RESUMO
In recent years, the development of robots for agro-industrial applications, such as the cultivation of Solanum tuberosum potatoes, has aroused the interest of the academic and scientific communities. This is due, at least in part, to the complexity of modeling and robustly controlling some dynamics inherent to nonlinear behaviors normally attributed to the different technologies associated with the movement of these autonomous vehicles and their non-holonomic constraints. The different nonlinear dynamics of mobile robots are usually represented by state-space models. However, given some equilibrium and stability characteristics, the implementation of effective controllers for the robust parametric tracking and variation problem requires techniques that allow the operability of robots around regions of stable equilibrium. Feedback linearization control is one such technique that attempts to mathematically eliminate nonlinear expressions from the plant model. However, this technique requires an observable and controllable mathematical model. If there is some relationship between the model inputs and a controlled output that allows the relative degree of the control law to be determined, the controller design and implementation are posed as a linear issue. Flat filters developed from the generalized proportional integral control approach are an alternative that could facilitate the design of controllers for these linearized systems. From these flat filters, it is possible to obtain the transfer function of a controller without relying on the derivatives of the system output. This work proposes the design of a controller via exact linearization and its equivalent flat filter for a robot inspector of the soil resource of S. tuberosum crops in the department of Cundinamarca, Colombia. The actuator motion constraints resulted in a robot with two degrees of mobility and one non-holonomic constraint. Numerical validation of this system suggests that it can be an effective solution to the problem of tracking control at changing references by providing a system capable of navigating through crop rows. The results suggest correct tracking for linear and circular trajectories. However, the control lacks the ability to track spiral-type trajectories.
RESUMO
The present study investigates the interactions between eight glucosinolate hydrolysis products (GHPs) sourced from broccoli by-products and the detoxifying enzymes of Botrytis cinerea, namely eburicol 14-alpha-demethylase (CYP51) and glutathione-S-transferase (GST), through in silico analysis. Additionally, in vitro assays were conducted to explore the impact of these compounds on fungal growth. Our findings reveal that GHPs exhibit greater efficacy in inhibiting conidia germination compared to mycelium growth. Furthermore, the results demonstrate the antifungal activity of glucosinolate hydrolysis products derived from various parts of the broccoli plant, including inflorescences, leaves, and stems, against B. cinerea. Importantly, the results suggest that these hydrolysis products interact with the detoxifying enzymes of the fungus, potentially contributing to their antifungal properties. Extracts rich in GHPs, particularly iberin and indole-GHPs, derived from broccoli by-products emerge as promising candidates for biofungicidal applications, offering a sustainable and novel approach to plant protection by harnessing bioactive compounds from agricultural residues.