Gradient calibration for the RCBHT cantilever snap verification system

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 needed to increase the RCBHT´s system robustness. Prior to this work, all gradient classification schemes were derived on an intuitive trial and error basis. Statistical measures were used to derive contact and constant gradient thresholds in contextually sensitive ways. The method requires training assemblies to identify a minimum contact gradient which serves as a marker for all other gradient thresholds. Experimental procedures verified that our calibration method was effective. Assemblies with supervised successful outcomes were used in experimentation. The RCBHT assessed out assemblies as successful using the calibration method. Even two snaps that where classified falsely as unsuccessful when using a previously non-calibrated version of the RCBHT.