Navegação de um robô móvel baseado em um modelo de consciência artificial

This work presents a study about a the Baars-Franklin architecture, which defines a model of computational consciousness, and use it in a mobile robot navigation task. The insertion of mobile robots in dynamic environments carries a high complexity in navigation tasks, in order to deal with the constant environment changes, it is essential that the robot can adapt to this dynamism. The approach utilized in this work is to make the execution of these tasks closer to how human beings react to the same conditions by means of a model of computational consci-ousness. The LIDA architecture (Learning Intelligent Distribution Agent) is a cognitive system that seeks tomodel some of the human cognitive aspects, from low-level perceptions to decision making, as well as attention mechanism and episodic memory. In the present work, a computa-tional implementation of the LIDA architecture was evaluated by means of a case study, aiming to evaluate the capabilities of a cognitive approach to navigation of a mobile robot in dynamic and unknown environments, using experiments both with virtual environments (simulation) and a real robot in a realistic environment. This study concluded that it is possible to obtain benefits by using conscious cognitive models in mobile robot navigation tasks, presenting the positive and negative aspects of this approach.

Reator de leito estruturado com recirculação submetido à aeração intermitente no tratamento de esgoto sanitário

The release of nitrogen compounds in water bodies can result in many environmental problems, so treat wastewater, such as sewage in order to remove not only organic matter but also nitrogen has been studied a few decades. From the above, the objective of this study was to evaluate the performance of a structured bed reactor, continuous flow, with recirculation, in removing organic matter and nitrogen present in wastewater under different cycles of intermittent aeration (AI) and to evaluate the influence of these cycles in the development of nitrifying bacteria (Oxidizing Bacteria Ammonia - BOA and Bacteria Oxidizing Nitrite - BON) and denitrifying (DESN) adhered (Support Material - MS) and suspension (Effluent - EF and sludge - LD). The reactor used has usable volume of 9.4 L. As support materials (MS) polyurethane foam was used, cut and fixed in PVC rods. 3 were worked aeration phases (AE) and non-aeration (AN) at different stage: Stage 1 (4 h EA / AN 2H); Stage 2 (2H EA / AN 1 h) and Phase 3 (2H EA / AN 2 h). During all hydraulic detention time phases was kept at 16 h and the effluent recirculated at a rate of 3 times the inflow. Were analyzed: pH, total alkalinity, temperature, chemical oxygen demand (COD), Biochemical Oxygen Demand (BOD), nitrogen Kjeldhl Total (NKT), ammonia-N-N-NH4+, nitrito-N-NO2+andnitrato-NO3-. The concentration of BOA, BON and DESN was determined using the number More Provável.gSSV-1 (NMP.gSSV-1). In phase 1 the percentage removal NTK N-NH4+ and NT was 76±10%, 70±21% and 67±10% respectively. In Phase 2 80±15% of removel NKT, 86±15% of N-NH4+ e 68±9% of removel NT e na Fase 3 de 58±20%, 72±28% and 41±6% of NKT, N-NH4+ of NT, respectively. The denitrification efficiency in stage 3 was over 70%, indicating that occurred in the reactor the process of simultaneous nitrification and denitrification (NDS). DQOT the removal percentages were 88 ± 4% in Phase 1, 94 ± 7 in Phase 2 and 90± 11% in Phase 3. The multivariate ANOVA applied to NMP.gSSV-1, it indicated that there was significant (F: 20,2, p <0,01) between the analyzed concentration of organisms AI in different cycles, but the differences between NMP.gSSV-1 depends not only isolated factors but of which means, and phase groups being analysis. From the results it is concluded that the working system is efficient in terms of nitrogen removal and organic matter, and that the stage with the highest availability of Dissolved Oxygen (DO) and C/N ratio (Step 2), was the one obtained the lower concentrations of organic matter effluents and N-NH4+. Hinted that there was a significant difference between the concentration (NMP.100mL-1) of the analyzed organizations (BOA, BON and DESN), but this difference does not depend on factors alone but of which means (MS, EF or LD), stages (1, 2 or 3) and groups (BOA, BON and DESN) is being considered.

Desenvolvimento de protótipo de aplicativo móvel em Android® para o controle e acompanhamento nutricional da saúde óssea em mulheres menopáusicas

Following a drop in estrogen in the period of menopause some women begin to lose bone mass more than 1% per year reaching the end of five years with loss greater than 25%. In this regard, factors such as older age, low calcium intake and premature menopause favor the onset of osteoporosis. Preventive methods such as nutritional counseling to a proper diet and the support of technology through applications that assess dietary intake are essential. Thus, this study aimed to develop an application for Android® platform focused on the evaluation of nutritional and organic conditions involved in bone health and risks for developing osteoporosis in postmenopausal women. To achieve this goal we proceeded to a study of 72 women aged 46-79 years, from the physical exercise for bone health of the Laboratory for Research in Biochemistry and Densitometry the Federal Technological University of Paraná program. Data were collected in the second half of 2014 through tests Bone Densitometry and Body Composition, Blood Tests, Anthropometric data and Nutrition Assessment. The study included women with a current diagnosis of osteopenia or osteoporosis primary, aged more than 45 years postmenopausal. For the assessment of bone mineral density and body composition used the device Absorptiometry Dual Energy X-ray (DXA) brand Hologic Discovery TM Model A. For anthropometric assessment was included to body mass, height, abdominal circumference, Waist circumference and hip circumference. The instrument for assessing food consumption was used Recall 24 hours a day (24HR). The estimated intake of energy and nutrients was carried from the tabulation of the food eaten in the Software Diet Pro 4®. In a sub sample of 30 women with osteopenia / osteoporosis serum calcium and alkaline phosphatase tests were performed. The results demonstrated a group of women (n = 30) average calcium intake of 570mg / day (± 340). The analysis showed a mean serum calcium within the normal range (10,20mg / dl ± 0.32) and average values and slightly increased alkaline phosphatase (105.40 U / L ± 23.70). Furthermore, there was a significant correlation between the consumption of protein and the optimal daily intake of calcium (0.375 p-value 0.05). Based on these findings, we developed an application early stage in Android® platform operating system Google®, being called OsteoNutri. We chose to use Java Eclipse® where it was executed Android® version of the project; choice of application icons and setting the visual editor for building the application layouts. The DroidDraw® was used for development of the three application GUIs. For practical tests we used a cell compatible with the version that was created (4.4 or higher). The prototype was developed in conjunction with the Group and Instrumentation Applications Development (GDAI) of the Federal Technological University of Paraná. So this application can be considered an important tool in dietary control, allowing closer control consumption of calcium and dietary proteins.