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.

Simulação numérica do escoamento monofásico em uma bomba centrífuga radial

Centrifugal pumps are vastly used in many industrial applications. Knowledge of how these components behave in several circumstances is crucial for the development of more efficient and, therefore, less expensive pumping installations. The combination of multiple impellers, vaned diffusers and a volute might introduce several complex flow characteristics that largely deviate from regular inviscid pump flow theory. Computational Fluid Dynamics can be very helpful to extract information about which physical phenomena are involved in such flows. In this sense, this work performs a numerical study of the flow in a two-stage centrifugal pump (Imbil ITAP 65-330/2) with a vaned diffuser and a volute. The flow in the pump is modeled using the software Ansys CFX, by means of a multi-block, transient rotor-stator technique, with structured grids for all pump parts. The simulations were performed using water and a mixture of water and glycerin as work fluids. Several viscosities were considered, in a range between 87 and 720 cP. Comparisons between experimental data obtained by Amaral (2007) and numerical head curves showed a good agreement, with an average deviation of 6.8% for water. The behavior of velocity, pressure and turbulence kinetic energy fields was evaluated for several operational conditions. In general, the results obtained by this work achieved the proposed goals and are a significant contribution to the understanding of the flow studied.

Simulação numérica da convecção mista em cavidade preenchida com meio poroso heterogêneo e homogêneo

In this work is presented mixed convection heat transfer inside a lid-driven cavity heated from below and filled with heterogeneous and homogeneous porous medium. In the heterogeneous approach, the solid domain is represented by heat conductive equally spaced blocks; the fluid phase surrounds the blocks being limited by the cavity walls. The homogeneous or pore-continuum approach is characterized by the cavity porosity and permeability. Generalized mass, momentum and energy conservation equations are obtained in dimensionless form to represent both the continuum and the pore-continuum models. The numerical solution is obtained via the finite volume method. QUICK interpolation scheme is set for numerical treatment of the advection terms and SIMPLE algorithm is applied for pressure-velocity coupling. Aiming the laminar regime, the flow parameters are kept in the range of 102≤Re≤103 and 103≤Ra≤106 for both the heterogeneous and homogeneous approaches. In the tested configurations for the continuous model, 9, 16, 36, and 64 blocks are considered for each combination of Re and Ra being the microscopic porosity set as constant φ=0,64 . For the pore-continuum model the Darcy number (Da) is set according to the number of blocks in the heterogeneous cavity and the φ. Numerical results of the comparative study between the microscopic and macroscopic approaches are presented. As a result, average Nusselt number equations for the continuum and the pore continuum models as a function of Ra and Re are obtained.

Elementos sobre o destinatário de emergência em situação de autoconfrontação

This text presents a linguistic, discursive and psychological analysis of modes of manifestation of the phenomenon of emergency addressee in a situation of use of the self-confrontation method in an action of university teacher continuing education. The aforementioned phenomenon consists in the subject seeking to justify and validate his professional individual actions by means of practices which would supposedly be common in his work collective. The self-confrontation method consists in the subject observing himself in a video in which he appears working, with the objective of describing and explaining his activity to a researcher, who acts as a mediator of his subjective development.