COORDINATED CONTROL OF A 6-DOF ROBOTIC MANIPULATOR EMPLOYING VIRTUAL MODELS OF ITS ACTUATORS

Jessica Villalobos (2023, [Tesis de doctorado])

"This study proposes a scheme that combines the model reference control with the internal model control to impose a first-order behavior on the speed control system of direct current motors. This scheme is used as the internal loop to control the position of a model to use it as the reference for the physical motor.

This work also presents an inverse kinematic solution for the UR5 and algorithms to choose angles that do not lead to singularities. These algorithms can be used in independent joint control schemes such as the one proposed in this document."

Internal model control Model reference control Independent joint control Direct current motor UR5 manipulator Inverse kinematics INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS OTRAS ESPECIALIDADES TECNOLÓGICAS OTRAS OTRAS

Monitoreo e Instalación visual de señales a un motor eléctrico de inducción de instalación trifásica de forma jaula de ardilla, mediante la implementación de tecnología industria 4.0

Luis Ricardo Uribe Dávila (2023, [Tesis de maestría])

Vivimos la industria 4.0, misma que no es nueva, ya que sus orígenes se remontan a finales de la década de los 2000, en Alemania. Un pilar de la industria 4.0 es el análisis de datos, conocido como Big Data. El conocer los datos de un proceso, de un estudio, ayuda en gran medida a predecir el comportamiento que tendrá el proceso o la máquina a estudiar en un periodo a corto o mediano plazo. En el presente proyecto se analizan los datos arrojados por un motor eléctrico de corriente alterna, del tipo inducción, jaula de ardilla. El motor está diseñado para trabajar de manera continua, sin embargo, el uso que se le da, es meramente educativo; es decir, no sobre pasa las 15 horas por semana de uso. Mediante la toma de datos de las tres fases de corriente RMS o corriente de valor eficaz que posee el motor eléctrico que se realizará con el microcontrolador Arduino UNO, se analizarán los mismos mediante el software de cómputo numérico MATLAB, ordenando los datos, descartando valores que no aporten información relevante para lograr la predicción de datos. Por último, se llevará a conocer este proyecto a la carrera mecatrónica, área sistemas de manufactura flexible y área automatización, con el fin de que puedan observar de una mejor manera la aplicación y funcionamiento de uno de los pilares de la actual industria 4.0.

We live in industry 4.0, which is not new, since its origins date back to the late 2000s, in Germany. One pillar of industry 4.0 is data analysis, known as Big Data. Knowing the data of a process, of a study, helps greatly to predict the behavior that the process or machine will have to study in a short- or medium-term period. This project analyzes the data released by an electric motor of alternating current, of the type induction, squirrel cage. The engine is designed to work continuously, however, the use given to it is merely educational, that is; only not over spends 15 hours per week of use. By taking data from the three phases of RMS current or effective value current of the electric motor that will be made with the Arduino UNO micro controller, they will be analyzed using MATLAB numerical computing software, ordering the data, discarding values that do not provide relevant information to achieve data prediction. Finally, this project will be presented to the mechatronics career, flexible manufacturing systems area and automation area, so that they can observe in a better way the application and operation of one of the pillars of the current industry 4.0.

Mantenimiento predictivo Regresión lineal Industria 4.0 Big data Corriente RMS Predictive maintenance Linear regression Industry 4.0 Big data RMS Current INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS OTRAS ESPECIALIDADES TECNOLÓGICAS OTRAS OTRAS

Optimization of N dose in rice under conservation agriculture with sub-surface drip fertigation

C.M. Parihar Hari Sankar Nayak Renu Pandey Avinash Kumar ML JAT (2021, [Artículo])

Biological Yield Economic N Dose Yield Attributes CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA YIELDS NITROGEN ZERO TILLAGE DIRECT SOWING RICE

Editorial: Conservation agriculture: knowledge frontiers around the world

Stéphane Cordeau ML JAT Cameron Pittelkow Christian Thierfelder (2023, [Artículo])

No-Tillage Direct Seeding Cover Crops Crop Diversification CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA COVER PLANTS DIVERSIFICATION CROPPING SYSTEMS DIRECT SOWING ZERO TILLAGE

Gene editing to accelerate crop breeding

Kanwarpal Dhugga (2022, [Artículo])

Accelerated Breeding Grain Biofortification Maize Lethal Necrosis Rust Resistance Site-Directed Nuclease Scenarios CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA BREEDING BACKCROSSING DISEASE RESISTANCE GENE EDITING GRAIN BIOFORTIFICATION RUSTS

Resolución de disputas comerciales y flujos de Inversión Extranjera Directa (IED) hacia los Estados Mexicanos

MITZI MAGALI MORENO VARGAS MANUEL DE JESUS GOMEZ ZALDIVAR (2018, [Artículo])

En este trabajo se analiza la relación existente entre los flujos de IED que reciben los distintos estados del país, y el estado de derecho en las entidades, para el periodo 2007-2015. El estado de derecho en las entidades se aproxima con una medida de eficiencia de su sistema de justicia; específicamente, se mide el número de días que toma resolver disputas comerciales en cortes locales. En principio, un menor tiempo en la resolución judicial de las disputas debería incentivar que las entidades reciban mayores flujos de IED; esto debido a que los procesos judiciales tienen costos, potencialmente importantes para las empresas. Los resultados muestran una relación negativa y significativa entre el número de días que toma resolver las disputas comerciales y la cantidad de inversión extranjera directa que recibe el estado

In this work, we analyze the relationship between FDI flows and a rule of law indicator in Mexican states, during the period 2007-2015. The states’ rule of law is a measure of the efficiency in their justice system; specifically, it measures the number of days that takes to solve commercial disputes in local courts. In principle, we expect that the shorter the time it takes to resolve commercial disputes should encourage entities to receive higher flows of FDI. Long, drawn-out court disputes are costly for firms, which in turn may translate into lower growth rates due to the negative impact of these costs on their levels of investment. The results show a negative and significant relationship between the number of days it takes to resolve commercial disputes and the amount of direct foreign investment the state receives

CIENCIAS SOCIALES Inversión extranjera directa Sistema de Justicia Datos de panel

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

Impact of automation on enhancing energy quality in grid-connected photovoltaic systems

Virgilio Alfonso Murillo Rodríguez NOE VILLA VILLASEÑOR José Manuel Robles Solís OA Guirette-Barbosa (2023, [Artículo])

Rapid growth in the integration of new consumers into the electricity sector, particularly in the industrial sector, has necessitated better control of the electricity supply and of the users’ op-erating conditions to guarantee an adequate quality of service as well as the unregulated dis-turbances that have been generated in the electrical network that can cause significant failures, breakdowns and interruptions, causing considerable expenses and economic losses. This research examines the characteristics of electrical variations in equipment within a company in the industrial sector, analyzes the impact generated within the electrical system according to the need for operation in manufacturing systems, and proposes a new solution through automation of the regulation elements to maintain an optimal system quality and prevent damage and equipment failures while offering a cost-effective model. The proposed solution is evaluated through a reliable simulation in ETAP (Energy Systems Modeling, Analysis and Optimization) software, which emulates the interaction of control elements and simulates the design of electric flow equipment operation. The results demonstrate an improvement in system performance in the presence of disturbances when two automation schemes are applied as well as the exclusive operation of the capacitor bank, which improves the total system current fluctuations and improves the power factor from 85.83% to 93.42%. Such a scheme also improves the waveform in the main power system; another improvement result is when simultaneously operating the voltage and current filter together with the PV system, further improving the current fluctuations, improving the power factor from 85.83% to 94.81%, achieving better stability and improving the quality of the waveform in the main power grid.

This article belongs to Special Issue Advances and Optimization of Electric Energy System.

Power quality Capacitor bank Voltage and current filter Photovoltaic system INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS OTRAS ESPECIALIDADES TECNOLÓGICAS OTRAS OTRAS

Variaciones en un transecto profundo frente a la costa de Nayarit, México

Emilio Palacios Hernández Luis Brito Castillo LAURA ELENA CARRILLO BIBRIEZCA CARLOS EDUARDO CABRERA RAMOS JORGE MANUEL MONTES ARECHIGA (2022, [Artículo])

"Six oceanographic cruises in a NE-SW transect were made nearshore of southern Sinaloa and Nayarit from March 2006 through May 2008, where no in situ hydrographic data are available. Applying the Thermodynamic Equation of Seawater 2010 (TEOS-10) to the observations, the hydrography and geostrophic currents of the region were characterized. Results indicate that surface variability (0-50 m) emerged mainly from seasonal atmospheric forcing. A relative salinity maximum was present during all cruises below this surface layer, which is attributed to a water mass intrusion of Subtropical Subsurface Water that could be associated with the Mexican Coastal Current. Another water mass intrusion is from the California Current. Samples from the 2007-2008 La Niña produced an uncommon circulation, where water flowing from the Gulf of California along the coast of Sinaloa was observed, opposite to what is commonly known as a mean circulation. This uncommon circulation matches the generation of anticyclonic eddies around the Islas Marias archipelago."

Gulf of California, Mexican Coastal Current, Nayarit Coast, seasonal variation, La Niña CIENCIAS FÍSICO MATEMÁTICAS Y CIENCIAS DE LA TIERRA CIENCIAS DE LA TIERRA Y DEL ESPACIO OCEANOGRAFÍA OCEANOGRAFÍA DESCRIPTIVA OCEANOGRAFÍA DESCRIPTIVA