diff --git a/Bibliography.bib b/Bibliography.bib
index a71829b32ffe34dfd85a20331dbaf8ec729cfe66..1afa922ecb1cc14dc249a2de34866d0f88ce06bd 100644
--- a/Bibliography.bib
+++ b/Bibliography.bib
@@ -1,168 +1,180 @@
 
-@Book{1,
-	title={Robotics Modelling,Planning and Control Advanced Textbooks in Control And Signal Processing Book},
+@Book{a,
+	title={"Robotics Modelling,Planning and Control Advanced Textbooks in Control And Signal Processing Book Chapter 1"},
 	author={Bruno Siciliano Lorenyo Sciavicco Luigi Villani Giuseppe Oriolo},
 	volume={1},
 	year={2009},
-	publisher={Springer}
-}
-@Article{2,
-	author    = {Oxford English Dictionary},
-	title     = {Definition Of Robots},
-	date      = {2016},
-	publisher = {Oxford},
-	location  = {Oxford, United Kingdom},
-	language  = {english},
-}
-@Article{3,
-	author    = {Brewster Kahle, Bruce Gilliat},
-	title     = {Wayback Machine},
-	date      = {2017},
-	maintitle = {Digital Archive},
-	volume    = {A},
-	publisher = {Internet Archive},
-	location  = {San Fransisco, United States},
-	language  = {english},
-}
-@Article{4,
-	title={Contact Systems Pick and Place Robots },
-	author={Bruno Siciliano Lorenyo Sciavicco Luigi Villani Giuseppe Oriolo},
+	publisher={Springer}}
+
+@Book{a.1,
+	title={"Artificial Intelligence – An Introduction to Robotics"},
+	author={Tim Niemueller, Sumedha Widyadharma},
 	volume={1},
-	year={2008},
-	publisher={WayBack Machine}
+	year={2003},
+	url={https://niemueller.de/files/pdf/airobotics2003.pdf}
 }
-@Article{5,
-	title={Smart Caddy},
-	author={Seegrid},
-	volume={1},
-	year={2011},
-	publisher={Web Archive},
-	title={"The Basics Of Automated Guided Vehicles"},
-	author={Savant Automation},
+@Book{b,
+	title={"Introduction To Robotics Chapter 1"},
+	author={John J. Craig},
+	volume={3},
+	year={2005},
+	publisher={Pearson Education International},
+	url={http://www.mech.sharif.ir/c/document_library/get_file?uuid=5a4bb247-1430-4e46-942c-d692dead831f&groupId=14040}
+}
+@Article{c,
+	title = {"Design, fabrication and Control of Soft Robots"},
+	author = {Daniela Rus, Micheal T.Tolley},
+	volume = {1},
+	year = {2015},
+	publisher = {Macmillan Publishers Limited},
+	url = {https://cyberleninka.org/article/n/1174758/viewer}
+}
+@Book{d,
+	title={"Elements of Robotics Chapter 1"},
+	author={Mordechai Ben-Ari ,Francesco Mondada},
 	volume={1},
-	year={2013},
-	publisher={AGV Systems}
-}
-@Article{6,
-	title={"The Utilization Of Robotic Space Probes in Deep Space Missions:Case Study of AI Protocols and Nuclear Power Requirements"},
-	author={Proceedings of 2011 International Conference on Mechanical Engineering, Robotics and Aerospace},
+	year={2018},
+	publisher={Springer}
+	}
+
+
+@Article{el,	
+	title={"Personal Care Robots for Older Adults: An Overview"},
+	author={S H Hosseini & K M Goher },
 	volume={1},
-	year={2011},
-	publisher={ICMERA},
-	title={"Review: Space Probe Archived"},
-	author={Jeff Foust},
+	year={2016},
+	publisher={Canadian Center of Science and Education},
+	url={http://www.ccsenet.org/journal/index.php/ass/article/view/64518}
+	}
+
+@Article{hl,
+	title={"Healthcare Robotics"},
+	author={Laurel D. Riek},
 	volume={1},
-	year={2012},
-	publisher={Wayback Machines}
+	year={2017},
+	publisher={ACM},
+	url={https://arxiv.org/pdf/1704.03931.pdf}
 }
-@Article{7,
-	title={"In the Lab:Robots That Slink and Squirm"},
-	author={John Schwartz},
+@Article{war,
+	title={"Automated and Robotic Warehouses: Developments and Research Opportunities"},
+	author={René B.M. de Koster},
 	volume={1},
-	year={2015},
-	publisher={The New York Times},
-	title={"The Softer Side Of Robotics"},
-	author={hp},
+	year={2018},
+	publisher={MDPI},
+	url={https://papers.ssrn.com/sol3/papers.cfm?abstract_id=2977779}
+}
+@Article{dro,
+	title={"Drone-Based Parcel Delivery Using the Rooftops of City Buildings: Model and Solution"},
+	author={Junsu Kim, Hongbin Moon and Hosang Jung},
 	volume={1},
-	year={2019},
-	publisher={Hewlett Packard}
+	year={2020},
+	publisher={MDPI},
+	url={file:///tmp/mozilla_nikhil0/applsci-10-04362-v3.pdf}
 }
-
-@Article{8,title={"Squishy Robots Now Have Squishy Computers To Control Them"},
-	author={Kat Eschner},
+@Article{ind,
+	title={"Recent Development of Automation in Vehicle Manufacturing Industries" },
+	author={Amith A Kulkarni, Dhanush P, Chetan B S, ThammeGowda C S, Prashant Kumar Shrivastava },
 	volume={1},
 	year={2019},
-	publisher={Popular Science}
+	publisher={International Journal of Innovative Technology and Exploring Engineering (IJITEE)},
+	url={https://www.ijitee.org/wp-content/uploads/papers/v8i6s4/F10830486S419.pdf}
 }
-
-@Article{9,title={"Construction Robotics Industry Set To Double by 2023"},
-	author={Pollock,Emily},
+@Article{1.1,
+	title={"Recent Developments in the Optimization of Space Roboticsfor Perception in Planetary Exploration"},
+	author={S. Ahsan Badruddin, S. M. DildarAli},
 	volume={1},
-	year={2018},
-	publisher={engineering.com}
+	year={2015},
+	publisher={International Conference on Space },
+	url={https://arxiv.org/pdf/1505.00496.pdf}
 }
-
-@Article{10,  
-	title={"An Overview Of Handy Rehabilitaton Robot For The Severely Disabled"},
-	author={Topping ,Mike;Smith,Jane},
-	volume={1},
-	year={1999},
-	publisher={Center on Disabilities Conference Proceedings},
-	
-	title={"Welcome To The Ageing Future"},
-	author={Jeavans,Christine},
-	volume={1},
-	year={2016},
-	publisher={BBC News},
-	
-	title={"Statistical Handbook Of Japan:Chapter 2 Population"},
-	author={Wayback Machines},
-	volume={1},
-	year={2013},
-	publisher={Statistics Bureau & Statistical Research and Training Institute},
-	
-	title={"Robotic future of patient care"},
-	author={E-Health Insider},
+@Article{1.2,
+	title={"Review on Space Robotics: Towards Top-Level Science through Space Exploration "},
+	author={Yang Gao1, Steve Chien},
+	volume={2},
+	year={2017},
+	publisher={Science Robotics},
+	url={https://core.ac.uk/download/pdf/84589008.pdf}
+}
+@Article{1.3,
+	title={"The State-of-the-art in Space Robotics"},
+	author={Ijar M da Fonseca and Maurício N Pontuschka},
 	volume={1},
-	year={2007}
+	year={2015},
+	publisher={IOP Publishing},
+	url={https://iopscience.iop.org/article/10.1088/1742-6596/641/1/012025/pdf}
 }
-@Book{11,
-	title={Elements Of Robotics},
-	author={Mordechai Ben-Ari,Francesco Mondada},
+@Article{asi,
+	title={"Asimov’s “Three Laws of Robotics” and Machine Metaethics" },
+	author={Susan Leigh Anderson },
 	volume={1},
-	year={2017},
-	publisher={Springer Open}
+	year={2005},
+	publisher={AAAI},
+	url={https://www.aaai.org/Papers/Symposia/Fall/2005/FS-05-06/FS05-06-002.pdf}
 }
-@Article{12,
-	title={Evolution Of Robots Throughout History From Hephaestus To Da Vinci Robot},
-	author={Christos Iavazzo Xanthi-Ekaterini D.Gkegke Paraskevi-Evangelia Iavazzo Ioannis D.Gkegkes},
+@Article{hrc,
+	title={"Human–Robot Collaboration in Manufacturing Applications: A Review"},
+	author={Eloise Matheson, Riccardo Minto, Emanuele G.G.Zampieri, Maurizio Faccio and Giulio Rosati},
 	volume={1},
-	year={2014},
-	publisher={RAZVOJ ROBOTA KROZ POVIJEST DO DA VINCIJEVOG ROBOTA}
+	year={2019},
+	publisher={MDPI},
+	url={https://journals.sagepub.com/doi/pdf/10.1177/1729881417716010}
 }
-@Book{13,
-	title={Franka Panda User Guide},
+@Book{F,
+	title={"Franka Panda User Guide"},
 	author={Franka Emika GmbH},
 	volume={1},
 	year={2018},
-	publisher={Franka Emika GmbH}
+	publisher={Franka Emika GmbH},
+	url={https://wwwpub.zih.tu-dresden.de/~s5990957/Franka-Panda-UserGuide-eng.pdf}
 }
-@Article{14,
-	title={"I,Cobot:Future collabration of man and machine"},
-	author={Thilo Stieber},
+@Article{RC,
+	title={"Working Together: A Review on SafeHuman-Robot Collaboration inIndustrial Environments"},
+	author={S. Robla-Gomez, Victor M. Becerra, J. R. Llata,E. Gonzalez-Sarabia, C. Torre-Ferrero, And J. Perez-Oria},
 	volume={1},
-	year={2015},
-	publisher={The Manufacturer}
-}
-@Book{15,
-	title={Robot Intelligence Technology and Applications 3},
-	author={Johg-Hwan Kim},
-	volume={3},
-	year={2015},
-	publisher={Springer}
+	year={2017},
+	publisher={IEEE Access},
+	url={https://core.ac.uk/download/pdf/146493825.pdf}
 }
-@Article{16,
-	title={Safety  Issues  in  Human-Robot  Interactions},
+@Article{16.1,
+	title={"Safety  Issues  in  Human-Robot  Interactions"},
 	author={Milos Vasic1, Aude Billard},
 	volume={1},
 	year={2013},
 	publisher={IEEE,ICRA},
-	title={"Occupational Safety and Health Administration"},
-	author={US Government},
+    url={http://lasa.epfl.ch/publications/uploadedFiles/VasicBillardICRA2013.pdf}
+}
+@Article{16.2,
+	title={"Human Safety In Robot Applications – Review Of Safety Trends "},
+	author={Tanja Kerezović, Gabor Sziebig, Bjørn Solvang, Tihomir Latinovic},
 	volume={1},
-	year={2015},
-	publisher={United States Department Of Labor}
+	year={2013},
+	publisher={Banja Luka, Faculty of Mechanical Engineering, University in Banja Luka},
+	url={https://www.researchgate.net/publication/265164505_HUMAN_SAFETY_IN_ROBOT_APPLICATIONS_-_REVIEW_OF_SAFETY_TRENDS}
+}
+@Article{16.3,
+	title={"Analysis Of Human Operators And Industrial Robots Performance And Reliability"},
+	author={Grzegorz Gołda, Adrian Kampa, Iwona Paprocka},
+	volume={9},
+	year={2018},
+	publisher={Management and Production Engineering Review},
+	url={http://journals.pan.pl/Content/103876/PDF/3_Analysis+of+human+operators+and+industrial+robots+performance+and+reliability..pdf?handler=pdf}
+}
+@Book{4,
+	title={"Robotics : Modelling Planning and Control Chapter 1, Chapter 4" },
+	author={Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani Giuseppe Oriolo},
+	volume={1},
+	year={2010},
+	publisher={Springer}
 }
-
 @Article{17,
-	title={Formalizing Class Diagram In UML},
+	title={"Formalizing Class Diagram In UML"},
 	author={Alireza Souri,Mohammad ali Sharifloo,Monire Norouzi},
 	volume={1},
 	year={2007},
 	publisher={University College Of Nabi Akram ,Tabriz Iran}
 	
 }
-@Article{18,title={Introduction To BPMN},
+@Article{18,title={"Introduction To BPMN"},
 	author={Stephen A. White},
 	volume={1},
 	year={2007},
@@ -170,9 +182,11 @@
 	
 }
 @Article{19,
-	title={On Making Robots Understand Safety:Embedding Injury Knowledge Into Control},
+	title={"On Making Robots Understand Safety:Embedding Injury Knowledge Into Control"},
 	author={Sami Haddadin, Simon Haddadin,Augusto Khoury,Tim Khoury,Sven Parusel},
 	volume={1},
 	year={2007},
-	publisher={IEEE,ICRA}
+	publisher={IEEE,ICRA},
+	url={https://journals.sagepub.com/doi/pdf/10.1177/0278364912462256?casa_token=WNTrkWb2360AAAAA:Q0L-eFPErinG5DXS-WoCqGXMl82o9ty2D4YCMEkhQGOOGmOPGhxHqQ7jqMtkgPL6iqih-PRzWmMdEA}
 }
+
diff --git a/sections/back.tex b/sections/back.tex
index 421eb6b82c0f23352457513e440ac07a9ecf8337..8c6f6679436d4acce59873213d666f8e610e8011 100644
--- a/sections/back.tex
+++ b/sections/back.tex
@@ -4,7 +4,7 @@
 
 Robotics is a relatively new and evolved technical field. It is an evolved version of technical development of machines and software field which are both part of robotics. It won't be wrong to claim that robotics is epitome of technical development in machines. Nonetheless robotics is still a very expensive field of research. Robots have a high one time cost as well as very high operational, development and research costs and if in a broken down condition can become expensive to fix. It is still evolving and studied as a modern research area and it is continuously expanding and acting as a base to develop other technologies. Study of robotics is only available to a lucky few people and research is done every day to make it affordable and accessible to more general people. There are many industrial organizations dealing with robotics field and they are doing extensive research for it.\\
 
-Franka Emika GmbH, a technologically sound company coming from Munich, Germany, has come ahead to address to this issue of high costs and to provide a solution by introducing an affordable and cheap robot known as robot Panda. This is a sensitive and multifaceted machine made available to research fraternity in universities and for students to learn and experiment with robots. Robot Panda is a part of structural ecosystem of new age robots which are cheap to buy ,program and function and are developed with the main objective as a research robotic machine made available to fiddle and learn by students in universities. Its second objective is to introduce its presence as a co-worker in a factory who work along with humans in a hybrid mode model and then thirdly as an friend and helping assistant in life for lonely seniors and sick people needing basic help and assistance. In addition it appears friendly to anyone who look at them\cite{13}.\\
+Franka Emika GmbH, a technologically sound company coming from Munich, Germany, has come ahead to address to this issue of high costs and to provide a solution by introducing an affordable and cheap robot known as robot Panda. This is a sensitive and multifaceted machine made available to research fraternity in universities and for students to learn and experiment with robots. Robot Panda is a part of structural ecosystem of new age robots which are cheap to buy ,program and function and are developed with the main objective as a research robotic machine made available to fiddle and learn by students in universities. Its second objective is to introduce its presence as a co-worker in a factory who work along with humans in a hybrid mode model and then thirdly as an friend and helping assistant in life for lonely seniors and sick people needing basic help and assistance. In addition it appears friendly to anyone who look at them~\cite{F}.\\
 
 There are various interfaces made available for robot Franka which help to manipulate it. In addition there is an ecosystem of repositories used to run and manipulate the robot. Nowadays even smartphone apps are developed to give idea of robotics to students. The robot is made with many features, notable being a learning capability, where in there is a learning mode which enables robot to learn a series of poses and grasp actions which can then be run and replicated. This is a feature used as a research subject. In addition there are many tools used to run the Franka ecosystem like Moveit / Rviz i.e. used for motion planning and the robot also uses Gazebo simulator.\\
 
@@ -68,12 +68,12 @@ Apart from the above mentioned software which the work of this thesis uses there
 
 \section{Robotic Coexistence With Humans - Meaning Of Cobots}
 
-Robots are very essential to some of the today's modern industry because they help humans accomplish tasks which otherwise are too difficult to perform with the speed and accuracy with which robots can do them. In addition robots can perform tirelessly and do not cringe if they work in day or night. This makes them a versatile tool that is friendly and beneficial to humans. The robots thus need to live, work and perform alongside humans in most cases. This is usually critical in factories and also homes where they are used nowadays. These robots maybe very intelligent and this makes them very capable but in most cases they cannot completely replace human presence which is still required to monitor robotic operations and sometimes humans are required to alter plans and make decisions as per orders and this gives birth to a situation where robots need to work alongside humans and this involves only safe operations because in the event robots cause injury to human it can cause very serious situations and hazard to human well being and may also cause death of a person.\\
+Robots are very essential to some of the today's modern industry because they help humans accomplish tasks which otherwise are too difficult to perform with the speed and accuracy with which robots can do them. In addition robots can perform tirelessly and do not cringe if they work in day or night. This makes them a versatile tool that is friendly and beneficial to humans. The robots thus need to live, work and perform alongside humans in most cases. This is usually critical in factories and also homes where they are used nowadays. These robots maybe very intelligent and this makes them very capable but in most cases they cannot completely replace human presence which is still required to monitor robotic operations and sometimes humans are required to alter plans and make decisions as per orders and this gives birth to a situation where robots need to work alongside humans and this involves only safe operations because in the event robots cause injury to human it can cause very serious situations and hazard to human well being and may also cause death of a person~\cite{RC}.\\
 
 Here comes the concept for cobots. They are robots which are built to perform alongside humans and this too safely. The word cobot is derived from so called collaborative robots which are kind of robots made to perform alongside human presence in a commonly used area. Most times they are in very close proximity working alongside each other but the design decisions and multi level safety which range from soft built to auto-emergency stop features ensure they can work very reliably alongside each other.\\
 
 Cobots are evolved version of traditional robots, and traditional robots are only meant to perform without safety features on both levels comprising physical safety as well as software built detection features giving intelligence to robot. Thus these are the factors which differentiate a robot from a cobot. 
-These features are built in cobots but traditional robots do not have them. Cobotic safety relies on lightweight construction materials, curved edges on control surfaces and no sharp edges but only rounded curves, and comes with inherent limitation of speed and force when working along human presence\cite{14}.
+These features are built in cobots but traditional robots do not have them. Cobotic safety relies on lightweight construction materials, curved edges on control surfaces and no sharp edges but only rounded curves, and comes with inherent limitation of speed and force when working along human presence.
 
 Cobots are built for an industry setting workspace and have different hardware and software to run them along with above mentioned features of safety. Some of essential features of cobots are -
 
@@ -93,7 +93,7 @@ This is a part of robotics that is not very well developed and this forms basis
 
 \section{Accidents Due To Malfunctions and Consequences}
 
-Traditional robots were used in industry setting in the past where humans operated them and sometimes worked alongside them. But there have been many cases where the safety of human is compromised in all areas where robots are present. And this has also cased many accidents and some of them very terrible causing grievous injuries and even deaths in many cases. Even during development of cobots there have been accidents for example many prototypes of self-driving cars have failed to provide safety to other cars and people in proximity on the road. It is safe to acknowledge that this is a big issue with cobots and there are problems present here\cite{15}.\\
+Traditional robots were used in industry setting in the past where humans operated them and sometimes worked alongside them. But there have been many cases where the safety of human is compromised in all areas where robots are present. And this has also cased many accidents and some of them very terrible causing grievous injuries and even deaths in many cases. Even during development of cobots there have been accidents for example many prototypes of self-driving cars have failed to provide safety to other cars and people in proximity on the road. It is safe to acknowledge that this is a big issue with cobots and there are problems present here.\\
 
 There is always an element of risk in human-cobot interactions. The danger arises when a human may get hit by the robot in motion or robotic arm in motion. A human may also get trapped between robot boy or arm and an wall or iron grill in vicinity. There are many types of hazards that are identified and they maybe dangers caused mechanically i.e faults in the machine, electrical shocks to human body, overheating components causing burns and many more hazards which maybe combination of these. The hazards are studied carefully and robots continuously evolved to make them handle risks and this makes them safer. But it is also necessary to acknowledge that in real world there are some faults that can always happen which may not always be due to the robot itself but due to wrong operation of robots or due to abuse. Some of them are recognized to be -
 
@@ -112,18 +112,18 @@ Software is essential to modern day robots and this need programming. Code in an
 
 \subsection{Human Operator Errors}
 
-Robots if used in unintended use cases or experimented with beyond their capability can malfunction. A malfunctioning robot is an uncontrolled robot and thus can be a huge hazard for human life. There are some veto power humans have over robots to do things for them in their own way, but this may logically and hence technically contradictory leading to very unsafe situations where critical materials are handled for instance uranium in a nuclear reactor. A classic example is Chernobyl Nuclear Power Plant accident which was caused entirely due to operator errors. Machines are built with applying functionality in mind and not to handle a combination of all use cases and this always make it possible that there may arise situations robot can go against itself or the operator. This is usually caused due to untrained engineers, operators, and users. These people may not be aware of effects of their actions causing machine to fault.\\
+Robots if used in unintended use cases or experimented with beyond their capability can malfunction. A malfunctioning robot is an uncontrolled robot and thus can be a huge hazard for human life. There are some veto power humans have over robots to do things for them in their own way, but this may logically and hence technically contradictory leading to very unsafe situations where critical materials are handled for instance uranium in a nuclear reactor. A classic example is Chernobyl Nuclear Power Plant accident which was caused entirely due to operator errors. Machines are built with applying functionality in mind and not to handle a combination of all use cases and this always make it possible that there may arise situations robot can go against itself or the operator. This is usually caused due to untrained engineers, operators, and users. These people may not be aware of effects of their actions causing machine to fault~\cite{16.3}.\\
 
 Robots are continuously incorporated with artificial intelligence features making them safer every day but this is a subject of research which is continuously developed and it is not possible to make a robot equally intelligent to a human being.
 
 
 \section{Making Robots Safer And Safe Deployment Practices }
 
-Collaborative robots or cobots are all about latest technology trend that is gathering pace with the advent of all new technology coming up in various fields like self driving cars and manufacturing in factory supply chains. The technology is itself developing and so are its components that can be used interchangeably across industries to develop an ecosystem of new age artificially intelligent cobots at an affordable price. This technology offer amazing advantages as they can safely work alongside humans and provide cost and time benefits that is hard to beat in industry setting where cycle time and productivity are key issues\cite{16}.\\
+Collaborative robots or cobots are all about latest technology trend that is gathering pace with the advent of all new technology coming up in various fields like self driving cars and manufacturing in factory supply chains. The technology is itself developing and so are its components that can be used interchangeably across industries to develop an ecosystem of new age artificially intelligent cobots at an affordable price. This technology offer amazing advantages as they can safely work alongside humans and provide cost and time benefits that is hard to beat in industry setting where cycle time and productivity are key issues~\cite{16.1}.\\
 
 As was mentioned before that cobotic technology is still evolving and developing and assuming it to come at a level where they behave like a living being may take more decades of time and the example is self driving cars that many prominent organizations are working on but have not been able to successfully integrate that finesse and level of safety so far. There have been accidents with attempts to integrate artificial intelligence in to cobots and using machine learning to train the cobot with experiences and then implement this with assured safety or at least equal to a level of humans decision power. This means that companies are spending large amounts of money to  develop such technologies and help them evolve. All because the accidents can be serious and can cause injuries and loss of human life.\\
 
-There are causes of accidents using robots at workplace or industry setting. Robots were made to be fast workers and also powerful to do tedious tasks which means in most cases the control surfaces have substantial amounts of torque. This can cause injury to a human with just one strike and there may be various situations that can develop leading to an accident and thus hazard to human life and also may cause financial costs and medical attention. There are situations when even non functioning robots may cause incidents and hazards. Example is when a robot may malfunction when it is being overhauled for maintenance. There may be a worker doing overhauling when it may react irregularly and cause serious hazard to life of worker. Or there can arise a situation when a robot may be faulty suppose due to a motor issue and the worker may have to stand in the path of robot movement and thus if he fiddles with the motor and it may start running then worker can be hit with robotic arm and cause injury.\\ 
+There are causes of accidents using robots at workplace or industry setting. Robots were made to be fast workers and also powerful to do tedious tasks which means in most cases the control surfaces have substantial amounts of torque. This can cause injury to a human with just one strike and there may be various situations that can develop leading to an accident and thus hazard to human life and also may cause financial costs and medical attention. There are situations when even non functioning robots may cause incidents and hazards. Example is when a robot may malfunction when it is being overhauled for maintenance. There may be a worker doing overhauling when it may react irregularly and cause serious hazard to life of worker. Or there can arise a situation when a robot may be faulty suppose due to a motor issue and the worker may have to stand in the path of robot movement and thus if he fiddles with the motor and it may start running then worker can be hit with robotic arm and cause injury~\cite{16.2}.\\ 
 
 The accidents caused by robots can be classified based on the type of dangerous situations a human may end up with the robot. They are described in the following cases.\\
 
diff --git a/sections/intro.tex b/sections/intro.tex
index 32f7f22c68f250fe498e6a93eae7440548380c93..60c0ddb10a81a0c55602846dafd5f9af45c11fd7 100644
--- a/sections/intro.tex
+++ b/sections/intro.tex
@@ -6,17 +6,13 @@
 
 A robot is a machine developed by humans to do work for them and to make their lives easy. Humans had to keep doing repetitive tasks throughout history which were essential things to do and there have been times when enough manpower was absent or unavailable to do the required work. This led to humans to think about designing a machine which can obey their commands to accomplish a series of steps to do a job. They then described these machines as a robot.\\
 
-In fact, any machine designed for any specific task and purpose can be termed as a robot. But the term "robot" is generally known as a machine that is versatile and can accomplish a range of tasks .Its core is defined by a set of common characteristics which all robots have in common and then some that are variable and those can be added / removed to suit a specific type of job or size and area of the field of that work profile.\\  
+In fact, any machine designed for any specific task and purpose can be termed as a robot. But the term "robot" is generally described as a machine that is versatile and can accomplish a range of tasks. The robot is characterized by few qualities like motion in the body of robot i.e. it must be able to move itself, motion of control surfaces like arm, robot must be able to do the task it is designed for, like pickup and place down objects, or be able to work at a factory assembly line, at the same time must be able to provide safety to some degree. Robots must provide some or all of these qualities according to the purpose it is designed for .There are other aspects which can be adding and removing control surfaces to suit a specific type of job or size of area of field of the work profile.\\  
 
-In early times of human history, humans designed tools for agriculture as they were a natural necessity that was deemed to make everyday work easier for people and thus increase efficiency and overall productivity of farming. And as is said "Necessity is the mother of invention" there was a greater need felt to make life more easier for farmers compared to the elementary tools those were designed earlier, they then made wheel and then a cart on top of the wheels were installed and thus made a wagon to carry produce from fields. This was advent of machines in the history of mankind and set tone for evolution of machines as per specific needs.\\
+Along the evolution of time the machines developed from designing basic tools to varying degrees of complexities like space robots. As decades and centuries of time passed by, human thinking evolved and refined, their outlook towards machines improved and so did their skills with machines to make them more self contained and all this was done to reduce human intervention for decision making. To start with these were elementary forms of machines which are principally described as robots. Nowadays humans are trying to build in artificial intelligence into robots to make them self reliant. One example is self driving cars which are being designed. In the future these cars will have a high level of artificial intelligence built into them which will make them very reliable performer.\\
 
-As the decades and centuries of time passed by, human thinking evolved and refined, their outlook towards machines improved and so did their skills with machines to make them more self contained and all this was done to reduce human intervention for decision making. Then humans tried to build artificial intelligence into their machines and called them robots, but they were elementary and theoretical form of machines which can be principally described as robots.\\
+New features were built into machines to add functionality and this was done using physical mechanisms in early days like using valves for changing and redirecting water supply in pipes and tracks change railroad paths using levers. But as times changed and many levels of developments happened for physical machines using some form of intelligence then came the era of information technology and development of software systems and programming which was used to control hardware until the last level of action. This was done using a host of components added to hardware which linked it to software systems and they were first circuits which then turned to micro-controllers, and then to electronic components that could be programmed and integrated with physical systems which were then used to manipulate control surfaces thus forming high level of evolution in robotics~\cite{a}.\\
 
-Artificial intelligence was built into machines using physical mechanisms in early days like using valves for changing and redirecting water supply in pipes and tracks change railroad paths using levers. But as times changed and many levels of developments happened for physical machines using some form of intelligence then came the era of information technology and development of software systems and programming which was used to control hardware until the last level of action. This was done using a host of components added to hardware which linked it to software systems and they were first circuits which then turned to micro-controllers, and then to electronic components that could be programmed and integrated with physical systems which were then used to manipulate control surfaces thus forming high level of evolution in robotics.\\
-
-This has nowadays led to creation of an ecosystem of machines which are versatile and followed hook and template structure to do many tasks using same kind of technology i.e. technology was used for multiple purposes adding to versatility. And the end product can be simply and best described as a robot that can look like a human being and is soft to touch, feels like a human being, can listen and move and not just see but identify things all built in, using programming the components and they all working together to give seamless and intended results. Robots are today meant to do easiest of tasks like moving objects around and giving company to elderly, to complex tasks like critical surgical operations on humans in medicine and working on automobile manufacturing and assembly line.\cite{1}.\\
-
-Robotics is the field related to study of Robots. It includes all aspects of robotics starting from elementary components of a robot, programming the robot to all electrical aspects of the machine and the study of them working together.\\
+This has nowadays led to creation of an ecosystem of machines which are versatile and follow hook and template structure to do many tasks using same kind of concept i.e technology was used for multiple purposes thus adding to versatility. This has added to functionalities of robots and made them much more versatile and cost efficient as they can be used to perform multiple jobs. This is akin to using different attachments on a modern day vacuum cleaning machine to the the same job of vacuuming by suction. Robots in today's time are meant to do easiest of tasks like moving objects around and giving company to elderly, to complex tasks like critical surgical operations on humans in medicine and working on automobile manufacturing and assembly line~\cite{a.1}.\\
 
 \begin{figure}
 	\centering
@@ -27,62 +23,54 @@ Robotics is the field related to study of Robots. It includes all aspects of rob
 
 \section {Components Of a Typical Robot}
 
-Any robot is a machine that is made up of mainly steel, plastic and more complex materials put together and typically needs electric power to run and perform some work. Robots are programmed using computer software in today's times. Software dictate the robotic parameters and manipulate control surfaces by reading sensor values to enable decision making as per the situation detected and decisive action pre-programmed for it. This can be used to fine tune its actions to perform most complex of tasks independently\cite{2}. Robots in today's times have embedded control built in, which guide the robot to do a job safely in real world environment setting.\\
+Any robot is a machine that is made up of mainly steel, plastic and more complex materials put together and typically needs electric power to run and perform some work. Robots are programmed using computer software in today's times. Software dictate the robotic parameters and manipulate control surfaces by reading sensor values to enable decision making as per the situation detected and decisive action pre-programmed for it. This can be used to fine tune its actions to perform most complex of tasks independently~\cite{b}. Robots in today's times have embedded control built in, which guide the robot to do a job safely in real world environment setting.\\
 
-Robots range from auto/semi-automatic functional form to resembling human form type called cobots to industrial grade and medically utilized robots\cite{3}. Robots have been made to look and behave exactly like humans in present time and this is achieved by using soft silicone materials which makes them look sophisticated and intelligent in a home setting. But they are not always designed for good looks and in industry setting they are bare bone machines most time lacking even correct covering and this is to aid in maintenance and improve operational functionality. Today robotics is working with cutting edge research enabling it to function up to the level of developing safe auto driving cars.\\
+Robots range from auto/semi-automatic functional form to resembling human form type to industrial grade and medically utilized robots. Robots have been made to look and behave exactly like humans in present time and this is achieved by using soft silicone materials which makes them look sophisticated and intelligent in a home setting. But they are not always designed for good looks and in industry setting they are bare bone machines most time lacking even correct covering and this is to aid in maintenance and improve operational functionality. Today robotics is working with cutting edge research enabling it to function up to the level of developing safe self driving cars~\cite{c}.\\
 
 So it can be concluded that robotic components are body/frame, control system, control surfaces, and drive train.\\
 
 \section {Uses And Applied Fields}
 
-Robots have been developed to suit and work in various fields in today's time. In-fact there are appropriate type of robot for almost any work today. They range from most easy work to most complex of tasks. In this section more light on this area is thrown by describing some use cases in following sections.\\
+Robots have been developed to suit and work in various fields in today's time. In-fact there is an appropriate type of robot for almost any work today. They range from most easy work to the most complex of tasks. In this section more light on this area is thrown by describing some use cases~\cite{d}.\\
 
 \subsection{Elderly Care}
 
-Robots are used in home setting to provide company to lonely elderly and give care to them. There are soft bodied robots made up of silicone used in Japan, and this is a place with sparse population and few people to care for elderly. These machines there help the seniors from keeping track of their medicines to playing music to them as well as talking to them. They move objects for them, monitor their health and even help in distress by calling help for lonely seniors\cite{10}.\\
+Robots are used in home setting to provide company to lonely elderly and give care to them. There are soft bodied robots made up of silicone used in Japan, and this is a place with sparse population and few people to care for elderly. These machines there help the seniors from keeping track of their medicines to playing music to them as well as talking to them. They move objects for them, monitor their health and even help in distress by calling help for lonely seniors~\cite{el}.\\
 
 \subsection{Medical Uses}
 
 Robots are used in regular and critical surgeries performed on humans in today's time. The performance of robots as compared to humans is very high in critical human diagnostic operations like C-section surgeries and much more complex ones like angioplasty.\\
 
-The can perform medical procedures very fast and with clean cuts and stitches that a human hand is not capable of performing. They can as well perform knee replacement surgeries and many more like making incision to flush kidney stones with amazing accuracy. Many robots also let the surgeon doctor to take control of control surfaces and this aids in minimizing errors caused by a shaking hand a human doctor may have.\\
-
-\subsection{From Ocean Floor to Space Probes to Volcanoes}
+The can perform medical procedures very fast and with clean cuts and stitches that a human hand is not capable of performing. They can as well perform knee replacement surgeries and many more like making incision to flush kidney stones with amazing accuracy. Many robots also let the surgeon doctor to take control of control surfaces and this aids in minimizing errors caused by a shaking hand a human doctor may have~\cite{hl}.\\
 
-Robots are used to look for debris in ocean floor from the wreckage of a sunken ship or crashed air-crafts. There may be an deep ocean surface study exploration or a study on largely unknown aquatic life which can only be performed using robots. Robots are imperative to do such operations.\\
-
-In cases of metal and mineral exploration and study on ocean floors, robots are machines that cannot be replaced and thus are credited with numerous discoveries. They can move control surfaces and transmit images of seafloor and let humans take control of situation on ocean floor from several miles distance on ocean top. The pressure present at ocean floor can only be tolerated by a submarine and sending a human in deep depths is not possible. Similarly robots are used in space probes and space missions where they do operations humans are not capable of doing like exposing themselves to work in open space where harsh UV sunlight can cause bad effects on human body and any exposure of human beings there is only limited for critical operations to minimize risks and high costs associated to cover the risks. They provide safety to humans and make work easier and faster along with giving reliability and required precision\cite{6}.\\
+\subsection{Warehouse Operator}
 
-Robots are used around volcanoes erupting molten lava to collect samples and study materials and these areas have very high temperatures. These are tasks that are impossible and too hazardous to be done by humans thus making robot a tool that cannot be replaced.
+Robots are essential workers in warehouses. They help to handle parcel items in automated way to pick up the items, stamp them with bar-code stickers and sorting them according to size and destination. They can also read information from parcels and register movement of parcel boxes in the central repository which let a user know exact status of parcel movement. Here they most times need to work alongside humans and under human monitoring. They also move items across the shop floor to a different assembly line~\cite{war}.
 
-\subsection{Automobile Industry}
+\subsection{Food Home Delivery}
 
-Robots are used in automobile manufacturing assembly lines to produce high quality automobile. They can minimize errors and give high quality finished products that is not possible to be manufactured by a human. Many German auto brands are known for their high quality cars all over the world. This is because these cars offer a lot fo features but most importantly a rigid chassis which gives safety, comfort and stability which are only possible by laser welding in body.\\
- 
-This also is allowed to be offered at competitive prices thus giving high quality and finished product worthy of their price and in big auto markets these cars are preferred nowadays over older cars with hand welded bodies which see loose components in chassis with age. Thus robotics form the base of the quality of these products and gives a distinguished appeal compared to other cars which offer similar features but do not have these machine welds in body thus compromising safety and comfort of occupants.\\
+Very recently some tech giants are experimenting with idea of delivering pizza to home. For this drones are used which supposedly fly to an address and safely drop the pizza at a safe location for the customer to pickup. This is already done in practice in some cities. The drone used is also a type of robot which is governed by many technologies like GPS signals, radar proximity sensors and camera to deliver pizza without causing any harm to people around~\cite{dro}. 
 
-\section {Types Of Robots}
+\subsection{Automotive Industry}
 
-Various types of Robots classification are described below \cite{11}.
+Robots are used in automobile manufacturing assembly lines to produce high quality automobiles. They can minimize errors when compared to using a human working style and give high quality finished products that has high error possibility when manufactured by a human. Many global automobile brands are known for their high quality cars all over the world and they use robots to manage the process of manufacturing. Robots pickup parts, move them to appropriate locations, weld or assemble them as per need, and then let a human work alongside to do some things like monitoring or operations like critical assembly~\cite{ind}.
 
-\subsection{Dynamic Robots-Resembling Humans}
 
-Dynamic robots are described as humanoid robots which are the robots that look and feel like a human being. They are designed to look and feel like humans and mostly work in household setting to perform activities like carrying objects. They use silicone materials which are soft and make them look like a real human with face motions and expressions. Examples of dynamic robots are Hanson Robotics’ Sophia and Boston Dynamics’ Atlas.
+\section {Importance Of Robots In Today's Time}
 
-\subsection{Preprogrammed Robots}
+Robots in today's time offer some very specific and important benefits which cannot be ignored or replaced. It include safety, precision of work, quick delivery of product to market, accuracy in repetitive tasks without human like excuses and many more.\\
 
-These robots are made to work in a controlled environment. Here they do simple and monotonous tasks. Example is a mechanical arm on an vehicle assembly line. Its job is to perform as per pre-decided plan and perform tasks longer, faster and more efficiently than a human.
+Robots are ideal for uses in high risk area like volcanic explorations, space probes, deep ocean operations and in bomb diffusion squads. In these situations they perform extraordinarily well. They are stable workers without boredom, cannot get tired, don't compromise on safety and don't make excuses for under performance. They work tirelessly and ensure accuracy, precision and quality of work in any situation. Once programmed and up and running they can work a long time without supervision and while maintaining standards of their work under all situation.\\
 
-\section {Importance Of Robots In Today's Time}
+Robots are used to look for debris in ocean floor from the wreckage of a sunken ship or crashed air-crafts. There may be an deep ocean surface study exploration or a study on largely unknown aquatic life which can only be performed using robots. Robots are imperative to do such operations.\\
 
-Robots in today's time offer some very specific and important benefits which cannot be ignored or replaced. It include safety, precision of work, quick delivery of product to market, accuracy in repetitive tasks without human like excuses and many more.\\
+In cases of metal and mineral exploration and study on ocean floors, robots are machines that cannot be replaced and thus are credited with numerous discoveries. They can move control surfaces and transmit images of seafloor and let humans take control of situation on ocean floor from several miles distance on ocean top. The pressure present at ocean floor can only be tolerated by a submarine and sending a human in deep depths is not possible. Similarly robots are used in space probes and space missions where they do operations humans are not capable of doing like exposing themselves to work in open space where harsh UV sunlight can cause bad effects on human body and any exposure of human beings there is only limited for critical operations to minimize risks and high costs associated to cover the risks. They provide safety to humans and make work easier and faster along with giving reliability and required precision~\cite{1.1}~\cite{1.2}~\cite{1-3}.\\
 
-Robots are ideal for uses in high risk area like volcanic explorations, space probes , deep ocean operations and in bomb diffusion squads as mentioned in above sections. In these situations they perform extraordinarily well. They are stable workers without boredom, cannot get tired ,don't compromise on safety and don't make excuses for under performance.They work tirelessly and ensure accuracy ,precision and quality of work in any situation.Once programmed and up and running they can work a long time without supervision and while maintaining standards of their work under all situations.\\
+Robots are used around volcanoes erupting molten lava to collect samples and study materials and these areas have very high temperatures. These are tasks that are impossible and too hazardous to be done by humans thus making robot a tool that cannot be replaced.\\
 
-Employing robots is cheap and need only power which is also highly optimized. Robots have a one time costs and low power consumption which make them cheaper to employ in most cases than humans. They are also very reliable nowadays thus offering very low maintenance and great value for money.\\
+Employing robots is cheap and needs only power which is also highly optimized. Robots have a one time costs and low power consumption which make them cheaper to employ in most cases than humans. They are also very reliable nowadays thus offering very low maintenance and great value for money.\\
 
-Robots are intelligent. They are programmed to make their own decisions and know how to tackle almost all situations. They have a learning mode where they can be taught instantaneously some tasks that they can mimic, but this is usually limited for research purposes in university setting\cite{12}
-.\\
+Robots are intelligent. They are programmed to make their own decisions and know how to tackle almost all situations. They have a learning mode where they can be taught instantaneously some tasks that they can mimic, but this is usually limited for research purposes in university setting.\\
 
 \section {Expectations From Robots}
 
@@ -92,8 +80,9 @@ There are few basic expectation that a Robot must in all cases adhere to and the
 
 ‒ A robot under any and all circumstance must obey the orders which are given by humans except of those that conflict with the First Law stated above.\\
 
-‒ A robot must protect its existence unless in a situation in conflicts with the First or Second Law stated above.\cite{3.1}
-
-
+‒ A robot must protect its existence unless in a situation in conflicts with the First or Second Law stated above~\cite{asi}.
 
+\section{Evolution - Robots to Cobots}
 
+Most use cases defined in the above sections have the need for a robot to work alongside a human. This is a necessary step in the evolution of robots and as per today's need for robotic performance. The next step in robot evolution is the introduction of the term "cobot". Cobots are nothing but robots but the ones those are made to work alongside robots. This has become a need for most robot use cases these days as the present and future of robots is to work together with humans. 
+Cobots have many features of safety built into them which enables them to operate alongside humans without causing any injury to humans. The features range from object and obstacle detection to a complete stop when in close proximity to a human~\cite{hrc}.
diff --git a/sections/motiv.tex b/sections/motiv.tex
index fe5df8b5ab3d5cf58753fdb91b8f29ed63d7bbf7..8fae7f009d4019abf00f3a5bc6f163752f43eb36 100644
--- a/sections/motiv.tex
+++ b/sections/motiv.tex
@@ -1,19 +1,19 @@
-\chapter{NEED-PLAN-IMPETUS}\label{ch:evaluation}
+\chapter{INSPIRATION AND DRIVING FORCE}\label{ch:evaluation}
 
-The topic of this thesis is about design and implementation of a model based architecture for cobotic cells. With the advent of tactile internet, regularizing coexistence of robots and humans has become imperative, meaning the so called "Cobots" need a new use case architecture for its unit cell to operate safely alongside humans and real world objects and obstacles. This architecture is based on multiple models each describing one aspect of use case aiding in functionality of cobots. For this the thesis described three models namely world model, application model and safety model which are described using different notations.\\
+The topic of this thesis is about design and implementation of a model based architecture for cobotic cells. With the advent of tactile internet, regularizing coexistence of robots and humans has become imperative, meaning the so called "cobots", need a new use case architecture for its unit cell to operate safely alongside humans and real world objects and obstacles. This architecture is based on multiple models each describing one aspect of use case aiding in functionality of cobots. For this the thesis described three models namely world model, application model and safety model which are described using different notations.\\
 
 The world model is a global model describing the cobot and other things in its environment, giving "on the whole" information about the components in real world a cobot has, this includes one or more humans who can be moving in and out of cobotic world zone, then some obstacles and grasp object which can be a ball or cube.\\
 
-The application model describes the flow of individual actions of grasping that can be performed by Cobot according to a motion trajectory to accomplish the given task. This model is all about performing the task and action of the cobot. Lastly, the safety model shows how a Cobot achieves goal of not causing any harm to humans or other objects in its proximity and how to respond to them by moving around them appropriately in cases imminent collisions are detected . \\
+The application model describes the flow of individual actions of grasping that can be performed by cobot according to a motion trajectory to accomplish the given task. This model is all about performing the task and action of the cobot. Lastly, the safety model shows how a cobot achieves the goal of not causing any harm to humans or other objects in its proximity and how to respond to them by moving around them appropriately in cases imminent collisions are detected. \\
 
 The real life problem scenario can be described as follows. Robot is expected to perform some job and to make it to do that with safety i.e. detect and evade obstacles / humans, this safety and application can be achieved in two different step cases. The models designed and described ,address to this task or problem of first, to train the robot for performing actions according to a preconceived plan using inbuilt “teaching” feature of robot and then doing it safely in real world conditions.\\
 
-The use case can be understood by seeing a scenario where we can train the robot in a laboratory / ideal conditions and give a working functionality to it by giving a design which shows how to perform a task which robot can use to work accordingly and this is known as application model implementation. The Franka Panda robot has a teaching mode where we can set a series of poses and grasp actions manually which can train the robot to perform a task according to a plan and this can be done repetitively by the robot later in scenario 2 which is real world and has added conditions of realism.\\
+The use case can be understood by seeing a scenario where we can train the robot in a laboratory / ideal conditions and give a working functionality to it by giving a design which shows how to perform a task which robot can use to work accordingly and this is known as application model implementation. This robot has a teaching mode where we can set a series of poses and grasp actions manually which can train the robot to perform a task according to a plan and this can be done repetitively by the robot later in scenario 2 which is real world and has added conditions of realism.\\
 
 For this ,complex condition are added to application model about how to respond when it detects a human in proximity and obstacles in trajectory paths and in addition this real world simulation adds real world conditions like adding torque to joints as is in real world to see if arm can for example really life an object.
 \newpage
 
-In scenario one the architecture of robot`s world model is already known and has thus been used ,its teaching capability to train it to move to a coordinate position and then start a trajectory for instance at position X to move a position close to an object that is needed to be say picked up and then it can use its gripper to pickup the object and again move arm to another desired location where it want to drop the object and there it releases the gripper to put that object down and thus completing the task at position Y. This is part of Application Model as described before.\\
+In scenario one the architecture of robot`s world model is already known and has thus been used ,its teaching capability to train it to move to a coordinate position and then start a trajectory for instance at position X to move a position close to an object that is needed to be say picked up and then it can use its gripper to pickup the object and again move arm to another desired location where it want to drop the object and there it releases the gripper to put that object down and thus completing the task at position Y. This is part of application model as described before.\\
 
 This is smaller use case replication of saying a robot actually moved but here the idea is restricted to only moving arm which is the same when it comes to functionality achieved by robot moving itself vs moving its arm as previously mentioned, and this is fulfilling the same work of detecting things in proximity and achieving the tasks by completing trajectory as well as at same time to do it safely by responding appropriately as per intended use case programmed for safety.\\
 
diff --git a/sections/soa.tex b/sections/soa.tex
index f207634e1c1b5bda6e1b1e2bfcd404caf461ea39..698cb0a88933f259bacc2aa5e477438be1375792 100644
--- a/sections/soa.tex
+++ b/sections/soa.tex
@@ -6,7 +6,7 @@ This robotics project revolves around the idea of motion planning. It is about d
 
 A robot is present and then one or more humans are in proximity along with one or more obstacles are also present in the real world. The base of Robot is fixed and the arm is moving and there is a gripper which need to do a pickup and release job. The robot has to be programmed to move and not just move but move with safety by detecting obstacles / humans around the robot continuously.\\
 
-To start with a fictitious plan, the robot uses a motion planner to move arm and pickup an object and then move again according to already planned motion trajectory and release the object at desired location thus completing the task. So far this plan is only about doing the task but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion which would thus require an alteration to planned trajectory right at that time instant when sensors detect obstacle and move around the obstacle to reach a coordinate position around the obstacle to a point in pre decided motion plan and then continue motion from there onwards. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life and to see how successful it can be.\\
+To start with a fictitious plan, the robot uses a motion planner to move arm and pickup an object and then move again according to already planned motion trajectory and release the object at desired location thus completing the task. So far this plan is only about doing the task but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion which would thus require an alteration to planned trajectory right at that time instant when sensors detect obstacle and move around the obstacle to reach a coordinate position around the obstacle to a point in pre decided motion plan and then continue motion from there onwards. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life and to see how successful it can be~\cite{4}.\\
 
 To demonstrate such a concept a world is shown which contains the robot Panda, its arm, obstacle object which can be a ball or cube box and human beings. The thesis work designs a world model , an application model, and safety model for which different diagram forms are used and they are discussed further.
 
@@ -41,7 +41,7 @@ This world model class diagram has been designed to contain ten classes. The mai
 
 \item APPLICATION MODEL – BUSINESS PROCESS MODELING NOTATION USING MODELIO \\
 
-Business Process Modelling Notation(BPMN) For application model using Modelio was chosen for application model. Depicted in Figure 4.3.\cite{18}\\
+Business Process Modelling Notation(BPMN) For application model using Modelio was chosen for application model. Depicted in Figure 4.3~\cite{18}\\
 
 This was found to be good choice to show application process as this shows cells which depict each component in the world model diagram and then allowed to depict the relationship and connection between their components and showing their flow which have a comprehensive and logical consistency among cells. It uses start and end event states and then “if” conditions as well as flow lines with process events and intermediate events to other components of world diagram to construct application model. In detail components are described as - \\
 
@@ -65,7 +65,7 @@ Events, Activities and Gateways. Objects are connected using Sequence Flows , Me
 	\label{fig:app4}
 \end{figure}
 
-In Fig.4.4 The start and end events denote the process starting and end. The transition T1 is about human presence. The robot motion begins according to motion already planned using MoveIT but then if the human presence is detected by sensors, it calls MoveIT for new trajectory and proceeds with motion but once again checks if human is detected using if condition and if so then return to human present condition from this state  and once again a new motion is planned by MoveIT until a state is achieved where a human is absent and a final transition T2 is executed which proceed to the end event finally. This model can be extended in more detail in the future using this concept along with a different notation that can make the cases more detailed and thus more extensive. MAPE-K Loops can also be used to denote the safety of a system and in addition computer generated graphics can as well be used to depict the safety model of a system, this enables the research to not get restricted to just BPMN notation for safety models of a system\cite{18}.\\ 
+In Fig.4.4 The start and end events denote the process starting and end. The transition T1 is about human presence. The robot motion begins according to motion already planned using MoveIT but then if the human presence is detected by sensors, it calls MoveIT for new trajectory and proceeds with motion but once again checks if human is detected using if condition and if so then return to human present condition from this state  and once again a new motion is planned by MoveIT until a state is achieved where a human is absent and a final transition T2 is executed which proceed to the end event finally. This model can be extended in more detail in the future using this concept along with a different notation that can make the cases more detailed and thus more extensive. MAPE-K Loops can also be used to denote the safety of a system and in addition computer generated graphics can as well be used to depict the safety model of a system, this enables the research to not get restricted to just BPMN notation for safety models of a system~\cite{18}.\\ 
 
 \begin{figure}
 	\centering
@@ -74,7 +74,7 @@ In Fig.4.4 The start and end events denote the process starting and end. The tra
 	\label{fig:3-figure4-1}
 \end{figure}
 
-Fig.4.5 There has been extensive work done to incorporate safety into real world robots particularly from Sami Haddadin. It has built the robot with technology ranging from making the robot understanding safety i.e by making them softer in approach when operating to preventing any physical collision by embedding injury knowledge into controls. The robot surfaces are made softer and force reduced when in proximity to collision objects up to a level where the robot can affirmatively detect the kind of object in proximity and classify that as a serious or not so seriously unsafe object. Extensive testing has been done on injuring pig skin\cite{19}.
+Fig.4.5 There has been extensive work done to incorporate safety into real world robots particularly from Sami Haddadin. It has built the robot with technology ranging from making the robot understanding safety i.e by making them softer in approach when operating to preventing any physical collision by embedding injury knowledge into controls. The robot surfaces are made softer and force reduced when in proximity to collision objects up to a level where the robot can affirmatively detect the kind of object in proximity and classify that as a serious or not so seriously unsafe object. Extensive testing has been done on injuring pig skin~\cite{19}.
 
 \end{enumerate}