Planejamento cooperativo de tarefas em um ambiente de futebol de robôs

Este trabalho apresenta o desenvolvimento de um método de coordenação e cooperação para uma frota de mini-robôs móveis. O escopo do desenvolvimento é o futebol de robôs. Trata-se de uma plataforma bem estruturada, dinâmica e desenvolvida no mundo inteiro. O futebol de robôs envolve diversos campos do conhecimento incluindo: visão computacional, teoria de controle, desenvolvimento de circuitos microcontrolados, planejamento cooperativo, entre outros. A título de organização os sistema foi dividido em cinco módulos: robô, visão, localização, planejamento e controle. O foco do trabalho se limita ao módulo de planejamento. Para auxiliar seu desenvolvimento um simulador do sistema foi implementado. O simulador funciona em tempo real e substitui os robôs reais. Dessa forma os outros módulos permanecem praticamente inalterados durante uma simulação ou execução com robôs reais. Para organizar o comportamento dos robôs e produzir a cooperação entre eles foi adotada uma arquitetura hierarquizada: no mais alto nível está a escolha do estilo de jogo do time; logo abaixo decide-se o papel que cada jogador deve assumir; associado ao papel temos uma ação específica e finalmente calcula-se a referência de movimento do robô. O papel de um robô dita o comportamento do robô na dada ocasião. Os papéis são alocados dinamicamente durante o jogo de forma que um mesmo robô pode assumir diferentes papéis no decorrer da partida

A esfera como metáfora: representações do futebol no campo da literatura (leituras do tema no conto de ficção)

Football, understood as a phenomenon of sports practice and nearly universal coverage, can also be seen as a game whose operation circumvents the cultural universe of people who practice it. Much more than just a sport, so this game is a cultural phenomenon par excellence, bearing a communicational and aesthetic dimension whose occurrence has been spotted in various fields of scientific and cultural. Therefore, it is as game and as a phenomenon of culture, we intend to focus on football here as an object of study. Our aim is to investigate the sport in Brazil taking the Literature and Journalism as privileged instances of their representation in the media. Thus, the central idea of this research is to show when and how football has become a recurrent theme in Brazilian literature, starting with its journalistic approach until we get an overview of the aesthetic representation of the game, Literature as the main focus of attention and taking the genre of fiction story as material fact of their representation. With this approach, we intend to develop an overall view, overview of the literature about football in our country and at the same time, particularize this vision in some representative authors of it, like the writer-journalist Mario Filho (the historian, essayist on the modernization of chronic specific theme), José Lins do Rego (writer passionate about the game), Nelson Rodrigues (the esthetician that elevated the sport to the status of art by chronic), Lima Barreto (who along with Antonio de Alcantara Machado pioneered the formalized within the fiction) and the storytellers of the topic itself. In the end, we intend to infer the results of evaluations and reviews of books and authors listed, we have examined a wide sense, but also vertical (and which were focused on a socio-historical perspective and critical-aesthetic) within the assumption that seems be a homology between the way football practice amongst us will historically winning characteristics as to form a Brazilian school of football, and how our writers, journalists will be addressing the topic, which also would focus on creating a "Brazilian way" of telling literary football. The proof of this hypothesis operational work together with the development of historiography and the necessity arising from it, creating a "Guide to Reading football theme in fictional tale of Brazil" shut the focal perspective of this study

Implicações do odor na percepção e escolha de parceiro

Why are we attracted to some people but not to other ones? How is this attraction established? Which signs are characteristic of a good partner? These and many other questions concerning how mate attraction and mate selection work out among humans have been intriguing behavioral scientists. It is well-known that beauty indicates something about a potential mate s health. The odor may indicate a similar assessment, if we can assess how pheromones are integrated into human sexual behavior. However, what is the relation between age preference and body scent evaluation? In order to investigate this question, this study´s objective was identifying evidences which show that olfactory cues might reveal the potential mate s age and that it coincides with the ideal mate s profile. To produce the stimuli, men and women had to wear cotton t-shirts for three nights in order to have their body odor impregnated. After that, opposite-sex individuals evaluated the intensity and attractivity of these odor impregnated tshirts according to two Likert scales (4 points scale for intensity; 7 points scale for attractivity). We found differences between men and women on body scent perception, that indicates a better scent discrimination for women when it concerns the perception of potential mate s age. Another finding was the negative correlation between intensity and attractiveness perception for both sexes. We also verified that mate selection strategies are plural, more than one tactic simultaneously fitting in the same strategy, but all of them are related to differential investment of each sex on their own reproductive success

Hierarquia social e sucesso alimentar em callithrix jacchus (Primates, Callithrichidae), sob condições naturais

The competition for resources is one of the costs of group living. The scramble competition is considered an indirect type of competition, mainly associated with factors like group size and distribution of resources. Contest competition occurs when individuals compete directly for resources. In species that exibit this type of competition the establishment of dominance hierarchy can occur, resulting in differences on feeding and reproductive benefits for each member of the group. In these cases, aggressive and submissive behaviors are expected as a way to signal social status. The aim of this study was to investigate the effects of social hierarchy over food ingestion in Callithrix jacchus. Data recording was from September/2006 to March/2007, eight days by month, at Floresta Nacional de Açu do Instituto Chico Mendes de Biodiversidade. The observation time started at 05:00 AM and finished after the last animal was on the sleeptree. Analyses of aggressive interactions, behavioral profile and diet, reveals a lot of advantages for dominat animals in the study group. Dominant individuals had higher intake of animal matter that subordinates. The last ones, consumed fruits, exsudate and, eventually, explored itens that were not common to the diet. We suggest that dominance hiearchy enable the reproductive female to assure priority on access to food resources, a important caracteristc to supply tha costs to maintain tha high reproductive taxa of the specie. We also suggest that reproductive male, due to the participation on food transfer, had the forage efficience reduced

Critérios comportamentais utilizados por técnicos na avaliação do desempenho esportivo de futebolista das categorias de base

Currently one of the major concerns in sports is to identify, select, discover and reveal talents in soccer. As principal reasons is perceived the search direct or indirect for resources for players, clubs, media, sports brands and their sponsors. However, high salaries are an exception and not a rule, because the majority of professional players in Brazil receives 1 minimum salary per month. It is also known that on professional clubs, daily, arriving several players to try to be a professional soccer player, however, the majority of clubs - almost all does not present methodological, systematic and analytical aspects to select promising players. The selective processes ("sieves" or "big sieves") developed by technical observers ( olheiros") summarized in the observation of the sportive performance of a big group of players in a period of few minutes given to each player. In this period the target behavior is the ability with the ball. If promising players are identified on that selection, they are referred to the club for a new observation, which will be conducted by the responsible coach of base category in question. It is understood by base categories, the amateur categories (not professional), to serve as a "base" for the formation of the cast of professional clubs. What are sub-13 (under 13 years), sub-15 (under 15 years), sub-17 (under 17 years) and sub-20 (under 20 years). The absence of common criterias and performance indicators of these professionals may hamper the evaluation of promising players, and be a costly activity for the club. This study proposes to identify, characterize and categorize the criterias and methods of behavioral evaluation, used by coaches of base categories of Rio Grande do Norte (RN) to evaluate the sportive performance of young soccer players, with the purpose of to compare the criterias of evaluation of sportive performance of young soccer players, used by coaches with different time of experience in function. The proposal had 2 pilot studies, the first (June and July, 2007) were interviewed 29 coaches, 17 of category sub-13 and 12 of category sub-17. The data were tabulated and organized into spreadsheets in order to describe, and developed a set of descriptors of behavior. And the second (May and June, 2008), with revisions made based on observations, analysis and descriptions found in the first, were interviewed 14 technical of category sub-15. After the results found in pilots, it was possible to outline the study in question, which had 46 coaches base categories of the RN. And from the results show that the characteristic of greatest importance, according to the interviewees was the behavior, the 2nd most important characteristic considered was the motivation, the 3rd was the ability and the 4th was the physical condition and the last was the affiliation. And by analyzing the results to the methods of evaluation of sportive performance used by coaches, it was noted clearly that most uses only the observation to select young soccer players. Therefore, needs a systematization to the selection of soccer players, since there is complexity in the verification of characteristics and aspects involved with purpose to avoid wrong evaluations and selections and the results negligible

Práticas institucionais/discursivas acerca dos cuidados com os bebês prematuros e/ou de baixo peso: o programa canguru

The Kangaroo Program was implemented in Brazil in 2000 through the Unified Health System (Sistema Único de Saúde SUS) sustained with a humanized rethoric of health care assistance. This program adopts the skin-to-skin contact contributing to the mother-infant bond, breastfeeding and promoting security in mother s care. The users of SUS are encouraged to live in the maternity ward to follow the baby health improvement. However, it was verified in previous observations that mothers participation in the Kangaroo Program has been done through an imposed practice. Therefore, this study intended to understand the texts that permeate the kangaroo practice. This research was developed through two studies: 1) an historic exploration of motherhood concept and an analysis of how the motherhood is presented in the official document that orients the program; 2) an analysis of institutional dynamic of Kangaroo Program, emphasizing the study about the health workers everyday practice, the mothers view about their life in the maternity wards, and the attendance practice. It is highlighted that the relation between this two studies allowed the comprehension abouthow the official discourses can influence the health workers behaviors and how their viewpoint and position can shape the everyday work in a public health program. This research, supported by Institutional Ethnography, considers that people s practices and experiences are socially organized and shaped by broad social forces. The discourse method was used in the documental analysis and in the analysis of qualitative data from empiric research. The research showed that the kangaroo program has been an excellent way to save resources and to improve some baby s biologic and psychological aspects. However, this program has failed to consider the social, economic and cultural complexity of mothers and the structural limitation of the health care system. The official document uses the economic and medical approach, following the hegemonic biomedical model and the life style of the people that don t use the public health system. Consequently, the program has not been successful because it is planned without people participation. On the other hand, it was verified that although some professionals are committed with their work, the mainly does not consider mothers participation as an active process, using the institutional power as a social control to keep mothers uninformed about the possibility to leave the maternity wards. As a result, the research also showed that mothers perceive the program as mandatory and not as option that can improve pleasure moments. It is, therefore, necessary to consider the complex social determinants of health that can increase mothers participation in the Kangaroo Program. Bringing these issues into debate can be a reflective exercise on citizenship and governance, allowing spaces for the improvement of public health programs

Fatores de sucesso ou insucesso do turismo ambientalmente sustentável : percepção das autoridades públicas no pólo costa das dunas do Rio Grande do Norte

This study aims to compare the thermal performance of tiles made from recycled material (waste packaging cardboard with aluminized film) with the tiles of fiber and bitumen, fiber cement and red ceramic with the aim of verifying the suitability of tile to be used in hot and humid climate of low latitude. The samples were selected according to the availability from Natal RN market, as they are sold to the consumers. The methodology was based on studies that used experimental apparatus composed of thermal chambers heated by banks of incandescent bulbs, to analyze the thermal performance of materials. The tiles in the study were submitted to analysis of thermal performance, thermophysical properties and absorptance, using chambers of thermal performance, measuring the thermophysical properties and portable spectrometer, respectively. Comparative analysis of thermal performance between two samples of the recycled material with dimple sizes and different amounts of aluminum were made, in order to verify, if these characteristics had some interference on the thermal performance of them; the results showed no significant performance differences between the samples. The data obtained in chambers of thermal performance and confirmed by statistical analysis, showed, that the tile of recycled material have similar thermal performance to the tile of fiber cement. In addition to these tests was carried out the automatic monitoring of a building covered with tiles of recycled material, to verify its thermal performance in a real situation. The results showed that recycled shingles must be used with technical criteria similar to those used for fiber cement tiles, with regard to the heat gain into the building. Within these criteria should be taken into account local characteristics, especially in regions with hot and humid climate, and its use must be associated, according to the literature, to elements of thermal insulation and use of passive techniques such as vented attics, ceilings and right foot higher

Natal Condomínio Clube : inovação espacial nos eixos de valorização da zona sul da cidade

This dissertation is about new real estate development in the southward expansion area in Natal, Brazil, by use of high-rise condos, so-called club-condominiums. The area includes part of the neighboring municipality, Parnamirim, and focuses on the role played by urban developers in the housing market. The main feature in these condos are common areas filled with leisure equipments, allegedly to grant quality of life, comfort and tranquility to residents. The rapid development of the area takes advantage of large plots of land available as well as of urban infrastructure. Overall preference of middle-class sectors for the South area of Natal (and adjoining part of Parnamirim) is also a factor worth of note. For this reason, this part of the city constitutes one of the preferred areas of urban developers. This dissertation includes a discussion of Henri Lefebvre s production of space, emphasizing its tridimensional features. It draws on David Harvey s works to deal with transformations of the built environment regarding the dynamics of real estate markets; in particular, it considers the idea of creative destruction. Finally, the dissertation discusses the concepts developed by Pedro Abramo regarding the forms of operation by urban entrepreneurs, in particular the concepts of urban convention and spatial innovation. For the empirical work, a number of interviews with key entrepreneurs and civil servants were undertaken. In more general terms, it is worth observing that there is a direct relationship between the location of such developments and the process of spatial fragmentation, seen both as a consequence and a strategy of the way urban developers operate