Juan Rojas

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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)
—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)
The standard argument says that in the presence of positive spillovers foreign direct investment should be promoted and subsidized. In contrast, this paper claims that the very existence of spillovers may require temporarily restricting FDI. Our argument is based on two features of spillovers: they are limited by the economy's absorptive capacity and they(More)