating islands have formed on the surface and the jungle creeps inward.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1080506.jpg
&galleryImage; photos/gallery/downsampled/p1080506.jpg
&galleryTitle; Cenote Caracol
&galleryText;
	Caracol is another sinkhole in the Systema Zacaton.
	Despite being one of the smallest cenotes in the system, it is thought to be the most biologically diverse.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1080565.jpg
&galleryImage; photos/gallery/downsampled/p1080565.jpg
&galleryTitle; Palm
&galleryText;
	A typical Mexican palm tree.
	This was taken in late winter, just before they start blooming.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1080585.jpg
&galleryImage; photos/gallery/downsampled/p1080585.jpg
&galleryTitle; Distant Mountain
&galleryText;
	A distant mountain peaks through the dense jungle.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1080847.jpg
&galleryImage; photos/gallery/downsampled/p1080847.jpg
&galleryTitle; Lazy River
&galleryText;
	This river is east of Systema Zacatone.
	This view is near the Gulf of Mexico, in the resort El Paraiso.
&galleryLine;


&galleryEnd;
&bottom;
galleryConcepts.html Concepts
galleryPeople.html People
galleryPittsburgh.html Pittsburgh
galleryPlaces.html Places
galleryChile.html Chile
galleryUK.html UK
galleryRobots.html Robots
&end;



galleryPittsburgh.html
&title;
Dom's Page: Photography: Pittsburgh
&top;
Photography: Pittsburgh
&main;
&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030941.jpg
&galleryImage; photos/gallery/downsampled/p1030941.jpg
&galleryTitle; Steeler Photo
&galleryText;
	This is in the parade after the superbowl victory.
	With packed crowds, this was the way to see the action.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020627.jpg
&galleryImage; photos/gallery/downsampled/p1020627.jpg
&galleryTitle; Wean Flooding
&galleryText;
	A water main broke on campus and wiped out the server room.
	This hydrant was opened to relieve the pressure.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040037.jpg
&galleryImage; photos/gallery/downsampled/p1040037.jpg
&galleryTitle; Saint Stanslaus
&galleryText;
	A cross atop Saint Stanslaus in the Strip district.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050692.jpg
&galleryImage; photos/gallery/downsampled/p1050692.jpg
&galleryTitle; Vintage Grand Prix
&galleryText;
	Taken at the Vintage Grand Prix.
	The car in the foreground broke down and pulled to the side.
	A flagger (inching into the shot) is waving the caution flag.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050494.jpg
&galleryImage; photos/gallery/downsampled/p1050494.jpg
&galleryTitle; LTV Flower
&galleryText;
	A closeup of a flower at LTV.
	It contrasts nicely with the out of focus flowers in the background.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1050468.jpg
&galleryImage; photos/gallery/downsampled/p1050468.jpg
&galleryTitle; Army Men
&galleryText;
	These toy army men are glued to the window.
	This 'art' was installed at a gallery in downtown Pittsburgh.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040121.jpg
&galleryImage; photos/gallery/downsampled/p1040121.jpg
&galleryTitle; Club House
&galleryText;
	This is the club house on the East side of LTV.
	The shot was taken with high zoom.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020590.jpg
&galleryImage; photos/gallery/downsampled/p1020590.jpg
&galleryTitle; Carnegie Mellon
&galleryText;
	This is a classic shot of the old part of campus.
	It was taken from the hills over Pitt.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040648.jpg
&galleryImage; photos/gallery/downsampled/p1040648.jpg
&galleryTitle; Pennsylvanian
&galleryText;
	Taken from the rotunda outside the Pennsylvanian.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1040890.jpg
&galleryImage; photos/gallery/downsampled/p1040890.jpg
&galleryTitle; Pirates' Fireworks
&galleryText;
	A shot of downtown Pittsburgh lit by fireworks after a Pirates game.
	PNC park is just across the river to the right.
&galleryLine;

&galleryEnd;
&bottom;
galleryConcepts.html Concepts
galleryPeople.html People
galleryPlaces.html Places
galleryChile.html Chile
galleryUK.html UK
galleryMexico.html Mexico
galleryRobots.html Robots
&end;


galleryPeople.html
&title;
Dom's Page: Photography: People
&top;
Photography: People
&main;
&galleryStart;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/img_4668.jpg
&galleryImage; photos/gallery/downsampled/img_4668.jpg
&galleryTitle; Beam Me Up
&galleryText;
	This was around noon in an abandoned warehouse at LTV.
	A hole for a fan allowed a big ray of light through.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1000059.jpg
&galleryImage; photos/gallery/downsampled/p1000059.jpg
&galleryTitle; Terrence Profile
&galleryText;
	This is a shot of Terrence at the sand courts.
	I like the green background.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1000086.jpg
&galleryImage; photos/gallery/downsampled/p1000086.jpg
&galleryTitle; Eric Diving
&galleryText;
	Terrence took this shot from a huge distance.
	Eric is diving after the ball and trying to "snow cone" it.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1000096.jpg
&galleryImage; photos/gallery/downsampled/p1000096.jpg
&galleryTitle; Brigitte Digging
&galleryText;
	Brigitte shows off her characteristic good form.
	That foot should be cropped out of the bottom left.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1000212.jpg
&galleryImage; photos/gallery/downsampled/p1000212.jpg
&galleryTitle; Ball to the Face
&galleryText;
	I didn't close my block tightly and "goal posted" the ball.
	I like the tensed muscles and motion blur on the ball.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020501.jpg
&galleryImage; photos/gallery/downsampled/p1020501.jpg
&galleryTitle; Laser Cutting
&galleryText;
	Eli is holding up a copper plate with a smoking hole.
	He just removed it from the path of high-energy laser beam.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020798.jpg
&galleryImage; photos/gallery/downsampled/p1020798.jpg
&galleryTitle; Paul Portrait
&galleryText;
	This is a headshot of Paul one winter.
	A freak heat wave allowed us to go outside in t-shirts.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1050537.jpg
&galleryImage; photos/gallery/downsampled/p1050537.jpg
&galleryTitle; Happy Than
&galleryText;
	Than has just finished knocking down a shed.
	The happiness and satisfaction really shows.
	The dirt and goggles remind me of hard-working steel workers.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1050712.jpg
&galleryImage; photos/gallery/downsampled/p1050712.jpg
&galleryTitle; VR Lauren
&galleryText;
	Taken at the Wood Street Galleries.
	Lauren is lying on a water bed and wearing non-functioning goggles.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1030696.jpg
&galleryImage; photos/gallery/downsampled/p1030696.jpg
&galleryTitle; Geologist in Fog
&galleryText;
	A geologist with rock hammer and clipboard.
	He is peering through fog into a deep ravine.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1020075.jpg
&galleryImage; photos/gallery/downsampled/p1020075.jpg
&galleryTitle; Me and Zoe
&galleryText;
	Chris took this shot of me.
	Zoe is visible over my shoulder in the distance.
&galleryLine;

&vertical;
&galleryLink;  photos/gallery/mediumSize/p1020318.jpg
&galleryImage; photos/gallery/downsampled/p1020318.jpg
&galleryTitle; Chris at MIM
&galleryText;
	This is a shot of Chris outside the MIM.
	He chose yellow, though other colors were available.
&galleryLine;

&horizontal;
&galleryLink;  photos/gallery/mediumSize/p1120485.jpg
&galleryImage; photos/gallery/downsampled/p1120485.jpg
&galleryTitle; Amboy Band Photo
&galleryText;
	Here is our band photo at Amboy Crater.
	That's Finch in the front left, Dave on the right and I'm in the back middle.
&galleryLine;

&galleryEnd;
&bottom;
galleryConcepts.html Concepts
galleryPittsburgh.html Pittsburgh
galleryPlaces.html Places
galleryChile.html Chile
galleryUK.html UK
galleryMexico.html Mexico
galleryRobots.html Robots
&end;


architectsLeap.html
&title;
Dom's Page: Architect's Leap
&top;
Architect's Leap
&main;

<table border=0 cellpadding=0 cellspacing=5>

<tr><td valign="top">
<img width=550 height=120 src="photos/architects_leap/1_if_youre_feeling_like_a_jerk.jpg" alt="[If you're feeling like a jerk,]">
</td><td valign="top">
8<sup>th</sup> floor
<h2>If you're feeling like a jerk,</h2>
</td></tr>

<tr><td valign="top">
<img width=550 height=120 src="photos/architects_leap/2_cause_your_project_just_wont_work.jpg" alt="['cause your project just won't work,]">
</td><td valign="top">
7<sup>th</sup> floor
<h2>'cause&nbsp;your&nbsp;project&nbsp;just&nbsp;won't&nbsp;work,</h2>
</td></tr>

<tr><td valign="top">
<img width=550 height=120 src="photos/architects_leap/3_go_ahead_and_take_the_leap.jpg" alt="[Go ahead, and take the leap,]">
</td><td valign="top">
6<sup>th</sup> floor
<h2>Go&nbsp;ahead,&nbsp;and&nbsp;take&nbsp;the&nbsp;leap,</h2>
</td></tr>

<tr><td valign="top">
<img width=550 height=120 src="photos/architects_leap/4_then_youll_finally_get_some_sleep.jpg" alt="[Then you'll finally get some sleep.]">
</td><td valign="top">
5<sup>th</sup> floor
<h2>Then&nbsp;you'll&nbsp;finally&nbsp;get&nbsp;some&nbsp;sleep.</h2>
</td></tr>

<tr><td valign="top">
<img width=550 height=120 src="photos/architects_leap/5_burma_shave.jpg" alt="[Burma Shave.]">
</td><td valign="top">
4<sup>th</sup> floor
<h2>Burma&nbsp;Shave.</h2>
</td></tr>

<tr><td valign="top">
<img src="photos/architects_leap/architects_leap.jpg" alt="Architect's Leap">
</td><td valign="top">
3<sup>rd</sup> floor

<p>
Here is the view lying face-up on the 3<sup>rd</sup> floor of Wean,
the terminal end of Architect's Leap.
</p>

<p>
The bottom of this stairwell is often "decorated" by students.
Although no one has actually committed suicide this way, a chalk outline was drawn.
People have dropped packing peanuts, computer equipment and anything worthy of being crushed under Gallagher's Sledge-O-Matic.
</p>
<p>
Several segments of the railing near the bottom are bent (for example, in the lower left of this image), presumably from the inevitable collisions.
And that person peering out from the fifth floor is indeed an architect, perhaps pondering why she chose that major.
</p>

<p>
In case you're curious; <a href="http://burma-shave.org">Burma-Shave</a> produced shaving cream and advertised with roadside jingles.
These jingles were split into a series of signs and placed along roads.
The rhyme usually referred to shaving or driving and the final sign was always the company name.
</p>

<p>
Here's a typical jingle:
"Late risers! Shave in just. 2 minutes flat. Kiss your wife. Grab your hat. Burma