Guillermo Enriquez

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The agroforestry systems of cacao (Theobroma cacao) under laurel (Cordia alliodora) and cacao under poro (Erythrina poeppigiana) were studied at CATIE, Turrialba, Costa Rica. An inventory was taken of the organic matter and nutrients (N, P, K, Ca, and Mg) separating the species into their compartments (leaves, branches, trunks and roots). Studies of the(More)
During 7 years (1979–1985) cacao harvests (beans and husks) have been recorded for the agroforestry systems ofTheobroma cacao underCordia alliodora andErythrina poeppigiana shade trees. The mean oven dry cacao yields were 626 and 712 kg.ha−1.a−1 cocoa beans underC. alliodora andE. poeppigiana respectively. Harvests have gradually increased over the years(More)
The variability of the following characteristics of fresh cacao beans were studied, using samples of clones of different genetic origin: wet weight, length, width, thickness, and shell percentage, pulp percentage, and number of beans per pod. All these characteristics showed highly statistical differences between clones and a very high discriminative value(More)
Models for cycles for organic matter and nutrients element (N, P, K, Ca and Mg) are presented for the agroforestry systems of cacao (Theobroma cacao) withCordia alliodora orErythrina poeppigiana in Turrialba, Costa Rica. For the models, system reserves (soil, humus, vegetation divided into leaves, branches, stems, fine roots, fruits) and transference(More)
This paper presents folded surface detection and tracking for augmented maps. For the detection, plane detection is iteratively applied to 2D correspondences between an input image and a reference plane because the folded surface is composed of multiple planes. In order to compute the exact folding line from the detected planes, the intersection line of the(More)
While most mobile robots possess the ability to navigate to and from given locations, for a robot to truly perform guidance, human awareness is also needed. Our guidance robot system possesses both, using a wireless sensor network for navigation and a vision-based tracking system for human awareness. We use the network to create a virtual directional field(More)
In this paper, we propose to protect wayang puppet theater, an intangible cultural heritage from Indonesia by turning a robot into a puppeteer successor. We developed a seven degrees-of-freedom manipulator to actuate sticks attached to the wayang puppet body and hands. We also developed a gamelan music emotion recognition so that the robot could control its(More)
From new hardware arise possibilities to develop novel methods of monitoring human behavior. In this paper we present a low cost system using two RGB-D cameras in a 3m × 8m space. Using developed software, we are able to easily collect, combine, visualize, modify, and analyze data. To validate the system, we measured human behavior in a walking experiment(More)