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Eucalyptus is a widely planted tree species, occupying almost 20 million ha worldwide (Iglesias and Wistermann, 2008). In Brazil alone, land area devoted to Eucalyptus plantations exceeds 3.7 million ha and has doubled over the past decade. Improved genetics and intensive silvicultural practices has led to as much as a threefold increase in productivity of(More)
The proteolytic digestive activity and growth of Parachromis dovii larvae during the ontogeny were evaluated in a recirculation system using two feeding strategies during a 28-day period. Larvae were reared using two feeding protocols (three replicates each): (A) Artemia nauplii (at satiation), fed from exogenous feeding [8 days after hatching (DAH)] until(More)
Snap assembly automation remains a challenging task. While progress is being made in localization of parts, force controllers, and control strategies, little work has been done to help the robot reason about its current state, such that if necessary, the robot can assume corrective actions to accomplish the task. Error prone situations caused by the(More)
Failure detection and correction is essential in robust systems. In robotics, failure detection has focused on traditional parts assembly, tool breakage, and threaded fastener assembly. However, not much work has focused on sub-mode failure classification. This is an important step in order to provide accurate failure recovery. Our work implemented a novel(More)
In this work a gradient calibration method was presented as part of the Relative-Change-Based-Hierarchical Taxonomy (RCBHT) cantilever-snap verification system and the Pivot Approach control strategy for the automation of cantilever-snaps. As part of a relative-change based force signal interpretation scheme, an effective gradient calibration process is(More)
The advent of low-cost, functional robots has promoted swarm robotics research. However, an area of research that is yet untouched is how these types of robots could aid in teaching STEM subjects. In particular, there is little work concerning mathematics at the elementary level. The Kilobot robot's size, cost, and functionality offers a good test-bed to(More)
Failure detection plays an increasingly important role in industrial processes and robots that serve in unstructured environments. This work studies failure detection on cantilever snap assemblies, which are critical to industrial use and growing in importance for personal use. Our aim is to study whether an SVM can use a small set of features abstracted as(More)