Learn More
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)
— 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)
—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)
— 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)
— 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(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)
NASA and university researchers have specified a fundamental suite of scientific instrumentation focused on surface composition determination for the calibration and validation of NASA orbiting sensors for mobile planetary exploration. The instruments have been integrated with navigation and clocks to create a scientific data base that is searchable by(More)