Abstract
The coefficient diagram method is primarily an algebraic control design method whose objective is to easily obtain a good controller with minimum user effort. As a matter of fact, if a system model, in the form of linear differential equations, is known, the user only need to define a time-constant and the controller order. The later can be established regarding the expected disturbance type via a lookup table first published by Koksal and Hamamci in 2004. However an inaccuracy in this table was detected and pointed-out in the present work. Moreover the above mentioned table was expanded in order to enclose any k order type disturbance

Abstract
This book presents, in an integrated form, both the analysis and synthesis of three different types of hidden Markov models. Unlike other books on the subject, it is generic and does not focus on a specific theme, e.g. speech processing. Moreover, it presents the translation of hidden Markov models’ concepts from the domain of formal mathematics into computer codes using MATLAB®. The unique feature of this book is that the theoretical concepts are first presented using an intuition-based approach followed by the description of the fundamental algorithms behind hidden Markov models using MATLAB®. This approach, by means of analysis followed by synthesis, is suitable for those who want to study the subject using a more empirical approach.

Abstract
Fertilization is paramount for agriculture productivity and food security. Plant nutrition pre-established recipes and nutrient uptake are rarely managed by changing the fertilizer composition at the different stages of the plant life cycle. Herein we perform a literature review analysis - since the year 2000 and onwards - of the state-of-the-art capabilities of Nitrogen, Phosphorous, and Potassium (NPK) sensors for liquid fertilizers ( e.g. , hydroponics). From the initial search hits of 1660 results, only 53 publications had relevant information for this topic; from these, only 9 had NPK quantitative information. Qualitative analysis was performed by determining the number of publications for each nutrient, according to sample complexity and existing single, multiplexed or hybrid technologies. Quantitative assessment was performed by extracting the bias and linearity, the limit of detection and concentration ranges of sensor operation, framed into the context of the sensor technology development stage and sample compositional complexity. The most common technologies are colorimetry, ionselective electrodes, optrodes, chemosensors, and optical spectroscopy. The most abundant technologies are for nitrate quantification, from which ion-selective electrodes are the most widely used technology, and sensors for phosphate quantification are the less developed. Most are at low technological levels of development, not dealing with the complexity of agriculture samples due to matrix effects and interference. Measuring the fertilizer composition, nutrient uptake, the state of the chemical network, and controlling the release of nutrients using new functional materials, is one of the most important challenges ahead for the existence of precision fertilization. Intelligent sensing and smart materials are today the most successful strategy for dealing with matrix effects and interferences, being led by ion-selective electrodes and spectroscopy technologies.

Abstract
In the present paper, we propose a control approach to perform docking of an autonomous surface vehicle (ASV) while avoiding surrounding obstacles. This control architecture is composed of two sequential controllers. The first outputs a feasible trajectory between the vessel's initial and target state while avoiding obstacles. This trajectory also minimizes the vehicle velocity while performing the maneuvers to increase the safety of onboard passengers. The second controller performs trajectory tracking while accounting for the actuator's physical limits (extreme actuation values and the rate of change). The method's performance is tested on simulation, as it enables a reliable ground truth method to validate the control architecture proposed.

Abstract
Pruning consists on an agricultural trimming procedure that is crucial in some species of plants to promote healthy growth and increased yield. Generally, this task is done through manual labour, which is costly, physically demanding, and potentially dangerous for the worker. Robotic pruning is an automated alternative approach to manual labour on this task. This approach focuses on selective pruning and requires the existence of an end-effector capable of detecting and cutting the correct point on the branch to achieve efficient pruning. This paper reviews and analyses different end-effectors used in robotic pruning, which helped to understand the advantages and limitations of the different techniques used and, subsequently, clarified the work required to enable autonomous pruning.

Abstract
Automating pruning tasks entails overcoming several challenges, encompassing not only robotic manipulation but also environment perception and detection. To achieve efficient pruning, robotic systems must accurately identify the correct cutting points. A possible method to define these points is to choose the cutting location based on the number of nodes present on the targeted cane. For this purpose, in grapevine pruning, it is required to correctly identify the nodes present on the primary canes of the grapevines. In this paper, a novel method of node detection in grapevines is proposed with four distinct state-of-the-art versions of the YOLO detection model: YOLOv7, YOLOv8, YOLOv9 and YOLOv10. These models were trained on a public dataset with images containing artificial backgrounds and afterwards validated on different cultivars of grapevines from two distinct Portuguese viticulture regions with cluttered backgrounds. This allowed us to evaluate the robustness of the algorithms on the detection of nodes in diverse environments, compare the performance of the YOLO models used, as well as create a publicly available dataset of grapevines obtained in Portuguese vineyards for node detection. Overall, all used models were capable of achieving correct node detection in images of grapevines from the three distinct datasets. Considering the trade-off between accuracy and inference speed, the YOLOv7 model demonstrated to be the most robust in detecting nodes in 2D images of grapevines, achieving F1-Score values between 70% and 86.5% with inference times of around 89 ms for an input size of 1280 x 1280 px. Considering these results, this work contributes with an efficient approach for real-time node detection for further implementation on an autonomous robotic pruning system.