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Germination and outgrowth are critical steps for returning Bacillus subtilis spores to life. However, oxidative stress due to full hydration of the spore core during germination and activation of metabolism in spore outgrowth may generate oxidative DNA damage that in many species is processed by apurinic/apyrimidinic (AP) endonucleases. B. subtilis spores(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)
We study the aggregate e¤ects of a social security reform in a large overlapping generations model where markets are incomplete and households face uninsurable idiosyncratic income shocks. We depart from the previous literature by assuming that, because of lack of commitment in the credit market, the borrowing constraint in the unique asset is endogenously(More)
—Autonomous snap assemblies is a highly desirable robotic functionality. While much work has been done in active sensing for peg-in-hole assemblies and general compliant motions, snap assembly state estimation remains an open research problem. This work presents a probabilistic framework designed to account for uncertainties in assembly and yield more(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)