Roteamento em Redes de Sensores Sem Fios Com Base Em Aprendizagem Por Reforço

The use of wireless sensor and actuator networks in industry has been increasing past few years, bringing multiple benefits compared to wired systems, like network flexibility and manageability. Such networks consists of a possibly large number of small and autonomous sensor and actuator devices with wireless communication capabilities. The data collected by sensors are sent directly or through intermediary nodes along the network to a base station called sink node. The data routing in this environment is an essential matter since it is strictly bounded to the energy efficiency, thus the network lifetime. This work investigates the application of a routing technique based on Reinforcement Learning s Q-Learning algorithm to a wireless sensor network by using an NS-2 simulated environment. Several metrics like energy consumption, data packet delivery rates and delays are used to validate de proposal comparing it with another solutions existing in the literature

Arquitetura de Software para Barcos Robóticos

We propose in this work a software architecture for robotic boats intended to act in diverse aquatic environments, fully autonomously, performing telemetry to a base station and getting this mission to be accomplished. This proposal aims to apply within the project N-Boat Lab NatalNet DCA, which aims to empower a sailboat navigating autonomously. The constituent components of this architecture are the memory modules, strategy, communication, sensing, actuation, energy, security and surveillance, making these systems the boat and base station. To validate the simulator was developed in C language and implemented using the graphics API OpenGL resources, whose main results were obtained in the implementation of memory, performance and strategy modules, more specifically data sharing, control of sails and rudder and planning short routes based on an algorithm for navigation, respectively. The experimental results, shown in this study indicate the feasibility of the actual use of the software architecture developed and their application in the area of autonomous mobile robotics

Avaliação do desenvolvimento sustentável na bacia hidrográfica do Rio Seridó em face das políticas públicas e da gestão dos recursos hídricos

The reality of water resources management in semiarid regions, such as the Seridó region, has been shaped by a complex chain involving social-cultural, political, economic and environmental aspects, covering different spheres of activity - from local to federal. Because water is a scarce element, the most rational way pointed out by our recent history has been to move towards an increasing emphasis on the need for a truly rational, integrated, sustainable and participatory water resources management, supported by legislation and by a network of institutions that could materialize it. In this sense, despite all the advances in the formulation of public policies in water resources, which ones have indeed lead to significant changes that have occurred or are underway in semiarid regions such as Seridó? What factors may be preventing the realization of the desires rationality embedded in the framers of water policies intents? How to properly manage water resources if the current actors who promote their management and the political, human, cultural and institutional processes that intervene in this management, show strong traces of unsustainability? The research methodology adopted in this paper led to a breakdown of the traditional approach to water resource management, to integrate it into other areas of knowledge, especially to political science and public administration, catalyzed by the concept of "sustainable development". From a broad, interdisciplinary literature review, an exhaustive characterization of the river basin Seridó, a set of interviews with key people in the public administration acting in the region, a series of diagnoses and a set of propositions were made in order to correct the direction of current public policies for the region. From the point of view of public policies, it is in the deployment phase, not in its formulation, which lies a major problem of the lack of significant progress in water management. The lack of coordination between government programs are well characterized, as well as the lack of efficiency and effectiveness of their actions. The causes of this secular model are also discussed, including political factors and social relations of production, which led to a stalemate difficult, but of possible solution. It can be perceived there is a scenario of progressive deterioration of natural resources of the fragile ecosystem and a network of environmental and social consequences difficult to reverse, the result of a persistent and inertial sociopolitical culture, whose main factors reinforce itself. The work leads towards a characterization of the water resources management also from the perspective of environmental, institutional, political and human sustainability , the latter being identified, particularly as investment in the development of people as autonomous beings - not based in ideological directives of any kind - in the emancipation of the traditional figure of the poor man of the hinterland" to the "catalyst for change" responsible for their own decisions or omissions, based upon an education for free-thinking that brings each one as co-responsible epicenter of (self-) sustainable changes in their midst

O papel da leitura nas aulas de inglês: uma análise segundo a percepção dos professores do ensino médio de escolas públicas estaduais de Natal

This dissertation aims at investigating the teachers beliefs about the role of the reading ability in English at public state high schools in Natal and identifying the social value of the process of learning English for students of a foreign language. From the understanding of studies on reading, both in the field of Cognitive Psychology, as in Gibson & Levin (1975), as in the area of Psycholinguistics, as in Goodman (1970) and Del Re (2006), We researched the teachers perceptions about the skills and competencies that should permeate their educational practices, through their knowledge about theories of language acquisition as Cognitivism (Piaget, 1961) and Social Interactionism (Vygotsky, 1979) and the official documents (PCNEM, 1999; PCN+, 2002 ) that are the parameters for teaching a foreign language. We took into consideration other factors that influence the choice of the goals and the objectives to be worked out, such as: intensity of teachers workload, number of classes and students per class for each teacher, materials and technologies available, among other factors that will play an important role in the choice of the appropriate methodologies. To conduct a case study, two questionnaires were used in the construction of direct interviews with fourteen English teachers in twenty schools. According to data on the teachers beliefs we could find that for them the reading ability does not seem to have an special treatment in the teaching of a foreign language due to factors that undermine this process and therefore make teachers do not realize the real objectives of teaching English at public state high schools in Natal. As a consequence, the current process of education complicates the formation of autonomous learners capable of fighting for a social transformation

Distribuição espacial, formação de grupos, uso do hábitat e ecologia comportamental de jovens de tubarão limão, negaprion brevirostris (poey 1868), no arquipélago de fernando de noronha

Lemon sharks, Negaprion brevirostris, are common in the Fernando de Noronha Archipelago, but detailed information about the species in this site is lacking. The aim of this study was to describe the spatial distribution, grouping behavior, habitat use and behavioral ecology of juvenile lemon sharks in the archipelago, and their interaction with some environmental and ecological factors. During 2006 and 2007, the presence and spatial distribution of juvenile sharks were quantified through scuba diving and snorkeling at several sites of the archipelago. In 2008 the habitat use of juvenile sharks was quantified through visual census while snorkeling along 300 x 8 m strip transects. During these transects the grouping behavior of lemon sharks was quantified by ad libitum. Results indicate that Fernando de Noronha Archipelago is used as a nursery area for lemon sharks, and the parturition occurs from November to April. Juveniles preferred using shallower areas available by the tide variation and formed groups only in the presence of adult conspecifics. This preference for shallower habitats and the group behavior probably are anti-predatory tactics used by juvenile lemon sharks, in response to the low availability of shelter and high predation risk of the studied areas. Quantifications of prey availability and predation risk of juveniles showed that, in general, lemon sharks are trading-off food by security and investing in sites with higher possibility of energetic return. Behavioral observations enabled to record juvenile carangid fishes following juvenile lemon sharks, remora host-parasite and juvenile sharks foraging on schools of herrings and octopuses. We also recorded the behavior of juvenile sharks following conspecifics of similar size, circling with two or three individuals and smaller individuals giving way to larger juveniles. When adults are present, juvenile lemon sharks are more social than solitary, indicating that predation is one of the factors that contribute to social behaviors of the species. Results also suggest that when grouped the juveniles have a hierarchical organization according to body size. Furthermore, observation of large adult females with several fresh mating bites and scars in the same habitats used by juvenile lemon sharks, indicates that Fernando de Noronha Archipelago is used as nursery and mating grounds by this species

O Psicólogo no campo do Bem-Estar: cartografias de práticas na saúde e assistência social

The study focuses on the psychology and Social Well-being Policy encounters. The objective is to understand how the psychologists in the health services of Natal, RN, specifically in the Basic Health Units and social assistance, experience their daily practices. The methodology included observation and interviews of 13 psychologists regarding their daily activities and forms of practice in these services. We utilized an interview protocol directed at the affective memory and the professional life history of these technicians. Field notes were used to produce a cartography of the encounter intensities experienced by the researcher in the investigated context. The data analysis enabled the construction of the following analytic axes: 1) Work processes and proximity/ distancing points between these fields; 2) Forms of government and life management in the well-being context; 3) Experiments of self in the daily services. The first axis showed the precariousness of working conditions (remuneration issues, lack of structure, of training and autonomy for the activities). In the second axis the identified care forms produced in these fields indicated an adherence to the production of ideal subjects characterized as autonomous, productive, healthy and aware of own rights . These were considered normative insofar as they express attempts to break with the established patterns. In the third axis, many technicians experienced constraint with the daily activities because they found themselves in contexts that were adverse to the habitual forms of action. This situation provoked two distinct forms of positioning: a) action expressed by compassion, pity and resentment; b) investment in the practices themselves, so as to overcome its limits and to respond innovatively to the difficulties and/or challenges that these contexts provoke

Arquitetura multiagente baseada em nuvem de partículas para hibridização de metaheurísticas

This thesis proposes an architecture of a new multiagent system framework for hybridization of metaheuristics inspired on the general Particle Swarm Optimization framework (PSO). The main contribution is to propose an effective approach to solve hard combinatory optimization problems. The choice of PSO as inspiration was given because it is inherently multiagent, allowing explore the features of multiagent systems, such as learning and cooperation techniques. In the proposed architecture, particles are autonomous agents with memory and methods for learning and making decisions, using search strategies to move in the solution space. The concepts of position and velocity originally defined in PSO are redefined for this approach. The proposed architecture was applied to the Traveling Salesman Problem and to the Quadratic Assignment Problem, and computational experiments were performed for testing its effectiveness. The experimental results were promising, with satisfactory performance, whereas the potential of the proposed architecture has not been fully explored. For further researches, the proposed approach will be also applied to multiobjective combinatorial optimization problems, which are closer to real-world problems. In the context of applied research, we intend to work with both students at the undergraduate level and a technical level in the implementation of the proposed architecture in real-world problems

Setor informal da economia e a dinâmica dos territórios nas praias da cidade do Natal/RN

La recherche sur secteur non-formel de l économie et la dynamique des territoires dans les plages de la ville de Natal/RN, a le but de la compréhension des espaces de ces territoires ainsi que leurs caractéristiques; le rapport des acteurs sociaux et l existence de politiques dirigées direct ou indirectement vers ce secteur de l économie et ses territoires. Pour celà, on donne emphase au scénario économique moulé par le système de production et reproduction dans la mondialisation, ce qui, parmis d autres actions aq l inetrférence sur le marché du travail, lequel subit constamment des transformations importantes cherchant à suivre les changements en niveau global, en devenant, pour ainsi dire, un marché chaque fois plus exigeant et, conséquemment, sélectif. Moyennant la réalité économique et politique vécue, il augmente le nombre de chômeurs dans le pays suscitant, à tort et à travers, la croissance du secteur non-formel de l économie avec ses inombrables travailleurs qui occupent les plus différents segments parmi lesquels les travaux autonomes, ici représentés par les camelots, les propriétaires de baraques, les propriétaires de kiosques ; etc. Pour atteindre ce but, on a cherché les reférenciels théorico-scientifiques ayant pour base la connaissance empirique à travers les inombrables cas d études matérialisés au moyen de donnés primaires et sécondaires. Finalement, on est sûr de ce que les travailleurs du secteur non-formel complèmentent la chaîne repoductive, ils créent et recréent des territoires avec des contenus variés qui sont indispensables pour la croissance et le développement social

A crise de legitimidade na democracia representativa e o desatendimento aos direitos fundamentais: um enfoque participativo-educacional

This study aims to bring reflection on the legitimacy crisis of the Brazilian representative democracy, which results in non-attendance of fundamental rights, regarding legal and social facts in light of the existing constitutional order and seeking solutions in more democratic procedures and in a more humane, critical, democratic and collaborative education. It has been an issue for some time the understanding that the authorities do not meet the basic needs of Brazilian citizens - the only way to make them autonomous and sufficiently able to conduct their lives in a competitive and globalized labor market. Such situation only worsened - as illustrated by the social movements in mid-2013 - when people took to the streets, showing a noticeable dissatisfaction with public services in general, and some other groups presenting specific complaints in those events. To find solutions or at least suggestions for the reflection of the problem found, a current approach to public authorities was necessary attempting to reveal how the constitutional order authorizes their operation and how - in fact - they act. In this endeavour, the legitimacy of power was discussed, involving the analysis of its origin, to whom it belongs and the legitimacy of deficit situations, concluding that it is only justified as it gets more democratic influence, with greater participation of people in its deliberations and decisions, with its plurality and complexity. Research carried out by official institutions was necessary to have evidence of the low level of social development of the country and the nonattendance of minimum basic rights, as well as exposure to various acts and omissions which show that all public authorities do not legitimately represent the people's interests. The competence of the Supreme Court to establish the broader scope of the remuneration policy in the public service received proper attention, presenting itself as an effective means to promote the reduction of the remuneration and structural inequality in public service and contributing to better care of fundamental rights. Also, considerations were made about the Decree 8243/2014, which established the National Policy for Social Participation (NPSP) and the National System of Social Participation (NSSP) and took other measures with the suggestion of its expansion into the legislative and judiciary powers as a way to legitimize the Brazilian democracy, considering its current stage. In conclusion, it is presented the idea expressed by the most influential and modern pedagogical trends for the creation of a participatory, solidary, non-hierarchical and critical culture since the childhood stage. This idea focuses on the resolution of questions addressed to the common good, which considers the complexity and the existing pluralism in society with a view to constant knowledge update. Knowledge update is in turn dynamic and requires such action, instilling - for the future generations - the idea that the creation of a more participatory and collaborative democracy is needed to reduce social inequality as a way to legitimize and promote social welfare, with the implementation of a policy devoted to meet the minimum fundamental rights to ensure dignity to the population.

Essa ciranda não é minha só, é de todas nós: um estudo sobre feminismo, autonomia e consciência coletiva

The notion of autonomy arises in feminism as theory and action for horizontal and building self-appointed women in the project of social transformation. As part of the feminist movement - political subject of women - the autonomy is established dynamically, back and forth from the socio-historical context that sign and thus the correlation of forces that is with the women's group . Thus, for this work it was necessary to feminism take on your current process, which set the transitional period of "onguização" of feminist organizations (1980 to 2000), which discusses the relative loss of autonomy before the alliance as State and dependence on development agencies, for the current period, which incorporates discourses and practices through autonomous groups and their militants. Therefore, this study is based on research of autonomous feminism of young women, characterized as another radical and political integration proposed for that period. The aim then was to analyze the organizational capacity of autonomous feminist collective in Natal/RN, from the knowledge of the structure and dynamics of a group and understanding the consubstantiality gender, 'race'/ethnicity, class for the process organization. And with the participation of the Coletivo Autônomo Feminista Leila Diniz. This was in organizational transition, ending his career as ONGs and leaving for autonomous militancy. In order to achieve the so-objectification proposal, literature review was performed of the categories, feminism, autonomy, patriarchy, feminist activist conscientiously and collective; documentary research relating to the Group; participant observations within their meetings; and a themed workshop with some militants Autonomous Collective, which was produced pictures and speeches. The materialization of these instruments provided research analysis on the elements that constitute the young feminists and contemporary autonomous organizations, in view of the multiple experiences and the diversity of women who configures the subject [the subject] while feminist collective total. As well as taking a feminist militancy conscience expressed by the group studied the necessary re-appropriation of each other in combating patriarchal femininity, the hierarchical naturalizations marking the sex of women and the recognition as sex class for feminist autonomous organization for women's liberation.

When wolves cry: long distance calling by wild maned wolves

The maned wolf (Chrysocyon brachyurus Illiger 1815) is the biggest canid in South America and it is considered a “near threatened” species by IUCN. Because of its nocturnal, territorial and solitary habits, there are still many understudied aspects of their behavior in natural environments, including acoustic communication. In its vocal repertoire, the wolf presents a longdistance call named “roar-bark” which, according to literature, functions for spacing maintenance between individuals and/or communication between members of the reproductive pair inside the territory. In this context, this study aimed: 1) to compare four methods for detecting maned wolf’s roar-barks in recordings made in a natural environment, in order to elect the most efficient one for our project; 2) to understand the night emission pattern of these vocalizations, verifying possible weather and moon phases influences in roarbark’s emission rates; and 3) to test Passive Acoustic Monitoring as a tool to identify the presence of maned wolves in a natural environment. The study area was the Serra da Canastra National Park (Minas Gerais, Brazil), where autonomous recorders were used for sound acquisition, recording all night (from 06pm to 06am) during five days in December/2013 and every day from April to July/2014. Roar-barks’ detection methods were tested and compared regarding time needed to analyze files, number of false positives and number of correctly identified calls. The mixed method (XBAT + manual) was the most efficient one, finding 100% of vocalizations in almost half of the time the manual method did, being chosen for our data analysis. By studying roarbarks’ temporal variation we verified that the wolves vocalize more in the early hours of the evening, suggesting an important social function for those calls at the beginning of its period of most intense activity. Average wind speed negatively influenced vocalization rate, which may indicate lower sound reception of recorders or a change in behavioral patterns of wolves in high speed wind conditions. A better understanding of seasonal variation of maned wolves’ vocal activity is required, but our study already shows that it is possible to detect behavioral patterns of wild animals only by sound, validating PAM as a tool in this species’ conservation.

Geração de padrão de marcha adaptável para uma órtese ativa de membros inferiores

Atualmente com o crescente aumento de dispositivos robóticos destinados para aplicação na área de mobilidade de pessoas que sofreram algum tipo de lesão medular, se faz necessário desenvolver novas ferramentas para tornar tais equipamentos mais adaptáveis, seguros e autônomos. Para que as órteses robóticas que auxiliam na locomoção de pessoas paraplégicas possam desempenhar sua função, estas devem ser capazes de reproduzir os movimentos perdidos com o máximo de fidelidade e segurança em ambientes que eventualmente possam conter obstáculos de diferentes tipos como buracos, escadas e calçadas. As órteses robóticas para membros inferiores têm a capacidade de caminhar, subir e descer degraus, todavia, esses movimentos, na maioria das vezes, não se adaptam ao ambiente, sendo assim, para uma órtese robótica que foi projetada para subir um degrau com uma determinada altura ao se deparar com um degrau maior provavelmente não conseguirá realizar essa tarefa com a mesma segurança. Para solucionar esse e outros problemas, esse trabalho apresenta um Sistema de Auxílio à Locomoção (SAL) dotado de um planejador de passos e um gerador de referências angulares com características antropomórficas para a órtese robótica Ortholeg. O SAL utiliza dados antropométricos do usuário para gerar um padrão de marcha personalizado, dessa forma, a órtese em questão é capaz de adaptar o tamanho do passo para não colidir com obstáculos presentes no ambiente e transpor buracos com diversos tamanhos, subir e descer escadas e calçadas com diferentes valores de altura e comprimento. Para desenvolver o sistema de auxílio à locomoção foram adaptadas técnicas de planejamento de caminho, usadas a princípio em robôs bípedes. São apresentados vários experimentos que mostram a órtese Ortholeg realizando alguns movimentos com características antropomórficas para diferentes distâncias de caminhada e três tipos de obstáculos: degrau, buraco e calçada. A autonomia adquirida com a utilização do sistema de planejamento apresentado facilita a utilização de órteses robóticas como também garante uma maior segurança ao usuário.

Mídia à luz do desejo: cartografias dos processos da mídia livre contemporânea brasileira

This paper aims to understand the specifics of the network communication and the logic of articulation of social insurgencies in contemporary inferred from the rizome concept coined by Felix Guattari and Gilles Deleuze and the multitude as preach Michael Hardt and Antonio Negri. To do so, it raises the processes and practices of political bodies, reaching lines and common strategies of operation. Unless the specifics, it is possible to draw a continuous and rizomatic communication that traverses both bodies enrolled in institutionalized democracy, as the spanish movement-party Podemos and the greek coalition Syriza, as the autonomous collectives, such as the Movimento Passe Livre, fighting for universal public, free and quality transport, and the free media initiatives Media Ninja and Catarina Santos, willing to understand the social movements. The constitutional amendment of this model of communication networking seems to be the desire to radicalization of democracy, the bias of Ernesto Laclau and Chantal Mouffe, as a strategic and common struggle. Indeed, speaking specifically of free media, they are built from here processes that take place in understanding the agency of the bodies as relevant to political action toward the radical democracy project, and the use of free softwares, the communicator-protester agency, the performance, the collective experience.

A Versao 2006 da Equipe POTI de Futebol de Robos o

Auciomar C. T. Cerqueira;Filipe C. A. Lins ; Adelardo A. D. Medeiros ; Pablo J. Alsina1. A versao 2006 da Equipe POTI de futebol de robos. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA,2. Campo Grande, RS, 2006. Anais... Campo Grande: JRI, 2006.

Distribuição e abundância da malacofauna epibentônica no Parracho de Maracajaú, RN, Brasil

The mollusks present a great taxon variety and life habits in coral reefs being good environmental indicators. It is important to know the distribution pattern of the mollusks and the processes that influence it, so that disturbances in sea ecosystems could be monitored. The present study aims to accomplish the inventory and distribution of epibenthic mollusks in the Parracho of Maracajaú. 23 sites in different habitats of the Parracho were settled: 11 in the reef habitat, 3 in the sandy bottom and 9 in the seagrass bed. Qualitative and quantitative samplings have been done through snorkeling and scuba diving. Three band transects (10m²) were sampled in each site and the data were obtained to each m² of the transect, where the species were counted and the environmental variables (rugosity and recovery of the substratum) were valued. The data were submitted to multivariate analyses in order to find possible distribution patterns that could be associated to the substratum variables. The diversity indexes were calculated for each reef sites and compared with each other. A number of 46 species were registered. The reef habit at should to be the richnest area while the sandy bottom was poorest one. In the reef habitat, the mollusks were associated to rugosity and recovering of frondose algae and zoanthids, while for the seagrass bed, the animals exhibited a richness variation associated to the muddy and sandy sediment. There were found 3 species economically explored, what requires an appropriate management for the maintenance and conservation of the area resources in a sustainable way