En este artículo estudiaremos el control par calculado obteniendo una ecuación lineal en lazo cerrado en términos de las variables de estado, por otra parte, el control par calculado es caracterizado por ser un control dinámico, es decir su ley de control es completa ya que incluye variables de estado adicionales. Finalmente vale la pena anticiparse que el control satisface el objetivo de control de seguimiento con una elección trivial de sus parámetros Y así poder ver de manera experimental utilizando como plataforma la interfaz háptica Geomagic Touch, los parámetros de posición, velocidad, aceleración, espacio de trabajo, trayectoria, error de articulaciones, señal de control y energía.

Two snap bean variety trials were planted at the Gurabo Substation farm in east-central Puerto Rico. In the first trial five pole-bean varieties were tested. The varieties used were: Florigreen, Blue Lake 92, Blue Lake 228, Blue Lake 231, and Kentucky 191. Of these varieties Florigreen had the highest yield with a production of 4.30 tons of green beans per acre. It also showed high resistance to bean rust and mosaic, two of the worst diseases of beans. In the second trial eight lines and two commercial bush varieties were tested. They are B2971-1-1, B3370, B3095-3, B3489, B3365, B3125 x 5-2, B2567-1, B3076, Wade, and Top Crop. In this trial line B2971-1-1 produced the best yield with a production of 4.05 tons of green beans per acre, which is very high for bush beans in Puerto Rico.

A pineapple breeding project was conducted by the Agricultural Experiment Station with the purpose of developing better pineapple varieties that would be more profitable to the farmer. Two new varieties, P.R. 1-56 and P.R. 1-67, were developed under this project. Variety P.R. 1-56, formerly seedling 1A2, is a Red Spanish X Smooth Cayenne F1 hybrid. The outstanding characteristic of this variety is its great vigor, particularly in the ratoon crop. It also is resistant to gummosis and mealybug wilt. The plant produces fruit with an average weight of 5.5 pounds each, and the fruit is sweet and of a very pleasant flavor. It can yield up to 30 tons per acre. Variety P.R. 1-67, formerly seedling 7D1S, was selected from a progeny originated from Red Spanish open-pollinated seed. Its outstanding characteristics are its natural flavor, its resistance to gummosis and mealybug wilt, and its good size. The plant is vigorous and produces fruit with an average weight of 5.8 pounds. The fruit is sweet, juicy and of excellent flavor. It can yield up to 32 tons per acre.

Papaya seed were treated with the potassium salt of gibberellic acid to determine the effect on the time interval and percentage of germination. The dosages used were 0, 2, 4, 6, and 8 ounces of 0.88 percent of potassium gibberellate per 100 pounds of seed. No significant effect was observed in accelerating the germination of papaya seed nor on the germination percentage.

The effect of nine planting distances on total and marketable yields, fruit weight, number of slips, and quality of the juice was studied on pineapple variety PR 1-67. Planting density varied from 59,595 to 31,377 plants per hectare. Total and marketable fruit yields increased with increasing plant density. No significant effect on mean fruit weight was observed. The production of slips increased with a decrease in plant density. No significant effect was observed on the quality of the juice. From this test it can be concluded that treatments 51,625 plants/ha, 43,937 plants/ha, and 43,047 plants/ha with marketable yields of 86, 75 and 74 t/ha, respectively, in the plant crop and 45.43, 37.78 and 41.32 t/ha, respectively, in the ratoon crop would be adequate for good yields of fruit and would yield at least one slip per plant for field replacement in the next plant crop.