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Ramon is a bipedal robot like Robosapien, but it came in at a lower price point, around $60. Ramon is not programmable, it has a lot fewer features than Robosapien does, and it is nowhere near as smooth and refined. But it is a good example to look at since (at least as of this writing) it is the only other battery-powered bipedal walking robot on the market. Like most toys, Ramon is absolutely not made to be hacked. I think I could get it apart, but not without damaging it fairly badly, maybe irreparably. For one thing, there are no connectors; everything is soldered. Figure 12-9 shows how far I was able to get the main processor s PCB out of the robot until I got worried that I was going to break one of the connections or solder joints. To get it completely out, and continue disassembling the robot, you would either have to cut or unsolder the majority of the connections. Figure 12-9. This is about as far as I was able to get Ramon apart, without using substantial force.

This separate software program is called the database management system (DBMS). There are many types of database management systems available, varying in terms of the following characteristics: Price Ability to implement complex information systems Supported hardware environment Flexibility for application developers Flexibility for end users Ability to set up connections with other programs Speed Ongoing operational costs User-friendliness

The core of any DBMS consists of the code that handles physical data storage, data transport (input and output) between external and internal memory, integrity checking, and so on. This crucial part of the DBMS is commonly referred to as the kernel.

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Firstly, you must create the return value and data structures to hold the metadata for your image. cvCreateImage() initializes an image header and allocates a contiguous array of pixels. The size and structure of this array depend on how many color channels and bits per channel are used. Here you will use a general 4-channel (RGBA) image with 8 bits per channel. It is the least space efficient but most flexible way to store an image.

So while you might have some trepidation about taking apart your $100 toy, fear not. The Robosapien is absolutely designed to be taken apart, modified, and hacked. A great example of this came in one of my discussions with Mark Tilden while I was doing research for this book. He was showing me a slide show presentation about the development of Robosapien, much of which ended up becoming 3 of this book. All of a sudden, a large group of kids playing with Robosapien pops up on the screen. The next slide showed a bunch of nerdy guys in white laboratory jackets; how you might imagine a group of research scientists would look like. Mark explained each slide as follows:

Another important task of the DBMS is the maintenance of a data dictionary, containing all data about the data (the metadata). Here are some examples of information maintained in a data dictionary: Overview of all entities and attributes in the database Constraints (integrity) Access rights to the data Additional semantic explanations Database user authorization data Application data

CGImageRef imageRef = image.CGImage; CGColorSpaceRef colorSpace = CGColorSpaceCreateDeviceRGB(); IplImage *iplImage = cvCreateImage(cvSize(image.size.width,image.size.height), IPL_DEPTH_8U, 4);

Each DBMS vendor supports one or more languages to allow access to the data stored in the database. These languages are commonly referred to as query languages, although this name is rather confusing. SQL, the language this book is all about, has been the de facto market standard for many years.

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