Robotics has proved to be an indispensable tool in many industrial as well as social applications, such as warehouse automation, manufacturing, disaster robotics, etc. In most of these scenarios, damage to the agent while accomplishing mission-critical tasks can result in failure. To enable robotic adaptation in such situations, the agent needs to adopt policies which are robust to a diverse set of damages and must do so with minimum computational complexity. We thus propose a damage aware control architecture which diagnoses the damage prior to gait selection while also incorporating domain randomization in the damage space for learning a robust policy. To implement damage awareness, we have used a Long Short Term Memory based supervised learning network which diagnoses the damage and predicts the type of damage. The main novelty of this approach is that only a single policy is trained to adapt against a wide variety of damages and the diagnosis is done in a single trial at the time of damage.

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Silver nanoparticles can be synthesized biologically by means of microbes and plants since they offer eco-friendly, non-toxic and uniform nanoparticles, though many researchers have done major work on biosynthesis there is very less research carried out on synthesis of nanoparticles by Panchakavya. Panchakavya is an Indian eco friendly fertilizer. Silver nitrate is treated with panchakavya to synthesize silver nanoparticles where in panchakavya acts as a reducing agent. The synthesized silver nanoparticles are monitored by UV-spectrophotometer then subjected to structural and morphological studies by XRD, SEM and AFM and silver nanoparticles of size 20–35 nm were obtained. The silver nanoparticles are then used against napkins containing urine sample for antimicrobial studies. Then the napkins are examined for the growth of colonies by carrying out bacterial culture method. The comparison study was done between the napkin without silver nanoparticles and with silver nanoparticles by using colony counting process. The antibacterial activity of silver nanoparticles were traced for two weeks and found same activity which was shown initially. Hence antimicrobial activity of AgNPs lasted even after weeks in napkin used.

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