false precision

FIRST Robotics Competition – Colorado Regional

For the past several months Monarch High School has been working on their entry for the FIRST Robotics Competition.  Darby is finishing her freshman year of high school and is on the team that designed and built the robot for the Monarch Shazbots (their team name). 

Darby Wearing Nerdy Goggles in the Robot Paddock

This weekend was the Regional Competition at the Denver University's Richie Center.  I went down to see a couple heats on Saturday morning and the place was hopping. 

Panorama photo of the Paddock and Competition Floor

The event floor was cut into two pieces the first was the robot paddock where the teams could make final tweaks (and more than a few repairs) on their robots when they were not running.  The other side was the competition side where teams of robots would compete for points in a variety of ways while traversing an oval track. 

The Course

The course is a 54'x27' track divided by a fence into a Red side and Blue side.  The fence is crossed by an overpass marking the red and blue finish lines.  Two three-team alliances race around the track in a counter clockwise direction manipulating "track balls".  The track balls are large balls that sit above the track level on a grid at the start of the challenge.

The game is made up of two scoring periods.  The first 15 seconds of play is the hybrid period in which robots are autonomous.  During the Hybrid period, robots traveling in a counterclockwise direction score 8 points for knocking down a ball or tossing a ball over the overpass, 4 points whenever their robot crosses a line on the track and 2 points whenever their trackball crosses their finish line. 

The next two minutes of play the robots are controlled via remote control by the team members.  In this phase the team scores 2 points each time their robot crosses their finish line and 8 points whenever their trackball passes over their overpass.  In addition a 12 point bonus is possible if the robot can place the ball on their overpass at the end of the session.

Monarch Robot Running the Course

The Monarch robot like most of the others was amazing to watch.  In the video segment above you can see the robot during the remote controlled part of the run navigating the track and using its sliding arm to push track balls off the overpass.  Some of the other robots at the competition could reach up and grab track balls and as well as place them back on the overpass.  Ultimately, the robot that won the entire competition could pick up a ball off the ground then launch it 20 feet clearing the overpass entirely. 

Robot Guts

These things were really complex.  I don't have super detailed information on them but everyone uses the same micro-controller and some basic parts.  But after that the design is totally their own and many design types were evident.  Some robots used a crab drive type mechanism; others had multiple sets of fixed wheels with differential drive wheels.  Some robots used pokers to move the balls, some had fully articulating arms.  It was amazing to watch.  Makes me really want to build a robot :-)

In the end, the Monarch team finished 20^th out of 42 teams and didn't advance to the finals on Saturday afternoon (just barely).  The winner ended up being a group from Winnebago Indiana, Winnevation.  They had the robot that could throw the ball 20 feet.  They clearly won (I can't throw that ball 20 feet).

I'm happy Lura and I donated some money in the name of Lijit.  All the major sponsors were commemorated on the back of the student Tee-Shirts.

Sponsor Recognition

As you can see Lijit is having our usual naming difficulties.  I know it's hard for students to spell words wrong (they need to spend more time out in the dot.com world).  I really want to thank Amy Batchelor for contributing to the team as well.  She seems to hanging out these days with some new dude named Brad Field, I bet he doesn't have a bathroom named after him, like Brad Feld does.

I was also surprised to see that Raindance Communications was one of a handful of Event Sponsors.  It's nice to know that they are giving something back to community in spite of ownership being somewhere else now.

I think Monarch was proudly represented and I think im going to try to get more involved next year.  It's just too fun not to be!

Animoto Full Length Test

A week or so ago I gave Animoto a shot after seeing them at SXSW.  It was pretty cool but the free 30 second try out seemed a little short to get a feel for what was possible.  I shot them a note and they were cool enough to give me a full length video credit.  Saturday night Lijit was doing a infrastructure upgrade so I had some free time at the computer waiting to test.

I specifically didn't want to "over think" the creation of the video as I think the real power here is to pick a song, click a bunch of photos and let it do its thing.  There are a lot tools you can use to make these kinds of videos if you have a lot of time (and talent) but there are fewer services that can do the heavy lifting automagically and leave you with something cool as a result.

So, in keeping with "keep it simple", I clicked about 70 photos or so from our trip to Paris last year and a song from my MP3 library for the Sonos and let Animoto do its thing.  It probably took Animoto about 40 minutes to put this together, with no help from me.  Notice the cool way it syncs the beat of the song with the photo changes.

 

I'm pretty impressed.  Not sure about $30 a year, still getting my arms around that one.  Let me know what you like and don't like.

I just crossed the 20,000 photo mark, do you backup?

For a long time I have been thinking about digital backup.  In fact, years ago, when I was still CTO (err- trapped) at Raindance, I researched an idea to create a service to do distributed backup of content to the internet.  Not to a single location such as a datacenter, but rather to hundreds of other computers like me that also had digital assets.  For a long time I have realized the volatility of keeping all my life breadcrumbs digital.  About 5 years ago, I installed dual NAS drives at my house to keep exact copies of everything important.  I make CD's and DVD's occasionally to put in our Safe Deposit box.  It's a pain, and a bit hit or miss.  I know, there are backup services you can buy online.  But let's be clear.  They suck and don't support the amount of storage I need.  Why not?

It came up the other day at work and I revisited the idea.  I described how I thought it should work, taking all my digital assets such as photos, videos, etc – breaking them into tens of thousands 'hunks', encrypting them and then scattering them to other peoples computers for storage.  Then when the inevitable catastrophe happens, I simply recall the parts and reassemble them into my files. Mike at Lijit refers to the concept as backup-torrent..  A pretty good name for those of you familiar with the bittorrent stuff for downloading huge media files.  The concept with Backup-torrent is that everyone has more disk then they really need, so just devote part to backup-torrent and everyone is covered (for free) given a little clever software.

 

It's such a natural idea.  The other night I downloaded the trial of Adobe Lightroom to try.  One of the cool things about Lightroom is that you can just point it at your digital photo directory hierarchy and it will use them in place.  I like this because I hate software that wants to "manage" my collections of "stuff"..  So, I pointed Lightroom at my photos and watched it proceed to index my photo collection.  To my amazement, our photo collection has now grown to over 20,000 photos of the Vernon family.  I guess this makes sense as all our photo taking has been digital since around 1998..  Somehow it only feels like about 3 years, but ummm – I guess it's been 9 years.  This doesn't include over 10 years of video.  While not as omnipresent as photos, video takes a huge amount of space on my Mac and is currently not backed up at all digitally (I have the original tapes)..

As we talked, I went through my mental notes of why I couldn't get my mind around the idea as a business.  When I was thinking about it daily, I would ask a lot of people about their digital photos, etc..  I asked them if they backed them up or not.  Almost universally among people not technical, none did.  When I asked if they would pay $2 or $3 a month to back everything up magically, they would say NO WAY.  Then if I asked what they would feel like if their computer were stolen or lost, taking all their photos with it they would say… "ohhh, that would suck, it would be a total catastrophe".  Then I would ask again if they would pay some modest amount each year to keep this stuff safe.  They would say no…  WTF?

Ultimately, this is what made me drop the idea..  I still, to this day, can't rationalize the answers, but they were highly consistent among average people with actual photo collections.  They wouldn't pay to have it guaranteed to be safe, but would be devastated if it was lost.

I suppose since initially considering this problem some things have changed out there in the world.  For one, flickr was born.  Now people upload a lot of photos and store them for free online.  Perhaps this is the ultimate resolution to the backup problem – maybe your camera should just upload directly to a service.  Maybe you just buy a camera and never 'do' anything, your photos just exist somewhere – out there.  Others assume the responsibility in order to sell you things surrounding your photos that the average person can more easily value.  Is this an example of the problem getting solved in a totally unexpected way?

What do you think?  Do you make copies of your photos?  Do you make offsite copies? If flickr just the answer, end of subject? 

 

The Importance of Metrics

One of my many take-aways from Raindance was the importance of collecting statistics, figuring out which ones matter to the business, and then tracking them. Early on at Raindance we decided that conferencing minutes in a day was a critical statistic to manage the business by. This was a good statistic, even after we went public because we could communicate it to the employees without disclosing revenue (Sarbanes Oxley you know). We put a giant tote-board in the main stairwell of the building so everyone knew how many minutes we had supported in real-time.

To get employees pumped up we started having what we called Doubling Parties. Every time our minutes in a day would double we would have a party, and do some shots to commemorate the historic event. I believe the first party was sometime in 1998 where we celebrated 25,000 minutes in a single day. Over the next 8 years we had parties at 50K, 100K, 250K (wanted to keep the drunken math straight), 500K, 1M, 2M, and 4M.. The 4M minute party happened shortly before I left the company which was a nice little going away.  As I recall the minutes would double at fairly linear intervals, like a good startup should.

Well it wasn’t a double, but it was significant that yesterday the crew at Raindance crossed the 5M minute a day threshold.

This photo was taken just seconds before the historic event. The people at Raindance are first class and should be proud of their accomplishment. It’s not easy to build a company that can handle that kind of traffic day-in and day-out, 24x7.

Here at Lijit, we have been tracking our statistics since the beginning. At first it was hard to find the data for the noise as will happen early on. Now, some interesting trends are starting to develop that I will share in upcoming posts. It has become clear however that the major number we can control is "wijit" views. This is the number of times a search box is presented to a person on a web property of some sort. In order to ramp things as fast as possible we did the Feedburner partnership to get as much exposure as we could. 

Between our own organic growth and Feedburner, we currently present a search ‘opportunity’ over a million times a week across the Internet. That’s pretty cool.

Still figuring out the shot metric!

Vista, OSX - Allow or Deny

I have been under-going several OS modifications lately.. I bought a new Mac at home where I run OSX. I find it’s actually a pretty nice environment. I am still tied to the MS Office suite for some things so I installed Parallels on OSX and then installed Vista in parallels. It all works pretty well although you don’t seem to get the cool vista animations when windows open, etc.

At work I installed Vista over XP on a box that is only 6 months old. It worked pretty well but has a few issues. Like most things in the windows world the OS expects me to understand the entire driver stack which is comically ridiculous.

Here is what I mean.. Vista is mad about “DLC Sonic Solutions” driver.. Ok, what the hell is that? Even better, you can’t get out of this loop where Vista wants to keep talking to you about it..

 

If you select “check the solutions center” it tells you it has no idea what it is and please go away. If you select “Cancel” then a little bubble help thing pops up. When you dismiss that you get the top dialog box again.

The thing that makes it so humorous is its exactly what Apple pokes fun at in their newest Mac Guy / PC Guy ad.. Nothings funnier than the truth..

 

At the end of the day Vista is pretty cool. But what’s with the RSS gadget for the desktop. You can only add Microsoft feeds to it? That’s ridiculous, and completely useless to me.

Office 2007 is the cooler part of the entire thing, it is actually better without being stupid. If I could just get a non-hobbled version of Office on the Mac, that would be exactly what I need.

Search, Re-search

I have been doing A LOT of research with regards to Internet Search over the last couple weeks.  There is an amazing amount of information available. One thing that becomes crystal clear is why Google is making giant piles of cash everyday..

The Global Market for Ad placement in Search is currently in excess of $7B annually.  Wow, as a good friend once said, you know your market is correct when it ends in a B. 

Statistically if you are a consumer you will give up really fast if you don’t find what you want, maybe a search query or two, and you almost never look at page 2 of your results. 

If you are doing research for work, you typically will search for quite a while, often a half hour or more.  And if you don’t find your information, Mr. Researcher, which happens the majority of time, over 50% of you, are confident the information is out there. (you just can’t find it).

And that age old wives tale about only 10-20% of internet is indexed by search engines appears to be true, or at least globally believed.

I have also ran across some statistics about how many search sessions you have in a month.  A search session is defined as “a something” you are trying to find.  Take the quiz below because I want to test this number…  I’ll let you know how the poll comes out.

(note: Majik Widjet below doesn't cope well with NATing routers, so if one person from an enterprise of say 100,000 user votes, then you won't be able to vote.  Sometimes the Majik is there, sometimes its not).
 

Open letter to DirecTV

I have been a loyal customer of DirecTV since 2000 when I moved into my current house.  Today, AFTER getting an HD upgrade I'm turning off service.  It actually became a matter of safety (did I just type that?)..

Through the years I bought 4 DirecTV TIVO’s and have been very happy with the service and the picture.  When the DirecTV / TIVO relationship fell apart I looked the other way and dealt with it.  I really wanted new TIVO software but the image quality of DirecTV was good and the interface on my aging DirecTV TIVO’s was still far superior to the unconscionable Comcast DVR, when it worked.

However, recently a series of events unfolded that were simply unparalleled in my history of service based businesses.  Those few who follow my blog will know I have been in search of an acceptable HDTV experience since the beginning of the year.  For a long while I subscribed to both Comcast and DirecTV .  This allowed me to try different configurations.  As the months unfolded it became clear there was only going to be two viable choices.  The first being DirecTV HD DVR with the new HD Locals in the Denver area, and the second being the expensive TIVO Series 3 on Comcast.

Being a happy, in fact ecstatic, DirecTV customer I went to great lengths to get my hands on one of the first new DirecTV HD DVR’s.  Even though it didn’t have the TIVO interface I was resigned to the favorable economics and what was surely the superior technology involved.  I called DirecTV and scheduled the upgrade to my Dish and multi-switch required to make the new HD Locals work.  As it turns out, DirecTV has regional contractors that do all the installs for them. 

Here is where I take a short break in the story……….

Cut to a board room somewhere deep in Englewood Colorado, not far from where I am writing this.  It’s at least 18 months earlier.  There are VP’s and product people present.  They are all hearing a pitch that a new Satellite must be launched into orbit that will allow DirecTV to broadcast local HD stations into multiple markets.  These new birds will downlink everything in MPEG4 and require all kinds of new infrastructure on the part of customers.  At the end everyone claps and a new bird is launched and what has to be something like $300M is allocated to this effort, and everyone feels good.

Back to present day…..

So, I call DirecTV and then dispatch Ironwood Communications to come out to my house.

The first Install Date…

Dude shows up, spends 5 hours at my house.  Can’t get the DVR to work and asks me what stations I should get.  I tell basically ALL OF THEM and then explain I have to go to a meeting but he is free to stay and work it out.  He says no problem.  I leave the house, come back in 30 minutes.  He has left the house with not only the new stuff not working, but he has broken the rest of the system. 

The second Install Date…

I call DirecTV and they apologize for the people that hold their customers in the palm of their hand.  They tell me they will send the same idiot back to my house in “about a week”.  I explain that this is unacceptable.  They are sorry.  I ask for the Ironwood number and after some negotiation they give it to me.

Official Ironwood Installation Vehicle

 

Several days later a professional Ironwood installer shows up in his company issue van.  He is going to fix everything.  He spent 2 hours at my house and explains that the multi-switch they installed is partly broken, “but works good enough”, and “fixes everything”. 

Except its not fixed, the new DVR only half works, some channels come and go, and the second tuner doesn’t work. 

The third Install Date….(attempt)

My wife calls Ironwood and attempts to get an installer back out.   The installer refuses to come back out to the house and hangs up on my wife. He says the DVR is broken.  She calls DirecTV and they make the local Ironwood “moron” call back.  At this point he is uncomfortably, (read scary) rude and hangs up again….

So… I call DirecTV and explain that I can’t get anything to work and the installer has turned DANGEROUS.  (I can’t believe I just typed that).   They tell me they want to get it fixed right away and they need to send the installer out.  They also tell me that installers don't like to come out more then once because DirecTV only pays them for the first visit on upgrades.  Ok, that’s not happening, there is no way this guy is coming back in my house (I can't even keep him on the phone)..  I convince DirecTV to send me a new DVR, they do (after 45 minutes on the phone).   I get it, install it, doesn’t work.  (remember the broken multi-switch).

Cut back to the DirecTV boardroom, 18 months earlier..

Do you think that during the presentation to the executives at DirecTV about launching $300M local HD Service they thought they would actually LOSE customers with it?

Back to present day….

Last week I installed 3 TIVO Series 3’s on Comcast Cable.  Total cost to me around $3,000 (I REALLY can’t believe I just typed that).  The DirecTV service and boxes would have been around $300 out of pocket to me.  BUT I elected to spend 10 times that amount.  And frankly I could not be happier.

Today, after 6 years of being a happy customer of DirecTV I’m turning off the bird, AFTER you guys spent the money upgrading my dish.   

What the hell are you guys thinking?  If you don’t own the customer you own NOTHING.  Some guy named Earl has your BALLS in his hand and is squeezing them…

I bought some TIVO stock today.  It’s depressed and their DVR is expensive.  And, in my opinion they will save Comcast.  Goodbye DirectTV.

FP…More on the Comcast DVR

A few days ago I wrote a post about how Lura and I came up with a pet name for our Comcast DVR. A friend of ours sent me an email the other day about how his Comcast DVR has other “modes of operation" that are different then ours.  His suggestion was that a blog format is inappropriate for this kind of ‘dynamic’ discussion and maybe a wiki is more in order.

His observations are as follows..

1. While watching a recorded program, the program freezes as if you paused something.  Sometimes it resumes in 3-5 seconds, sometimes 30 seconds, sometimes never.  It depends on the phase of the moon.  Pressing live TV or any other button either does nothing or leads to #2.
2. The DVR doesn't like to be wasteful when executing commands from the remote control.  Therefore, often I try to do something (pause, FF, change channel, whatever), and it waits for 30 or so commands, queues them up, and after 3 minutes, starts executing every one, then usually locks up completely due to overload.
3. Unlike my TV, stereo, and DVD player, the remote must be point directly at the DVR from a distance of no more than 3 feet, otherwise #2 is even more likely.
4. Occasionally, usually after the TV has been off for a bit, but the DVR on, the nice lady that gives previews in the upper right while on the "on demand" screen, appears in two windows, one in the upper right quadrant, and on in the lower left. and the windows are differentsizes.  There's a black background and that's all that appears on the screen, and usually #1 or #2 follows this scenerio.
5. When watching an on demand movie, you must plan your pauses ahead of time, and make sure follow #3... after pressing pause, or rewind/FF, the movie continues to play and ignores you for about 10 seconds, then executes the command(s).
6. Don't even think about using the hdmi out, especially through a stereo.  You either get the black screen of death with sound, or a picture with no sound, but never both... and you can't predict which you'll get upon connecting the unit.  Getting audio and video via hdmi exceeds the capabilities of this unit.
7. When scrolling through the TV "guide," there are two speeds.  First gear is to move one line with every click.  Second gear scrolls through 890 channels in about 2.2 seconds, creating a blur except for the first digit.  I've found neither to be useful.

FP…We renamed our Comcast DVR

Since the Comcast DVR came to our house about 3 months ago, Lura and I have come to know it by a pet name.  We call it “Piece-of-shit” or POS or short.  It’s a term of endearment that we use.  Who knew we could build such an emotional bond with a little box.

What gives “Piece-of-shit” such a unique personality is all its “modes” of operation.  Much to my astonishment it does many more things then Comcast told me in its advertisements.  It truly is Comcastic!!

Here are just a few “additional modes of operations” that POS has.

1. Random lockup mode. The POS will at times just go out of its mind and stop responding to the remote.  To leave Random lockup mode, climb behind media cabinet and unplug POS.
2. Brain Dead Mute Mode.  If you turn the POS off (not sure what that means) and a recording is due to start.  The POS turns itself on in Brain Dead Mute Mode where anything you try to do with the remote results in a dialog box saying recording will be canceled.  The screen will also say “mute” at the top making it impossible to at least “watch” what its allegedly recording.  This mode is amazing stupid and I have no idea why this would exist when it can record a show while watching another if the unit is “on”.  The really amazing part of this mode is appears to be intentional.  Hell maybe they all are. 
3. Mystery Black Screen Mode.  POS has what I call “Mystery Black Screen Mode”.  This mode results in only a black screen when you try to play anything previously recorded. A friend of mine “cracked the code” on how to make it stop doing it.  Go to live TV, watch something, then cancel and about 80% of the time you can now watch recorded shows.
4. Green pixel band mode.  In this mode POS puts crazy green pixel stripes all over the screen.  A known way to get into this mode is to “enclose” POS in a cabinet smaller then a three car garage.  It appears that the Comcast POS requires approximately 8000 cubic feet of constantly moving air to keep from overheating and melting into a puddle of goo.  The only known solution is to unplug the box and reboot.
5. Can’t talk to the network mode.  This mode happens when you try to get a list of pay-per-view movies.  POS exclaims it can’t talk to the network and “if this condition persists” then call someone who cares.  Which you come to find out is no one.

I will post more endearing modes of our little POS as we find them.  These were just the ones that happen about every week.  I’m sure we will continue to be delighted with new tricks our little POS learns in the coming months.

FP..on HDTV First Quarter Report

HD Upgrade 2006 - First Quarter Report : As I wrote a while back the Christmas of 2005 was the year of the large screen TV upgrade.  I decided to buy a new 50 inch plasma screen, upgrade to Comcast HD and get into the entire home theater surround sound deal.  I thought I would report back on the general state-of-the-state with regards to HD in Colorado….

Two things had kept me from making the leap in previous years.  First; the quality of standard definition images on a screen 50” or larger, and Second; the amount of HD programming available.  As I would learn there are other lurking problems…

First the Screen.. My Pioneer plasma screen is without a doubt an excellent piece of electronics.  My neighbor (who I refer to as the Media Gear Market Mavin) had done a summer-of-research and arrived at the 1130HD as the best screen for the money.  After he received it I spent some time watching it with both HD and SD signals and was impressed.   After having the thing for 3 months now, I have to say the image quality of HD and SD signals is amazing.  This thing has some impressive line doubling technology that at time makes you ask, is this HD or SD? My conclusion is Plasma is ready for primetime.

Second the Network…  How about DirectTV ? We have had DirectTV for about 5 years and I have to say we have been completely happy with it.  When we decided to go HD  I naturally looked into the DirectTV HD Package.  As it turns out, in Denver, you can’t get the network feeds(NBC, CBS, ABC, FOX) in HD.  Well, that’s not exactly true.  You could technically get the HD network feeds from say NY or CA but they won’t let you.  You can get the SD network feeds from the local Denver stations.  Hmmm… what the hell is going on here?   A large portion of the programming of THE MOST WATCHED networks is in HD and DirectTV simply can’t give it to you.  Well, you can actually get them to if you have your bills sent to a CA address and lie to them where you live (they have no idea where the equipment is).  I haven’t yet gone this route but the year isn’t up yet.   

So for those keeping notes, if you live in Denver the DirectTV HD package is like HBO and two other channels you don’t care about.. nice.  I kept my DirectTV subscription for now, because Comcast is out of their mind in a different way…

Hmm, How about Comcast… So, with a total DirectTV failure under my belt I went over the Comcast.  I have been using Comcast for Internet for about year and it generally works pretty well (except they have 4 DNS servers for all 1 billion subscribers).  I quickly find out that to get the 3 local network feeds in HD, you have to buy like $125 worth of other stations I will never watch.  Well…I would maybe watch them if the Comcast hardware were not a total train wreck (more about that later). So in the name of trying everything I signed up for crazy cable..

Third the DVR… This is where I began to understand what a total mess this entire deal is.  We are a Tivo family.  We have at least three Tivo’s in service and a retirement stable of other Tivo’s that are now out to pasture, that we simply have run the wheels off.  We don’t watch anything live, nothing….at all…..ever.

So the first thing you have to come to grips with is there is NO Tivo currently that works on Comcast and is HD.  Second, The Tivo that does work on DirectTV in HD is like seven revs back in Tivo software and isn’t going to be upgraded.  Tivo has a cable HD box, the series 3 that is suppose to be out this year “some time”.  But after working with Comcast, it is abundantly clear that Comcast will do everything in its power to not put it on their network.   

So… if you live in Denver, and want to record local HD network feeds, you are subscribing to the Comcast DVR.  Don’t even get me started on the “Cable Card Standard”, I tongue-in-cheek believe that this standard is simply an illusion created to sell TV’s with more features.  Comcast hates Cable Card and wants to kill it.

Now, for those that have not tried the Comcast DVR, it sucks.  It has about 10 minutes of storage on it (I think it actually deletes programs as it records them for lack of space).  Its other redeeming feature is it runs about the temperature of the sun.  If placed in any cabinet less then the size of a room it will overheat and melt into a puddle of goo.  This box is a total embarrassment.  If I worked at Motorola on the team that gave birth to this abomination I would simple tell people I worked in the cell phone division..  I won’t even get into the freezes, freak-out’s, hosed menu system, constant pixelization, etc..

So.. what we ended up doing, and I can’t believe I’m even saying it..  We kept both the DirectTV with SD Tivo… and… Comcast crazy cable with the Comcast DVR (we only use it for HD programming, and then only when it works).

We are now one quarter into the grand experiment..  I have to say I have not arrived at a final solution.    I’m going to keep running in this mode until either Tivo gets their series 3 working with Comcast (good luck), or DirectTV can get me HD locals (or any network feed)… or Denver finally builds their HD antenna array…