Repositorio Institucional Cetys

Eight-Wheel Mecanum Omnidirectional Autonomous Mobile Robot: Kinematics, Architecture, and Validation

Mon, 01 Jun 2026 00:00:00 GMT

Title: Eight-Wheel Mecanum Omnidirectional Autonomous Mobile Robot: Kinematics, Architecture, and Validation Authors: Ortega Lomeli, Leonardo; Básaca Preciado, Luis; Orozco Rosas, Ulises; Castro Toscano, J. D.; Ponce Camacho, Miguel Angel Abstract: Autonomous omnidirectional vehicles that combine redundant holonomic kinematics, ROS 2/micro-ROS implementation, and simulation-to-real validation remain limited in the literature. This paper presents an eight-wheel Mecanum autonomous mobile robot for campus navigation in environments shared with pedestrians. The work formulates forward and inverse kinematics for the redundant eight-wheel topology and implements a distributed architecture in which ROS 2 handles high-level navigation and micro-ROS connects ESP32-based wheel interfaces. The platform integrates LiDAR, stereo vision, inertial, encoder, and ultrasonic sensing within a closed-loop navigation stack. Validation was conducted through Gazebo simulation and physical experiments using an out-and-back navigation protocol. In the physical platform, 91 of 100 missions were completed without safety interruptions, with pose-accuracy success rates of 96% for outbound legs and 81% for return legs under e p < 1.5 m and e θ | <15∘. Median errors at the intermediate waypoint were 0.64m, 0.191m, and 17∘, while final-pose medians after return were 1.016m, 0.573 m, and 28.5∘. These results provide a quantitative baseline for campus-scale redundant Mecanum navigation and identify heading recovery as the main limitation.

Ring-Shaped Wheeled Mobile Robot Circulation with Modified Van der Pol Limit-Cycle Reference

Mon, 01 Jun 2026 00:00:00 GMT

Title: Ring-Shaped Wheeled Mobile Robot Circulation with Modified Van der Pol Limit-Cycle Reference Authors: Quiroz, Jesús; Aguilar, Luis; Orozco Rosas, Ulises; Juárez Luna, Victor Manuel Abstract: Defining and tracking trajectories in complex environments for nonholonomic mobile robots are challenging due to the underactuated dynamics and nonintegrable velocity constraints of these robots, which preclude smooth, time-invariant feedback stabilization and yield uncontrollable linearizations around equilibrium points. As a result, maintaining structured motions such as ring-shaped limit cycles becomes particularly difficult under large initial deviations or external disturbances. In this paper, a control framework based on a dynamically generated reference trajectory is proposed, where the desired motion is defined by a modified Van der Pol oscillator. Unlike conventional approaches relying on predefined geometric paths, the proposed method embeds the target orbit into a dynamic auxiliary nonlinear system whose trajectories converge to a stable limit cycle, enabling local asymptotic convergence to the desired motion. A discontinuous robust control law is designed for a perturbed wheeled mobile robot, and the resulting closed-loop system is analyzed within the framework of solutions of systems with discontinuous right-hand sides. It is shown that the tracking error dynamics are uniformly and ultimately bounded with respect to matched disturbances and that, in the disturbance-free case, the tracking errors converge asymptotically to the origin. As a consequence, the robot’s trajectory converges to the invariant limit cycle of the reference dynamics, therebydriving the robot’s trajectory toward the invariant limit cycle of the reference dynamics. The simulation results demonstrate an improvement in the transient response relative to standard circular reference tracking. The experimental results further corroborate these findings, showing that the modified Van der Pol reference keeps the position tracking errors tightly bounded, while mitigating the large initial overshoot associated with the circular reference.

"Centennials' happiness and sustainable packaging: ATPB approach to consumer behaviour" / La felicidad de los centenarios y los envases sostenibles: un enfoque TCP del comportamiento del consumidor.

Mon, 01 Jun 2026 00:00:00 GMT

Title: "Centennials' happiness and sustainable packaging: ATPB approach to consumer behaviour" / La felicidad de los centenarios y los envases sostenibles: un enfoque TCP del comportamiento del consumidor. Authors: Hernández-Arteaga, Lorena Gabriela; Martínez-Arvizu, Orlando Josué; Salazar Altamirano, Mario Alberto; Galván-Vela, Esthela; Ochoa-Hernández, Magda Lizet Abstract: Objective:This research examines the purchase intention of products with sustainable packaging among centennials, integrating consumer happiness as a mediator within the framework of the Theory of Planned Behaviour (TPB). It analyses how attitudes, subjective norms, and perceived behavioural control influence consumer happiness and, in turn, purchase intention. Method:Using a quantitative, non-experimental, cross-sectional design, data were collected from 390 university students through structured questionnaires with Likert scales. Structural Equation Modelling (SEM) was applied to assess the relationships between TPB variables and consumer happiness as a mediator. Originality/Relevance:This study expands Ajzen’s TPB by incorporating consumer happiness as a mediating construct between attitudes, subjective norms, perceived control, and purchase intention for products with sustainable packaging. It provides a comprehensive perspective on how sustainable purchasing decisions are influenced by emotional factors beyond cognitive and social determinants. Results:Findings confirm that attitudes, subjective norms, and perceived control significantly influence consumer happiness, which serves as a direct mediator of purchase intention. Happiness amplifies the relationships between TPB variables and pro-environmentalbehaviour. Theoretical/Methodological Contributions:This research positions consumer happiness as a bridge between functional and emotional benefits of sustainable packaging, reinforcing the TPB framework. The use of SEM validates its role as a mediator in sustainable purchasing behaviour. Social/Managerial Contributions:The findings provide practical implications for companies targeting centennials, highlighting the need to emphasise both the functional and emotional benefits of products with sustainable packaging in marketing strategies.

“Análisis de las prácticas de gestión educativa que desempeñan docentes con rol directivo en escuelas multigrado de nivel preescolar en Baja California.”

Fri, 01 May 2026 00:00:00 GMT

Title: “Análisis de las prácticas de gestión educativa que desempeñan docentes con rol directivo en escuelas multigrado de nivel preescolar en Baja California.” Authors: García Ramos, Silvia Denisse Abstract: Las escuelas multigrado, como respuesta del sistema educativo mexicano para garantizar el derecho a la educación en las comunidades rurales, atraviesan una serie de desigualdades en cuanto a su organización escolar y funcionamiento. La función dual docente-directiva se convierte en una solución ante la ausencia de un director efectivo, lo cual provoca que un solo personal se haga cargo de las actividades pedagógicas y administrativas de manera simultánea. Ante ese panorama, se realizó un estudio de caso múltiple de corte cualitativo con el objetivo de analizar las prácticas de gestión educativa estratégica de los docentes con función directiva en preescolares multigrado de Baja California. Se tomó una muestra de tres participantes en distintos municipios: Mexicali, Tecate y Ensenada. La recolección de datos se realizó mediante entrevistas a profundidad y observación in situ. Para la interpretación de la información, se analizó el discurso de las participantes a partir de la técnica de enunciados en primera persona y del análisis de contenido. Entre los principales hallazgos se destacan el desarrollo de una gestión autodidacta y estratégica ante la falta de capacitación directiva, la supervisión escolar como agente orientador, la sobrecarga laboral y emocional, el conflicto entre roles al interrumpir la función pedagógica por atender asuntos directivos, la soledad laboral y el aprendizaje entre pares como una red de apoyo. Las escuelas bajo la organización multigrado requieren una recontextualización de lo que se establece en las guías y lineamientos para la gestión educativa, así como la equidad laboral en el personal docente a su cargo para garantizar la calidad en el servicio educativo.