Família multigeracional e relações intergeracionais : perspectiva sistémica

Os sistemas familiares multigeracionais (três ou mais gerações vivas) passaram de raros no passado a uma realidade social cada vez mais comum na actualidade, devido ao fenómeno demográfico de envelhecimento populacional. Este estudo pretende contribuir para o conhecimento deste sistema social, situado entre a família nuclear e a comunidade, procurando descrever a sua estrutura, funções e padrões relacionais dos seus membros com outros familiares e com os sistemas sociais envolventes. Para tal, foi organizada uma amostra de 25 famílias multigeracionais (contendo quatro gerações), à qual foi aplicada uma entrevista de genograma a um elemento das gerações intermédias e quatro entrevistas de análise da rede social pessoal (uma por geração), perfazendo um total de 25 entrevistas de genograma e 92 de avaliação da rede social (menos 8 do que o esperado devido a mortalidade experimental). A análise dos dados possibilitou: 1) a aplicação do princípio de totalidade sistémica à família multigeracional, a sua definição como um sistema social de complexidade idiossincrática, a identificação dos subsistemas que compõem o objecto de estudo (indivíduo, núcleo familiar, composição familiar, geração, linhagem), e a definição de uma tipologia familiar multigeracional (família unificada, dispersa e fragmentada); 2) a identificação e análise de papéis sociais desempenhados pelos indivíduos no contexto familiar multigeracional especificamente relevantes neste nível sistémico (guardião das memórias familiares, elo de ligação familiar, pronto-socorro familiar); 3) a descrição das redes sociais pessoais e a identificação das diferenças estruturais e funcionais entre indivíduos pertencentes a diferentes subsistemas geracionais, que permitem reflectir sobre a evolução da rede social ao longo das várias fases de desenvolvimento individual e familiar; 4) um conhecimento mais aprofundado das redes sociais dos indivíduos mais idosos que pertencem a famílias multigeracionais, da composição da matriz relacional percepcionada como significativa e apoios disponibilizados. Em suma, os dois primeiros capítulos reflectem o esforço de desenvolvimento de um modelo heurístico para o sistema familiar multigeracional, numa perspectiva estruturalista, enquanto os dois capítulos subsequentes, apoiandose conceptualmente nos anteriores, facultam um quadro das relações entre subsistemas geracionais na actualidade, através de uma metodologia de análise das redes sociais. ABSTRACT: Multigenerational family systems comprising four generations are increasingly common nowadays due to the demographic phenomenon of population aging. This study aims at a deeper understanding of this social system, placed between the nuclear family and the community, in particular by describing its structure, functions and relational patterns of its members with other members in the family and surrounding social systems. A sample of 25 multigenerational families (comprising four generations) was selected. A genogram interview was applied to a member of the middle generations, and four personal social network questionnaires were administered to one element of each generation. A total of 25 genograms and 92 social network inventories were collected (minus 8 than expected due to experimental mortality). Main findings were: 1) the application of systemic principles to the multigenerational family, which allowed us to define it as a social system of idiosyncratic complexity, involving specific subsystems (individual, family nucleus, family composition, generation, lineage), and also to define a multigenerational family typology (unified, dispersed and fragmented family); 2) the identification and analysis of social roles assumed by individuals in the multigenerational family context, that are specifically relevant in this systemic level (keeper of family memories, connecting link in the family, family first aider); 3) the description of the personal social networks and the identification of structural and functional differences among individuals belonging to different generational subsystems, which allowed for a reflection on the evolution of social networks through the various stages of individual and family development; 4) a deeper knowledge of the eldest family members social networks, i.e. the relational matrix of significant individuals and supports in oldold age. In summary, the first two chapters reflect the development of a heuristic model directed at the multigenerational family, whereas the two subsequent chapters provide a view of contemporaneous relationships between generational subsystems, through a social network analysis methodology.

Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.