What have I been doing lately?

I have been busy, very ……..in the sense of lots of submission this month..including a thesis audit document, a conference paper and need to update code. The energy, aggregation, upgrade to 3.2, segmentation fault issues (which is just resolved)…alhamdulillah. Enjoy the movie, its only about robots. Based on the previous aggregation work that I have been doing in implementing the problems that I need to solve, I added few things to the simulation …including energy and a charger. Each robot are given a fixed energy, and if their energy is low, they will move to the charger which is on the left side. I am using pioneer2d robots, need to change to linuxbot and epucks later…finally, alhamdulillah all the issues are resolved and it works fine…

What’s next? we are planning to implement the following

  1. lets update the algorithm in 3.2
  2. the granuloma algorithm will be divided into few stages
    • Implement energy reduction
    • Isolate them
    • charge

Lets’ hope next week will be progressive one!! enjoy!!!

I am planning to sleep real late today…since I need to prepare for my thesis outline documents…Soalan-soalan yang agak sukar di jawab….must have evidence for each and every questions, soalan sangat simple….jawapan sangat payah….:(

  1. Is the overall content and structure of your thesis still as envisaged in your thesis proposal? [Any fresh topics, or abandoned topics?  Any insertions, deletions or replacements in the chapter sequence?
    1. Based on Thesis Outline that has been submitted, we proposed to have 7 chapters in the thesis. There is no fresh or abandoned topic included and the chapter sequence will remain the same. We include the structure of the thesis with this form to be discussed with supervisor and assessor for any amendment. (Need to prepare chapter summary for each and what I have done so far…to feast fiona’s eyes…she likes this!!!)
  2. To what extent is your technical research work for the thesis?
  3. What stage have you reached in writing the thesis? [Briefly indicate the state of each chapter — eg. `first draft complete’, or `to be based on a published paper’ or `not yet started’.  Give an estimate of how long you will need to finish writing each chapter.  Provide your assessor (and supervisor ifnecessary) with a copy of whatever thesis material you already have.]
  4. How firm is your target submission date? [Express this as an interval: give the earliest and latest dates that you consider reasonable (barring miracles/disasters!).
    1. Earliest sumission date will be on June 2011 and latest submission date will be on September 2011 ? I think So…:P
  5. Is there any other aspect of the preparation of your thesis that you wish to comment on?
    • Currently, all work is based on player/stage simulation. We estimate that work on real robots would start around April 2010, once we finished the simulation work.
Submitted the thesis documents to Jon today….alhamdulillah, waiting for feedback…need to update and prepare for discussion with both of them. boleh ZZZZzzzzzZZZZZZZ


Had a good presentation and discussion about granuloma formation that I propose and seems that it is clear enough for them to understand. So, continue on working to achieve this week target. Charger added, but still single movement, I will continue until this week to add the aggregation to the single movement robot. But it is still an achievement…managed to upgrade to stage 3.2, managed to add charger and moving to light and charged if the energy reduce. Hopefully the aggregation algorithm can be added by this week, so that I can discuss with Jon next week while preparing for the paper. Tomorrow, need to plot the coherence result, with and without faulty to be discussed with Alan.

Some good feedback from Paul and Peter  during workers’ day presentation today are as follow:

  • what if the energy is not enough to be charged? extreme case? –> KILL
  • must be very careful, have a proper procedure for charging capability ( normal mathematical vs with signature ) : we had the initial discussion on  this to add complexity for the algorithm
  • might worth trying to write down the algorithm

What’s next ? another mundane story…

Selepas berjaya mengeluarkan output to the file, now it is time to add some more formula to the algorithm: to measure the progresion of the centroids of the swarms towards the beacon..

The simplest solution is calculating the centroid in this way

Centroid_pos.x = (robot1.x +robot2.x +..+ robotn.x) / (number of robots)
Centroid_pos.y = (robot1.y +robot2.y +..+ robotn.y) / (number of robots)

How to get robot’s position can be found in the code when calculating the connection matrix. Complicated gak bende nih !!! It takes some time for the robots to move towards the beacon. This one should be done on saturday la ye since today I would like to think on how to add a faulty robot that is not moving to the simulation ( rasa nyer just reduce the wheel speed = 0) tapi tak sure nih….lets have a look at the example the..

How to deal / will try this out tomorrow…hope it works.

in linuxbot.h

bool simFault

bool faultON

bool wheelfault

double rspeed

double reduceSpeed

in linuxbot.cc

add if /else statement

It works again after a long dependencies, old and outdated issues

It was odd when player/stage is not working properly and shows error…it says macport error…bla bla bla…frstrating!!!! sudo apt-get install update takes longer that I was expected and finally it works again after reinstalling macport and updating necessary libraries…. I am trying to run swarm taxis in exlipse..if it is successful then, the bug has been corrected. Whilst doing the eclipse stuff, managed to draw few diagrams with EazyDraw, renewed the license last weekend. The diagram is clear and the most important, Fiona likes it ( when it is clear!!!) 😛 , how does it looks? perfect?


Basic algo for swarm alpha

Lets starts…trying to run again the program using player/stage. Was unsuccessful once. hopely this time it works..


The Thesis Audit: Completion target December 2009

The audit is another means of checking that appropriate progress is being made. The student completes a short form summarising the state of his or her work towards a thesis. After discussion with the supervisor and assessor, plans are revised if necessary to ensure that a successful thesis can be submitted on time.

Lets revised the plan for my PhD …ergh


Malaysian Glasgow Doctoral Symposiums….Thanks for extending it!!!!

The deadline for the abstract submission has been extended to 5th December 2009.

My Dell Ubuntu now has Player/Stage

Have been cracking my head to do this …finally all the dependencies issue has been resolved

After make uninstall all stage-2.0.4, player-2.0.5 AND the previous
stage-2.1.0rc1 & player-2.1.0rc1, what I did is cleaning the /usr/local/lib of
these (leftover) files: libplayererror.so.2.1.0,
libplayerjpeg.so.2.1.0 & libplayerxdr.so.2.1.0 (which I believe is the
culprit!!). Also cleared the /usr/local/include of the folders
player-2.0.5 AND player-2.1.0 Extract a fresh player-2.0.5 &
stage-2.0.4, and install it back,

Voila! No more error…!!!! finally finally finally,  Plaayer/Stage at least is working in my ubuntu..yay