Self Healing Robots
SELF HEALING ROBOTS
A SEMINAR REPORT Submitted by
AKHIL
in partial fulfillment for the award of the degree of
BACHELOR OF TECHNOLOGY in COMPUTER SCIENCE & ENGINEERING SCHOOL OF ENGINEERING
COCHIN UNIVERSITY OF SCIENCE AND TECHNOLOGY, COCHIN – 682022
NOV 2008
DIVISION OF COMPUTER ENGINEERING SCHOOL OF ENGINEERING COCHIN UNIVERSITY OF SCIENCE AND TECHNOLOGY, COCHIN – 682022
Bonafide Certificate
Certified that this is a bonafide record of the seminar entitled “Self healing robots” done by “Akhil” of the VIIth semester Computer Science and Engineering in the year 2008 in partial fulfillment of the requirements to the award of degree of bachelor of technology in Computer Science and Engineering of Cochin University of Science and Technology. Mrs. Ancy Zachariah SEMINAR GUIDE Lecturer Division of Computer Science SOE, CUSAT Date: Dr. David Peter S Head of the Department Division of Computer Science SOE, CUSAT
ACKNOWLEDGEMENT
I thank my seminar guide Mrs. Ancy Zachariah, Lecturer, CUSAT, for her proper guidance and valuable suggestions. I am greatly thankful to Mr. David Peter, the HOD, Division of Computer Engineering & other faculty members for giving me an opportunity to learn and do this seminar. If not for the above mentioned people, my seminar would never have been completed successfully. I once again extend my sincere thanks to all of them. Akhil
ii
Table of Contents
Chapter No. Abstract List of tables List of figures 1 Introuction 1.1 Robots 1.2. Error recovery 2 Self healing or self modelling robots 2.1 Researchers 2.2 The starfish robot 2.2.1 Characterizing the target system 2.3 Self modelling briefly 3 Algorithm 3.1 Algorithm overview 3.2 Experimental setup 3.2.1 The robots 3.2.2 The controllers 3.3 Algorithm implementation 3.4 Results of estimation-exploration algorithm 3.5 Analysis of estimation-exploration algorithm
Title
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A SEMINAR REPORT Submitted by
AKHIL
in partial fulfillment for the award of the degree of
BACHELOR OF TECHNOLOGY in COMPUTER SCIENCE & ENGINEERING SCHOOL OF ENGINEERING
COCHIN UNIVERSITY OF SCIENCE AND TECHNOLOGY, COCHIN – 682022
NOV 2008
DIVISION OF COMPUTER ENGINEERING SCHOOL OF ENGINEERING COCHIN UNIVERSITY OF SCIENCE AND TECHNOLOGY, COCHIN – 682022
Bonafide Certificate
Certified that this is a bonafide record of the seminar entitled “Self healing robots” done by “Akhil” of the VIIth semester Computer Science and Engineering in the year 2008 in partial fulfillment of the requirements to the award of degree of bachelor of technology in Computer Science and Engineering of Cochin University of Science and Technology. Mrs. Ancy Zachariah SEMINAR GUIDE Lecturer Division of Computer Science SOE, CUSAT Date: Dr. David Peter S Head of the Department Division of Computer Science SOE, CUSAT
ACKNOWLEDGEMENT
I thank my seminar guide Mrs. Ancy Zachariah, Lecturer, CUSAT, for her proper guidance and valuable suggestions. I am greatly thankful to Mr. David Peter, the HOD, Division of Computer Engineering & other faculty members for giving me an opportunity to learn and do this seminar. If not for the above mentioned people, my seminar would never have been completed successfully. I once again extend my sincere thanks to all of them. Akhil
ii
Table of Contents
Chapter No. Abstract List of tables List of figures 1 Introuction 1.1 Robots 1.2. Error recovery 2 Self healing or self modelling robots 2.1 Researchers 2.2 The starfish robot 2.2.1 Characterizing the target system 2.3 Self modelling briefly 3 Algorithm 3.1 Algorithm overview 3.2 Experimental setup 3.2.1 The robots 3.2.2 The controllers 3.3 Algorithm implementation 3.4 Results of estimation-exploration algorithm 3.5 Analysis of estimation-exploration algorithm
Title
Page No. vi vii viii 1 2
3
4
6 13 14 16 16 18 19 22
24