Object manipulation by collaborative autonomous underwater vehicles driven by a model-free second-order sliding mode controller with finite-time convergence

JOSUE GONZALEZ GARCIA (2023, [Artículo])

https://orcid.org/0000-0001-5657-380X

The use of Autonomous Underwater Vehicles (AUV) has expanded in recent years to include them in inspection, maintenance, and repair missions. These missions require the automation of tasks such as autonomous navigation and station-keeping, which are pretty challenging due to the complexity of the vehicle itself and the underwater environment. Traditional control strategies have been used to deal with those problems before, but their performance is limited since they do not consider non-linearities, external disturbances, or model uncertainties. Non-traditional controllers have been explored too, but have shortcomings such as being model-based, parameter-dependant, or so. Additionally, the nature of some objects implies the involvement of multiple vehicles to manipulate them, making the manipulation mission even harder. Collaboration of AUVs is a strong challenge since underwater communications are limited or null. An advanced control strategy dealing with the trajectory tracking and the station-keeping problem would be desirable for simplicity and robustness. If this controller could also help coordinate multiple vehicles without requiring them to communicate with each other, it would make collaborative manipulation tasks reachable. For this purpose, a model-free high-order Sliding Mode Controller (SMC) is presented in this project. Unlike other control approaches, the proposed control strategy achieves finite-time convergence to a practical zero error in a time-base that the user can arbitrarily define. This characteristic will be used to coordinate the navigation of two AUVs to manipulate an object underwater. The performance of the proposed controller was evaluated by numerical simulations and experiments in a semi-Olympic swimming pool and compared with classic and state-of-the-art control strategies regarding trajectory tracking and station-keeping problems. Results have shown that the proposed controller can achieve finite-time convergence of the tracking errors to a practical zero value in the predefined time-base. Results also demonstrated that the convergence time could be arbitrarily selected by the user and achieved by the controller resulting in, as far as the author knows, the first controller with this characteristic for AUVs navigation. The simulations and experiments also showed that the proposed controller outperformed classical and state-of-the-art controllers regarding the Root Mean Square of the tracking errors and energy consumption. Finally, the proposed model-free high-order SMC coordinated two BlueROV2 vehicles in a collaborative manipulation mission without vehicle-to-vehicle communication. Numerical simulation results confirmed that the proposed controller could manage the vehicles to follow a predefined coordinated trajectory to approach, grip, transport, and release an object without communicating with each other.

Doctor of Philosophy In Engineering Science

INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS TECNOLOGÍA DE LA INSTRUMENTACIÓN INGENIERÍA DE CONTROL INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS TECNOLOGÍA NAVAL VEHÍCULOS SUBMARINOS

¿Por qué revalorizar los nances y sus variedades de colores?

Diana Elidé Burgos Lugo MARIA TERESA CASTILLO BURGUETE DANIELA ALEJANDRA MARTINEZ NATAREN (2023, [Artículo])

Los nances, frutales ancestrales con distribución desde el sureste mexicano hasta Sudamérica, están dejando de cultivarse y poco se conoce sobre sus variedades con frutos de colores, debido a los cambios en los hábitos de consumo y estilo de vida de las personas. El manejo tradicional de los nances se realiza en huertos familiares y parcelas de cultivo, cuyos frutos son recolectados, en ocasiones, con la participación familiar. Las formas de uso culinario de los nances, son parte de la cultura maya y ofrecen beneficios para la salud y la economía de los habitantes de comunidades rurales. Invitamos a conocer y apreciar los frutos de estos árboles que todavía están a nuestro alcance.

BYRSONIMA BUCIDIFOLIA BYRSONIMA CRASSIFOLIA CONOCIMIENTO TRADICIONAL FRUTALES SUBUTILIZADOS PROPIEDADES FUNCIONALES BIOLOGÍA Y QUÍMICA CIENCIAS DE LA VIDA BIOLOGÍA VEGETAL (BOTÁNICA) ECOLOGÍA VEGETAL ECOLOGÍA VEGETAL

Unsupervised segmentation and clustering time series approach to Southern Africa rainfall regime changes

Lovemore  Chipindu Walter Mupangwa Isaiah Nyagumbo Mainassara Zaman-Allah (2023, [Artículo])

Autoregressive Integrated Moving Average Facebook Prophet Hidden Markov Model Regression Regression with Hidden Logistic Process CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA COASTAL AREAS SEMIARID ZONES SUBHUMID ZONES RAINFALL CLIMATE CHANGE

Bundling subsurface drip irrigation with no-till provides a window to integrate mung bean with intensive cereal systems for improving resource use efficiency

Manish Kakraliya madhu choudhary Mahesh Gathala Parbodh Chander Sharma ML JAT (2024, [Artículo])

The future of South Asia’s major production system (rice–wheat rotation) is at stake due to continuously aggravating pressure on groundwater aquifers and other natural resources which will further intensify with climate change. Traditional practices, conventional tillage (CT) residue burning, and indiscriminate use of groundwater with flood irrigation are the major drivers of the non-sustainability of rice–wheat (RW) system in northwest (NW) India. For designing sustainable practices in intensive cereal systems, we conducted a study on bundled practices (zero tillage, residue mulch, precise irrigation, and mung bean integration) based on multi-indicator (system productivity, profitability, and efficiency of water, nitrogen, and energy) analysis in RW system. The study showed that bundling conservation agriculture (CA) practices with subsurface drip irrigation (SDI) saved ~70 and 45% (3-year mean) of irrigation water in rice and wheat, respectively, compared to farmers’ practice/CT practice (pooled data of Sc1 and Sc2; 1,035 and 318 mm ha−1). On a 3-year system basis, CA with SDI scenarios (mean of Sc5–Sc8) saved 35.4% irrigation water under RW systems compared to their respective CA with flood irrigation (FI) scenarios (mean of Sc3 and Sc4) during the investigation irrespective of residue management. CA with FI system increased the water productivity (WPi) and its use efficiency (WUE) by ~52 and 12.3% (3-year mean), whereas SDI improved by 221.2 and 39.2% compared to farmers practice (Sc1; 0.69 kg grain m−3 and 21.39 kg grain ha−1 cm−1), respectively. Based on the 3-year mean, CA with SDI (mean of Sc5–Sc8) recorded −2.5% rice yield, whereas wheat yield was +25% compared to farmers practice (Sc1; 5.44 and 3.79 Mg ha−1) and rice and wheat yield under CA with flood irrigation were increased by +7 and + 11%, compared to their respective CT practices. Mung bean integration in Sc7 and Sc8 contributed to ~26% in crop productivity and profitability compared to farmers’ practice (Sc1) as SDI facilitated advancing the sowing time by 1 week. On a system basis, CA with SDI improved energy use efficiency (EUE) by ~70% and partial factor productivity of N by 18.4% compared to CT practices. In the RW system of NW India, CA with SDI for precise water and N management proved to be a profitable solution to address the problems of groundwater, residue burning, sustainable intensification, and input (water and energy) use with the potential for replication in large areas in NW India.

Direct Seeded Rice Subsurface Drip Irrigation Economic Profitability Energy and Nitrogen Efficiency CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA CONSERVATION AGRICULTURE RICE SUBSURFACE IRRIGATION IRRIGATION SYSTEMS WATER PRODUCTIVITY ECONOMIC VIABILITY ENERGY EFFICIENCY NITROGEN-USE EFFICIENCY

LUCHAS FRONTERIZAS POR LA MOVILIDAD Y LA VIDA : UNA ETNOGRAFÍA SOBRE REGÍMENES FRONTERIZOS, MIGRACIONES Y RACISMOS EN TÚNEZ

Edgar Damián Córdova Morales (2023, [Tesis de doctorado])

“A 10 mil kilómetros de la Ciudad de México, hay un puerto llamado Zarzis en el sur de Túnez, cuyas playas son permanentemente abrazadas por las cálidas aguas del mar Mediterráneo. Este país del norte de África ha sido, a lo largo de las últimas décadas, un escenario donde es posible atestiguar y analizar las aceleradas transformaciones de las políticas y prácticas fronterizas emprendidas por la Unión Europea en el Mediterráneo así como sus dramáticos impactos sobre miles de migrantes de todo el continente africano que transitan, viven y sobreviven en esta convulsa región del mundo, antes de intentar cruzar el mar en dirección de Europa. En las afueras de Zarzis, la fachada inadvertida de una casa en una polvorienta calle esconde el “Museo de la Memoria del Mar”, cuyas instalaciones artísticas con galería de arte contemporáneo de Ciudad de México, Casablanca o Paris. Cada día desde hace varios años, migrantes de distintos rincones del continente africano zarpan del sur tunecino para intentar atravesar el mar Mediterráneo de forma irregularizada y subvertir las fronteras de la Unión Europea en búsqueda de una vida mejor. Historias como estas constituyen el corazón de esta tesis, cuya etnografía realice en 2019, específicamente en el puerto de Zarzis, la ciudad de Medenine, y en menor medida la capital tunecina. Mi propuesta principal es que Túnez, y particularmente el sur del país, es un espacio etnográfico clave desde el cual analizar más ampliamente las políticas fronterizas en el Mediterráneo central en sus distintos papeles como histórico país de origen, de tránsito y más recientemente de destino forzado para migrantes procedentes principalmente de la vecina Libia. África subsahariana y occidental. Asimismo, como socio clave de la Unión Europea, Túnez un país que permite entender, la conformación reproducción y los efectos que nombro como el régimen fronterizo euro-mediterráneo”.

Migración internacional. Refugiados - Historia - Siglo XXI. Migración forzada - Túnez. Refugiados - Política gubernamental - Países de la Unión Europea. Desplazados - Túnez. Migrantes africanos - Asistencia especial - Túnez. Refugios para personas migrantes. Tesis - Doctorado en Antropología, CDMX. CIENCIAS SOCIALES DEMOGRAFÍA DEMOGRAFÍA GEOGRÁFICA MOVILIDAD Y MIGRACIONES INTERNACIONALES MOVILIDAD Y MIGRACIONES INTERNACIONALES

Diversidad arbórea y carbono almacenado en selvas bajo manejo forestal comunitario en Yucatán, México

Tree diversity and carbon stored in communally managed tropical forests in Yucatan, Mexico

MARIA CAMILA HURTADO TORRES JUAN MANUEL DUPUY RADA PATRICIA IRENE MONTAÑEZ ESCALANTE JUAN JOSE MARIA JIMENEZ OSORNIO (2022, [Artículo])

El manejo forestal comunitario sustentable favorece la economía de las comunidades rurales sin comprometer la capacidad de regeneración ni los servicios ecosistémicos que brindan las selvas, como el almacenamiento de carbono. Esta actividad ha sido ampliamente documentada en la Península de Yucatán, pero escasamente evaluada en el estado de Yucatán. En esta investigación se hizo una comparación de composición arbórea, estructura, diversidad y carbono almacenado en la biomasa aérea en tres áreas de selva mediana subcaducifolia con diferente tiempo de regeneración después de un aprovechamiento forestal en el ejido San Agustín (AAF1, AAF10 y AAF+50 años). En cada una se establecieron dos conglomerados conformados por cuatro parcelas circulares de 400 m 2, en las que se identificaron y midieron (diámetro y altura) todos los árboles de diámetro mayor o igual a 7.5 cm. Se analizó la distribución de tamaños de los árboles, la diversidad de especies, su valor de importancia relativo y la biomasa aérea (a partir de ecuaciones alométricas). La especie más dominante fue Bursera simaruba y el AAF+50 presentó la menor dominancia. La distribución de clases diamétricas no varió entre las áreas de aprovechamiento y mostró un patrón de J invertida, lo cual sugiere un alto potencial de regeneración. La diversidad tampoco varió entre las áreas de aprovechamiento, mientras que el carbono almacenado en la biomasa aérea sí, siendo mayor en el AAF+50 (65.2 t /ha). Los resultados indican que el plan de manejo establecido por el ejido no ha afectado la diversidad arbórea ni su potencial de regeneración y permite un alto almacenamiento de carbono.

APROVECHAMIENTO FORESTAL BIOMASA AÉREA DISTRIBUCIÓN DE TAMAÑOS DIVERSIDAD VERDADERA SERVICIOS ECOSISTEMICOS SELVA MEDIANA SUBCADUCIFOLIA BIOLOGÍA Y QUÍMICA CIENCIAS DE LA VIDA BIOLOGÍA VEGETAL (BOTÁNICA) ECOLOGÍA VEGETAL ECOLOGÍA VEGETAL

Seed integrity, effect of temperature and storage time on germination of Populus luziarum and P. primaveralepensis, endangered subtropical species from Mexico

César Jacobo Pereira MIGUEL ANGEL MUÑIZ CASTRO JOSE ANTONIO VAZQUEZ GARCIA Joel David Flores Rivas ALEJANDRO MUÑOZ URIAS FRANCISCO MARTIN HUERTA MARTINEZ (2022, [Artículo])

"Background: Populus luziarum and P. primaveralepensis are endemic species of western Mexico; growing in riparian forests they are critically endangered. The best way to conserve their seeds is unknown, which could be limiting for their conservation.

Hypothesis: The germinability of both subtropical species is like that of boreal and template Salicaceae species that disperse seeds in spring and early summer, as they germinate quickly with high percentages, and rapidly lose their viability when stored at ambient temperature.

Studied species: Populus luziarum and P. primaveralepensis. Study site and dates: Western Trans-Mexican Volcanic Belt. Jalisco, Mexico. October 2019.

Methods: The physical integrity of the seeds was assessed by X-ray imaging and compared with germinability. In addition, the effect of storage time (nine weeks) under two temperatures (4 and 21 °C) on the percentage and mean germination rate was evaluated.

Results: No significant differences were found between physical integrity and germination in freshly collected seeds for both species. Germination in the first 24 hrs was 91 and 95 % for Populus luziarum and P. primaveralepensis, respectively (week 0). Germination percentages were lower when stored at 21 °C, but P. primaveralepensis was decreased more slowly.

Conclusions: Seeds of subtropical Populus respond similarly to those of species from temperate and boreal climates with early seed dispersal, a crucial condition for establishing ex situ reforestation and conservation programs."

Salicaceae Seed physical integrity Seed storage conditions Subtropical endemic species White poplars BIOLOGÍA Y QUÍMICA CIENCIAS DE LA VIDA BIOLOGÍA VEGETAL (BOTÁNICA) BIOLOGÍA VEGETAL (BOTÁNICA)

Precise irrigation water and nitrogen management improve water and nitrogen use efficiencies under conservation agriculture in the maize-wheat systems

Mahesh Gathala ML JAT (2023, [Artículo])

A 3-year field experiment was setup to address the threat of underground water depletion and sustainability of agrifood systems. Subsurface drip irrigation (SDI) system combined with nitrogen management under conservation agriculture-based (CA) maize-wheat system (MWS) effects on crop yields, irrigation water productivity (WPi), nitrogen use efficiency (NUE) and profitability. Grain yields of maize, wheat, and MWS in the SDI with 100% recommended N were significantly higher by 15.8%, 5.2% and 11.2%, respectively, than conventional furrow/flood irrigation (CT-FI) system. System irrigation water savings (~ 55%) and the mean WPi were higher in maize, wheat, and MWS under the SDI than CT-FI system. There was saving of 25% of fertilizer N in maize and MWS whereas no saving of N was observed in wheat. Net returns from MWS were significantly higher (USD 265) under SDI with 100% N (with no subsidy) than CT-FI system despite with higher cost of production. The net returns were increased by 47% when considering a subsidy of 80% on laying SDI system. Our results showed a great potential of complementing CA with SDI and N management to maximize productivity, NUE, and WPi, which may be economically beneficial and environmentally sound in MWS in Trans-IGP of South Asia.

Subsurface Drip Irrigation Nitrogen Management Irrigation Water Productivity Water Savings CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA IRRIGATION WATER NITROGEN-USE EFFICIENCY CONSERVATION AGRICULTURE MAIZE WHEAT

Morphological characterization of native maize populations of the ratón race from Coahuila, Mexico

Froylan Rincon Cesar Petroli (2023, [Artículo])

Repeatability Index Representative Subset of Diversity Maize Raton Race CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA GENETIC DIVERSITY (AS RESOURCE) ZEA MAYS MORPHOLOGY PHENOTYPING VARIETIES

Loeselia campechiana (Polemoniaceae) una especie rara y amenazada de Campeche (México)

CELSO GUTIERREZ BAEZ RODRIGO STEFANO DUNO PEDRO ZAMORA CRESCENCIO (2023, [Artículo])

Loeselia campechiana C. Gut. Báez & R. Duno (Polemoniaceae), es una especie descrita del estado de Campeche (México) en el año 2015. Es una especie rara, se conoce solamente de una localidad de selva mediana subcaducifolia en el ejido de Mucuychakán. Esta especie se distingue por tener brácteas florales cortas, el tubo de la corola recto, los filamentos y el estilo también cortos. Con relación a su estado de conservación, la especie se considera en Peligro Crítico (CR por sus siglas en inglés).

ERICALES PENINSULA DE YUCATAN SELVA MEDIANA SUBCADUCIFOLIA TREN MAYA BIOLOGÍA Y QUÍMICA CIENCIAS DE LA VIDA BIOLOGÍA VEGETAL (BOTÁNICA) ECOLOGÍA VEGETAL ECOLOGÍA VEGETAL