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If you want to modify your current kernel, you should take care to retain your current one. Otherwise, your working kernel will be overwritten with the modified version. If something should go wrong, you would be unable to restore the previous working kernel. You should retain a copy of your current kernel so you can use it again in case something goes wrong with the new one. You do not have to worry about this happening if you are installing a new kernel. New kernels are given different names, so the older one is not overwritten. To retain a copy of your current kernel, you can either make a backup copy of it, letting the original be overwritten, or modify the kernel source Makefile to have your modified version created with a different name. The kernel image file is called vmlinuz-version where version is the version number attached, as in vmlinuz-2.4.7. It is located in the /boot directory. Also, there is a file called /boot/vmlinuz, which is only a symbolic link to the actual kernel file. When you generate a modified version of the kernel, the kernel file, here called vmlinuz2.4.7, will be overwritten with the new kernel image. To edit the Makefile, you change to the /usr/src/linux-2.4 directory and carefully open the Makefile with a text editor. Then you locate the line that says EXTRAVERSION = and assign to it a unique name you want appended to the modified kernel to identify it. For example, if you appended a date, you could easily identify the kernel and know when you modified it.

The nature of accelerometers, particularly the less-expensive piezoelectric variety, can make them difficult to employ in an inertial system Accelerometers are sensitive to the earth s gravity, and tilting on the part of the robot can introduce errors By using multiple accelerometers one to measure movement of the robot and one to determine tilt it is generally possible to reduce (but perhaps not eliminate) these errors..

This would give you two kernels, keeping the original one. Corresponding map files and modules will also be generated. When you install your modified kernel, /boot/vmlinuz will link to it, in this case, vmlinuz-2.4.7-July2001.

Making a backup copy is a more intuitive process, but takes a few more steps. You would make a copy of the /boot/mvlinux-2.4.7 file, giving it another name as shown here:

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Maps help us navigate strange towns and roads. By correlating what we see out the windshield with the street names on the map, we can readily determine where we are or just how lost we are! Likewise, given a map of its environment, a robot could use its various sensors to correlate its position with the information in a map. Map-based positioning, also known as map matching, uses a map you prepare for the robot or that the robot prepares for itself. During navigation, the robot uses whatever sensors it has at its disposal (infrared, ultrasonic, vision, etc.) to visualize its environment. It checks the results of its sensors against the map previously stored in its memory. From there, it can compute its actual position and orientation. One common technique, developed by robot pioneer Hans Moravec, uses a certainty grid that consists of squares drawn inside the mapped environment (think of graph paper used in school). Objects, including obstacles, are placed within the squares. The robot can use this grid map to determine its location by attempting to match what it sees through its sensors with the patterns on the map. Obviously, map matching requires that a map of the robot s environment be created first. Several consumer robots, like the Cyebot, are designed to do this mapping autonomously

You could also make a backup of the System.map file. This file contains kernel symbols needed by modules to start kernel functions. In the case of kernel 2.4.7-10, this would be System.map-2.4.7-10. You should also back up your modules located in the /lib/modules/version directory, where version is the version number of the kernel. Otherwise, you will lose the modules already set up to work with the original kernel. For version 2.4.710, the libraries are located in /lib/modules/2.4.7-10. If you are compiling a different version, those libraries are placed in a new directory named with the new version number. If you are using a boot loader, you should create a new entry for the old kernel in the boot loader configuration file (see 29). You can then make an entry for the new kernel in that configuration file. Leaving the entry for the old kernel is advisable in case something goes wrong with the new kernel. This way, you can always reboot and select the old kernel. For example, in the grub.conf file, add a new entry, similar to the one for the old kernel, which references the new kernel in its image line. The grub.conf entry would look something

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