In this paper we propose a model of zero-sum differential games (ZSG) to perform the formation flight of a group of three fixed-wing Unmanned Aerial Vehicles (UAVs). The dynamics of these UAVs are described in the linearized model around nominal values. For the formation strategy, the game scheme for one of the UAVs acts as the leader vehicle following a freely designed trajectory meanwhile the two vehicles just follow the leader. A reduced dimension Riccati equation is solved in order to achieve the desired formation. A numerical example is provided to prove the strategy of the formation fight.

In this paper, a grain sack detection and counting system is developed to help the logistics management of a warehouse stock. As main objective is to construct an electronic device that performs the counting of sacks with great precision through the most advanced artificial vision techniques. The device will count the total number of sacks that make up a stowage, calculate the volume, and eventually estimate the amount of mass, these results are transferred to an Excel sheet for constant monitoring and easy handling for users. The detection model is carried out with Python, PyTorch and YOLOv3, obtaining as a result a mean Average Precision (mPA) of 0.92. In addition, a sacks stowage arrangement was established that allows the volume result to be as accurate as possible, likewise, a program that performs the calculation was developed.

This paper presents a pH sensor with a Mach–Zehnder Interferometer (MZI) that operates in solutions of 4.0, 7.0, and 10.0. The sensor device consists of two tapered sections with dimensions of 1 mm/1 mm/1 mm for down-taper, waist-length, and up-taper, respectively, with a separation of 10 mm. The diameter of the waist is 40 $\mathsf{\mu }$m. This work includes the experimental evaluation of an MZI fiber optic pH sensor at 1559 nm, where 1559 nm represents a specific wavelength chosen for its optimal sensitivity in evaluating the sensor pH detection performance. It is not the central wavelength of the optical fiber, but one of the minimal values selected to enhance the interaction between the evanescent field and the sample, ensuring the reliable detection of pH variations. These sensor dimensions and the functionalized solution of multi-walled carbon nanotubes (MWCNTs) increase the detection of pH in dyes used in the textile industry. Alizarin is a strong anionic red dye that is part of the anthraquinone dye group. The experimental results demonstrated effective detection of pH levels in water contamination involving dye. This development could resolve the problem with Alizarin. The simple fabrication, low cost, and stability of the optical response make this sensor relevant for pH measurements in water contamination.

En este trabajo se presenta un método para el diseño de trayectorias secuenciales con propiedades de convergencia en tiempo finito, orientado a aplicaciones de agricultura de precisión mediante vehículos aéreos no tripulados. El enfoque propuesto se basa en la formulación de trayectorias dinámicas definidas sobre segmentos de línea recta que conectan puntos de interés, donde un parámetro de modulación dinámica permite garantizar la llegada exacta a cada punto en un tiempo previamente especificado. La unión de múltiples trayectorias con tiempos proporcionales a la distancia permite generar patrones de movimiento adecuados para maniobras de sembrado autónomo. La viabilidad del método se valida mediante simulaciones numéricas utilizando un modelo dinámico de un cuadricóptero y un controlador robusto reportado en la literatura.

This paper presents an approximated or $\epsilon$-saddle point solution for a nonlinear game proposed to solve the coordination of a set of planar robots. The dynamic equation of each individual robot is given by the polynomial approximation of the nonlinear model, this introduces interesting challenges in the coordination control problem. Due to the difficulties in finding an exact solution, we explore the possibilities of the so-called state-dependent Riccati equations to find a near or $\epsilon$-saddle point solution that effectively drives of the robots to a particular coordinated movement. A pre-designed trajectory is given to one of the robots in order to achieve the coordination by the group of robots. The proposed solution is given as a polynomial Riccati-like state-dependent differential equation which utilizes a $p$-linear form tensor representation for its polynomial part. A numerical example is presented to illustrate the effectiveness of the approach.