Red Lines

By Chris McCarthy


The cop in the front seat was coughing. A guttural sickly cough, the kind that gives you pause. Leo had no idea what was going on. He looked through the windows, he wasn’t even belted in the back of the car, much less cuffed. He wasn’t a prisoner. His mind was finally ready to start processing how he got there, where they were going and what was going to happen when they got there. In his gut he sort of already knew. 

Another rough coughing fit, then the cop leaned over and searched with his free hand under the passenger seat. He pulled out a small square microfiber gun cloth and, still looking out the windshield with his deeply bloodshot eyes, handed it over the seat back to Leo. 

Leo looked up, confused, and locked eyes with the cop in the rearview mirror. 

“For the blood,” the cop said before looking away to make a quick lane change to get onto the 405 freeway heading south.

Leo looked down at his hands and saw the fresh red blood on the knuckles of his left hand. Most of it wasn’t his. The pain set in as the shock wore off. 

——Ninety Minutes Earlier

The two women were deeply concerned. Well, the one was. Her son, Adam, is sixteen years old, and has a lot of friends at the nearby high school. He’s not necessarily a heartthrob, but he does ok. OK enough that he has things to do other than attend class. Things that, yes, sometimes involve girls. The mother of the boy wanted this in the conversation, as if she pulled it out as an imaginary item and sat it on the table for the two of them of them to consider. The one woman who wasn’t as deeply concerned said she thought if Adam could get in this summer at one of the chemistry labs nearby for an internship, he might be able to hold that internship the following year and it will look good as a long term “extracurricular” on his college applications. The concern of the mother was palpable and she was clearly paying the slightly less concerned woman for this advice. 

It wasn’t the first time Leo had heard this conversation. This was Manhattan Beach, one of the richest enclaves in Los Angeles. The mother was telegraphing Torrance or Redondo Beach, which meant that she would fight even more for the things the people in her community deemed were the steps to a good life. The people just outside of the circle were the ones with the sharpest claws. Leo could relate. He’d always just been right outside of everything, an observer, close enough to the warmth to have the capacity to miss it. He’d overheard similar conversations recently. These education consultants who billed $200 a session and could supposedly plan your teenager’s (sometimes the planning started sooner) path to college—a UC and possibly a minor Ivy League school or respected school like University of Michigan. Fuck, even Long Beach State was starting to get hard to get into. 

As Leo sat in the expensive coffee shop just off a busy street in Los Angeles, frustrated with his robot script he looked out into the parking lot, staring at the late model silver Honda Civic, a car about as exciting as the backside of a thumb. And admittedly, like a thumb: useful, practical and allowing for all kinds of possibilities, but really fucking boring. He knew he was being particularly harsh to the make and model of car because its owner was fucking the girl he loved. Or used to love. Or… It was confusing. The uncomfortable thought that he didn’t really understand his true feelings and probably needed to spend more time untangling them and examining them in greater detail bubbled up, but he pushed it away just as quickly. 

Asher, the guy fucking Leo’s girlfriend—ok, ex-girlfriend, Leo would allow—worked at a soulless Citibank branch on the westernmost side of the shopping center, just off the perpetually busy westside LA artery Sepulveda Boulevard, which just a few miles down the road in either direction was known by its more famous name, Pacific Coast Highway. Leo’s table faced the front of the coffee shop with its ceiling to floor windows, giving him an unobstructed view of the bank’s employee parking lot. 

Leo had been coming to the coffee shop every morning for a week. The day Celia left him, which was sixteen days after they had signed a lease on a two bedroom apartment in Torrance, and twelve days after delivery of a new dresser and new bed, still in the boxes, Leo found a wet and bent business card in the bathroom trashcan underneath the bag, grimy and stuck to the side. Leo noted that a cell phone number was written in blue ink on the card—this was something beyond a business card hand-off. He flashed to a vision of Celia in the bathroom, the door locked, smiling breathlessly as she sent an illicit text message to the person possessing the name on the business card: Asher Williams, Citibank Location 103 Branch Manager. 

Celia had told Leo she was staying at her friend’s apartment in Pasadena, a white lie so easily debunked that her lack of effort in covering her tracks hurt him to his bones. 

He felt another similar pain, this one was in his chest for some reason, as he sat in the coffee shop looking out the window, the still powerful heat of the sun on the mid-November day warming his face. Not that he felt it.  He felt… nothing, maybe. That felt dramatic to think. But it also felt accurate, he thought as he watched a crow inspect a discarded Fat Burger wrapper in the parking lot before flying away…

When out of nowhere Celia walked up to the car… Leo wasn’t sure if his mouth dropped open. The look on her face. The way she walked, head up high, already wearing a half-smile in excitement. It was a punch in the gut. Seeing her so… happy. 

A moment later, Asher walked out the front of the bank towards the car. They embraced and kissed then walked over to Chipotle. A cheeky little lunch date—a bank manager and a paralegal. How fucking cute. Maybe the kid will go to Long Beach State.

It’s the ease of the hug, the kiss, the holding hands, the opening of the door for her that hit him like a splash of ice cold water to the face. The familiarity. Leo considered himself a student of human nature, often finding himself at a library in the middle of the day reading some new book on anthropology or social sciences, so…

How long has this been going on? He asked himself or rather tortured himself with the question. 

Much longer than she admitted. Why she had destroyed him, lied to him, he had no idea. Couldn’t pinpoint one thing. Sure, they had had problems. His career hadn’t taken off the way he thought it would with his talent. And, sure, he had been fired almost exactly a year ago, but the guy who fired him was an asshole with an axe to grind who didn’t understand what marketing really is, the nuance of it, the time it takes… No, none of it was Leo’s fault. He could hang his hat on that. Besides, Leo was an artist. This was an extended rough patch. A rough patch with no sex for the last six months. How long had she been with this guy? Suddenly, moments where Celia avoided Leo’s touch flashed in his memory and he desperately tried to reach out to dates on an invisible calendar in his mind.  

Leo was reminded of the paranoia of the Bill Withers song Who is He (and what is he to you?) where the listener is in the POV of a man walking with his girlfriend as they pass someone who is more than just a passerby to the woman. 

Leo waited for thirty eight minutes, and they finally came out of the restaurant. In a quick fluid movement, Celia got up on her tiptoes and kissed Asher. Leo watched her familiar walk then lost her as she passed around the side of building to the west side of the parking lot, presumably to her car. 

Leo looked at his untouched six dollar iced Americano with oat milk sweating in the sun and felt a heat in his face. He was frozen in place. A melting piece of ice shifted in the drink. Leo stood up and grabbed his backpack, a prop he hadn’t opened once today, and walked out the door. But it was too late to get to Celia, besides suddenly he felt smaller than he was sad, and what would he do anyway, so he hid his face and walked back toward the coffee shop. It was then he realized Asher has walked behind him toward the opposite side of the building away from Celia. The smaller less traveled east side of the parking lot where a hardly used side door of the coffee shop opens to another back door to the high class gym next door that some patrons run out of during the presumed cardio section of some workout. But most of the time, no one used this side of the parking lot, so it was empty. 

“Yeah babe, I had a meeting during lunch,” Asher said into the phone. Leo heard this clearly. “We still on for tonight?” Asher turned the corner and Leo made a quick decision. He didn’t know what it meant but he was excited—it was a good feeling to be distracted by right then. He darted back into the coffee shop instead of following Asher around the side of the building and being obvious about it. He walked to the bathroom at the back of the shop, his eyes already on the side door that exits to the side parking lot. 

Leo popped out of the side door and descended the three concrete steps, pretending to look into his phone. Asher was puffing on a lit cigarette leaning against the gym as he spoke into his phone, his back to Leo. Who smokes in 2024? This fucking guy who is clearly seeing another woman—she chose this guy over me? Leo tucked his phone back into his pocket and looked up again and saw Asher’s head back around the building to the front parking lot, his cigarette still smoking on the asphalt. Leo takes a step forward then stops himself, suspended directionless but now seething, his pulse beating in his ears.

Then SMAAASH! 


Red Lines Cover
Red Lines Cover by Sara McCarthy

Leo looked over to the back of the building. He heard the sound of crunching plastic as a green beat-up late 90’s Eclipse slammed into the three foot tall steel yellow barrier that bends around the building toward the back of the coffee shop. The building that today held the coffee shop, a nail salon, and a tailor shop, at one point was a Circuit City where trucks would snake around the back and drop off large items, hence the industrial grade protective steel barriers, which probably only survived to this day because they weren’t noticeable from the current day business side of the building and would be expensive to remove. 

Leo watched, stunned, as the car rolled back from the yellow steel barrier it had just hit, a low speed collision that made no sense, yellow paint now caked on its front bumper. Independent of the crash, the car was in terrible condition. The hood was painted a different shade of green than the rest of the car, rust seeped through all over so much so that the tail gate looked like it would disintegrate with the flick of a finger.  

He watched as the driver leaned his head down a bit, gathered himself after perhaps knocking his head on the steering wheel or on the drivers side door window. Leo looked around but no one else was around to share in the strangeness of the moment. The driver looked to be in his fifties with a weathered and worn face. He wore a cruel expression that Leo understood to be his default look. It was a face that sets off alarm bells in your gut and instinctively makes you turn away. 

Then the passenger door swung open and the woman jumped out of the car. She wore purple Uggs, off-brand high rise athletic shorts, and a dirty yellow men’s hoodie that slid down off one shoulder. None of it fit well. Leo caught the first look of her face as she ran toward the back of the car, tripped on her boot and fell backward, landing behind the bumper of the car. She had streaked eye-liner on her face, behind which Leo could see clear acne scars. She possessed wide, intelligent eyes that looked like they had once been kind and open to the world but were now fixed into tight small daggers for self preservation. Hers was a face that radiated neglect. 

The man, in full control, opened his door and exited toward the back of the car. He threw his hands up into the air violently. 

“Get in the fucking car, bitch.”

On the ground, she slid herself away from him with her feet as she simultaneously tried to pick herself up. 

“No. No. Let me go, you psycho!” 

The woman quickly got to her feet and ran away toward a small section of dirt behind the side parking lot and the small street behind it. That’s when he looked right at Leo. 

“What are you looking at, buddy?”

Something about the word buddy stopped Leo from listening to the alarm bells and running in the opposite direction. And he couldn’t shake the look of fear on the woman’s face. So, instead, he surprised himself and took a step closer. 

Leo noticed his shaking voice start to get more steady. “What are you doing with this woman?”

The man considered Leo for another moment then turned to run after the woman. He caught up to her with ease and grabbed her by the arm, viciously turning her toward him. He walked her toward the car as she tried to use her body weight to pull herself way from him. 

She screamed, “Get the fuck off of me.”  

Leo looked around for help then said, “Let her go. What is this? What are you doing?”

“Stay the fuck back,” the man yelled. But Leo hadn’t move forward. 

But now he felt himself move forward. And with this one step, there was a clarity.

As the man shoved the woman into the passenger side of the car and elbowed her in the face for good measure, Leo found himself walking around the backside of the car. 

The man trained his eyes on Leo and slowly turned toward him, his open mouth and sharply-turned neck telegraphing his surprise.

“You don’t want to get involved bro. I’ll fuck you up.” 

“Let me out,” the woman yelled.

The man slammed the car door and pointed at her. 

“Stay the fuck inside the car,” he said.

Then all was silent. She gave up. The whole episode could have been over. Swept under the rug, no repercussions. The man turned toward Leo. 

As he took a step towards Leo, his face became more clear. He wasn’t in his fifties. He looked to be more like early forties but with a pock-marked overly tanned face, and a scar running deep over his right eyebrow down just past the top of his cheekbone. A faded neck tattoo peaked up above his shirt line. 

Leo’s eyes darted to the woman in the car. Through the tinted window he could see she had her head in her hands, crying and defeated. 

The man got another step closer. Leo knew he should run. And that’s when he felt the brick in his hand. 

——

Sitting in the back of the police car, Leo saw PCH differently than he’d ever seen it before. The spaces between buildings, the dumpster-filled alleys all came into stark focus. The small little lawless sections of this upscale area and every area.

“Is that guy…?” Leo asked.

“What do you think, man?” The cop asked, almost chuckling. 

The cop then leaned over and said something quietly into the radio in his right hand, an action that caught Leo’s rapt attention.

“What are you…”

“It’s not about you.” The cop’s whole body shuddered as he again coughed into his hand, which still awkwardly clutched the radio receiver. 

Leo asked, “Where are we going?” 

“We’re taking a short trip.”

Leo looked down at his hands. 

“Can you just drop me off here?”

The cop laughed hard until he coughed again. This time Leo noticed there was blood. 

“OK, so where are we going?”

“To get the rest of them.”

“The rest of them?” 

“Let’s listen to some music. You like rap?” 

The cops turned the radio up. Big X The Plug’s clogged-throat and lispy boasts in the song MmmHmm filled the car as Leo takes a deep breath and leans back in his seat.

——


Next Episode:  Leo and the cop drive to Santa Ana to find the safe house where they have intel that other victims are imprisoned. They learn that a ship has left from San Pedro that evening, but at the house, find evidence linking this Russian gang with the kidnapping of the cop’s daughter. The house is under close surveillance, so Leo and the cop’s journey back up the freeway isn’t a solo one.

Eight Legs, Two Motors and a Lot of Personality

Please take a look at the videos demonstrating these Robot Walkers. Our study of minimal actuation for walking robots has lead to pairs of specialized leg mechanisms at each of four corners of the walker, eight in all. The robot is steerable with two separate drive motors, that is each side has four leg mechanisms connected through a gear train to a motor. This is a lot of moving parts, but the result is remarkable.

All of these robot walkers respond to commands from an infra-red remote control. They can go forward and backwards, speed up and slow down, turn right and left, and even spin in place. 

It was a pleasure working with students on these projects. Their creativity and enthusiasm is fun to be around.

Stegosaurus Walker: This first video shows the Stegosaurus Walker designed and built by the team of Cristian Albrektsen, Itzel Montoya, Matthew Reber, John Williams, and Megan Yang. Select this link or the image.

The Grinch Walker: This second walker captures the Grinch Who Stole Christmas at the moment he brings the toys back to Whoville. It was designed and built by Melissa Lepe, Esteban Ruiz, Sebastian Petcu, Purushotham Verma and Jasper Yao. Select this link or the image.

Tio de Nadal Walker: The third walker celebrates a Catalan tradition known as the Tio de Nadal, which is a magical log that delivers presents and warms the family. It was designed and built by Paula Simo, Lois Meira, Eudald Sangenis, and Marc Quiroga. Select this link or the image.

Jiaji Li’s Robotic Rowboat

Jiaji Li has succeeded in building a prototype Robotic Rowboat. I have used 3D printing technology ever since it was introduced decades ago to build spatial mechanisms and routinely failed, which is why this is a particularly satisfying outcome.

He convinced me to buy an inexpensive 3D printer and said he was sure PLA (poly lactic acid) would provide a strong but light-weight product. So I gave it a chance and find the result to be very nice.

Please take a look: Robotic Rowboat

Quaternions in Kinematics: BYU Lecture

Students at BYU formed a study group advised by Prof. Denise Halverson to explore Kinematic Synthesis. They invited me to join them to discuss Quaterions and how they are used in Kinematics.

I have not talked about this material in some time, so it was interesting pulling together the theory from many past talks, but I soon became afraid that I was assembling a short course, not a lecture. So I took a different approach.

Here is a video of the lecture. The notes that I prepared are posted below.

My Quaternions in Kinematics presentation is posted here.

Ruiqi Mao’s Panda Walker

This Eight-Legged Walker with two stepper motor drives controlled using a Bluetooth interface developed by Ruiqi Mao for his 2023 UCInspire project builds on work by Chenhao Liu, Jiaji Li and Ken Nguyen, and my senior project team of Tom Nguyen, Jonathan Chavez, Connor Linklater and Jonathan Lu.

Chenhao Liu was a 2022 UCInspire fellow who was in Covid lock down in China while he worked on his four-legged walker driven by DC motors and a bluetooth controller with Jiaji Li, a UCI PhD student.

Ken Nguyen developed both four-legged and eight-legged walkers using DC motor drives and infrared controllers. His early work has inspired much of what has followed.

The following videos show:

1. Ruiqi’s Summer 2023 eight-legged Panda walker which uses two stepper motors and a bluetooth interface,

2. The Winter 2023 four-legged GNK Walker which used two stepper motors and a bluetooth interface by my senior project team of Tom Nguyen, Jonathan Chavez, Connor Linklater and Jonathan Lu.

3. Chenhao’s Summer 2022 four-legged walker with two DC motor actuators and a bluetooth interface, and

4. Ken’s Winter 2022 eight-legged tank walker which uses two DC motors and an infrared controller.

  1. Ruiqi’s Eight-legged Panda Walker (Summer 2023)

2. Four-legged GNK Walker (Winter 2023)

3. Chenhao’s Four-legged Walker (Summer 2022)

4. Ken’s Eight-legged Tank Walker (Winter 2022)

UCI Ready for Racecar Engineering Season

The Vehicle Performance Engineering Lab is clean and ready for the return of students in the coming weeks. This sequence of videos introduce 1. the vehicles in the lab, 2. a close up of Rogue, and 3. a close up of our EV Prototype.

Introduction to the UCI Racecar Engineering Lab

Here are our current mini-baja, ice and EV race cars, which are the foundation for our vehicles for 2024. Many thanks to our sponsors, particularly Chris McMurray.

Close up of Rogue our mini-Baja racecar

This is a close up of Rogue, our mini-Baja vehicle that competed in Oregon in 2023. This vehicle will be the foundation for our 2024 design. Please help us out at http://Zotfunder.give.uci.edu/racing

Close up of our EV Prototype

This is a close up view of our EV Prototype. It is the foundation for the design of our 2024 EV competition vehicle. Please help us at https://Zotfunder.give.uci.edu/racing

The Mini Starship Delivery Robot

Angelina Licos is a UCI engineering student who seems to have a gift for filmmaking along with her skills in project engineering. Select this link to see her video of the adventures of a Mini Starship Delivery Robot.

Mini Starship Delivery Robot
Mini Starship Delivery Robot and full sized friends
Micro water robot student project

2023 Southern California Robotics Symposium

UCI is hosting SCR 2023: On September 14 and 15 Robotics researchers and graduate students from across Southern California will meet in UCI’s Pacific Ballroom to discuss the future of robotics.

Henrik Christiansen, Distinguished Professor of Computer Science and Engineering from UC San Diego will provide a Keynote Lecture on mega-trends, changes in workforce, emerging applications and the resulting new challenges in robotics.

Find more information at the SCR 2023 web page.

2024 UCI Racecar Engineering

Universities across Southern California start soon, and Engineering teams will begin the design and fabrication of their race cars for the the SAE Formula ICE and EV and the SAE Baja 2024 intercollegiate competitions. These student race teams need the support of their alumni, so please contact your home team and find a way to help.

UCI Alums and Friends: Our young UCI engineers were kept out of the Racecar lab for too long because of Covid. They are back and committed to demonstrating the high quality of UCI Engineering at the SAE intercollegiate competitions. And we need your help.

If UCI racecar engineering has impacted you in any way, or if you are passionate about our racecars and competition, I hope you’ll join the community of alumni and friends who support UCI Racecar Engineering by donating to https://zotfunder.give.uci.edu/racing.

Registration fees are due in October and we need running cars by March 2024. Here is the breakdown of costs:

Registration fees for the SAE EV and Baja competitions: $5,000
Kohler CH440 engine: $1,200
Subsystem Costs for Baja vehicle: $11,000
Subsystem Costs for EV vehicle: $15,000

It is easy to see that this $35,000 campaign is just a beginning. Additional funds such as costs for travel to the competitions, are not included in the campaign total so I hope I can count on your support today and for years to come. Please contribute in whatever way you can. The impact of your support is immeasurable!

15 Terrific Robot Walkers

This Spring quarter 60 students divided into 15 teams to design and build robot walkers. Two stepper motors drive a set of legs on each side. These legs are formed from a pair of six-bar linkages that provide coordinated rectilinear movement of two feet on each side providing stable legged locomotion.

I am always amazed by the creativity of the students in the design of the personalities of these walkers.

The ribbons and medals decorate the walkers with the three best times through our autocross course.