Estratégias baseadas em aprendizado para coordenação de uma frota de robôs em tarefas cooperativas

In multi-robot systems, both control architecture and work strategy represent a challenge for researchers. It is important to have a robust architecture that can be easily adapted to requirement changes. It is also important that work strategy allows robots to complete tasks efficiently, considering that robots interact directly in environments with humans. In this context, this work explores two approaches for robot soccer team coordination for cooperative tasks development. Both approaches are based on a combination of imitation learning and reinforcement learning. Thus, in the first approach was developed a control architecture, a fuzzy inference engine for recognizing situations in robot soccer games, a software for narration of robot soccer games based on the inference engine and the implementation of learning by imitation from observation and analysis of others robotic teams. Moreover, state abstraction was efficiently implemented in reinforcement learning applied to the robot soccer standard problem. Finally, reinforcement learning was implemented in a form where actions are explored only in some states (for example, states where an specialist robot system used them) differently to the traditional form, where actions have to be tested in all states. In the second approach reinforcement learning was implemented with function approximation, for which an algorithm called RBF-Sarsa($lambda$) was created. In both approaches batch reinforcement learning algorithms were implemented and imitation learning was used as a seed for reinforcement learning. Moreover, learning from robotic teams controlled by humans was explored. The proposal in this work had revealed efficient in the robot soccer standard problem and, when implemented in other robotics systems, they will allow that these robotics systems can efficiently and effectively develop assigned tasks. These approaches will give high adaptation capabilities to requirements and environment changes.

Desenvolvimento de um Sistema de Visão Global para uma Frota de Mini-Robôs Móveis

Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second

Uma proposta de ensino para o nível fundamental a partir das concepções sobre insetos

O presente trabalho consiste em uma investigação acerca das concepções de estudantes sobre o que é um inseto. Partiu-se do pressuposto de que os alunos expressam concepções errôneas no momento de identificar os representantes do táxon Insecta e que isso é consequência das experiências do cotidiano e de erros conceituais oriundos da formação escolar incorreta. Os objetivos deste trabalho foram investigar sobre concepções alternativas acerca dos insetos com alunos do ensino fundamental II e propor situações para promoção de uma aprendizagem mais ativa. Os dados para analise foram coletados em três turmas de escolas diferentes: uma escola em Nova Parnamirim, da rede privada, e duas da rede pública municipal de ensino: uma do município de Natal/RN e a outra do município de Parnamirim/RN. Utilizou-se como instrumento um questionário aplicado em duas fases. Na primeira etapa foram feitas três questões abertas e duas fechadas. Na segunda, aplicaram-se mais três questões. Nesta oportunidade foram apresentados aos alunos uma lista com imagens de insetos e animais considerados não insetos. Os resultados dos questionários mostraram que os alunos apresentaram na sua maioria, 62%, sentimentos negativos sobre os insetos, expressos por palavras depreciativas, entre elas: nojentos, feios, asquerosos, perigosos, sendo estes mais da metade dos alunos da amostra. Sentimentos positivos representaram 20%: fazem bem ao homem, Deus criou, são bons, são bonitos, e 18% apresentaram neutralidade nessas categorias. Outro resultado apresentado foi que 82% generalizaram os animais artrópodes como sendo insetos. Como forma de resolver problemas relacionados as concepções uma unidade didática foi aplicada em uma das escolas envolvidas na pesquisa, validando assim um instrumento pedagógico que incluiu atividade lúdica constituída de um jogo de tabuleiro proporcionador de uma vivência de aprendizagem focada em conceitos científicos sobre os insetos fáceis de serem apreendidos

Geometria e arirmética numa visão multicultural: uma experiência pedagógica

This paper aims to build a notebook of activities that can help the teacher of elementary school mathematics. Topics covered are arithmetic and geometry and the activities proposed here were developed aiming print them a multicultural character. We take as a base line developed by Claudia Zaslavsky multiculturalism and reflected in his books "Games and activities worldwide" and "More games and activities worldwide." We structure our work around four themes: the symbol of the Olympic Games, the pyramids of Egypt, the Russian abacus abacus and Chinese. The first two themes allow you to explore basic concepts of geometry while the latter two themes allow us to explore numerical notation and arithmetic operations

O ser elástico, mola, agulha, trepidação: expressões do homoerotismo em Fernando Pessoa

This Masters thesis investigates and analyzes the homoerotic expressions in Fernando Pessoa s poetry and in his heteronyms : Álvaro de Campos, Alberto Caeiro and Ricardo Reis. Through the elaboration of deceptive strategies as a way to escape from the insults and the constraints, the poet by means of creative runaway lines builds up a homoerotic poetry that differ from the established patterns and representational models of the literature. We can find, bearing in mind a problematic sexuality which overflows in the various I s, of the sinuous identities and the movable boundaries, and intense mask games. They become real in poems, especially by means of sensations, yielding the possibility of a queer discourse and generating a homoerotic poetry. Pessoa s homoerotism is, thus, presented amid friendly relationships, smooth spaces, of heterotrophy of the city, or others space and the closet s aesthetics. Based on this, it is noted the articulations of a performance gender as body scripture and inscription, thus establishing a physical-writing which reveals a transgressive sexuality, with multiple entrances and exits, affirmations and denials that originate paradoxes. In this matter, we develop links between Foucault conceptions (2010a, 2010b, 2011) towards the history of sexuality, friendship and the power-knowledge relations with traces of significance and subjectivity, in processes of faciality and BwO (Body-without-Organs) in Deleuze and Guattari (1996). We still consider the ontological questionings towards the Gay dimension in Eribon (2008) and we raise aspects concerning the construction of the idea of masculinity in Bourdieu (2010). Finally, we base ourselves on Sedgwick s 1993 closet epistemological approach, as well as on Butler s 2012 gender and performance theory, also going through a few Bataille 1987 passages about erotism, that redimension the homoaffective images of the Portuguese poet

Poesia digital: três leituras da Obra de Jason Nelson

The development of digital technologies has opened up a new niche for artistic production. It began to emerge artworks that could only happen in the digital context. In this study, we investigated the syntax of defining digital poetry, recognized internationally as one of the possibilities of this new artistic practice, and how happens the meaning during the reading process. As research corpus, we chose the poem "Birds Still Warm From Flying", by american poet Jason Nelson. And we structure our analysis looking through three perspectives: the digital poem as a game; as the evolution of experimental trends of twentieth-century poetry; and as a representation of Rubik`s Cube, a famous three-dimensional puzzle from the 1970`s. Initially, we made some considerations about the construction of digital poetry as a hypermedia artwork, looking through convergence and hybridization of artistic and media languages. Then, we saw some similarities between Nelson`s poem and electronic games, based on our critical observations about the concept of interactivity. Subsequently, we wrote a historical overview about the poetic experimentation in the twentieth century, bringing examples of sound poetry and visual poetry as evidence that the birth of digital poetry is also the result of the evolution of these experiments. Finally, we use the Charles Sanders Peirce`s semiotics to analyze the signs that give references able to make us recognize the Rubik`s Cube in "Birds Still Warm From Flying"

Realidade virtual na atividade cerebral: um estudo comparativo entre estados emocionais de adultos jovens e idosos

The association of Virtual Reality (VR) to clinical practice has become common in the recent years, showing to be an additional tool on health care, especially for elderly. Its use has been related to higher therapeutic adhesion levels and well being sensation. Such emotional based aspects are often observed by subjective tools of relative validity. This study analyzed the immediate effects of varied VR contexts balance training over emotional behavior, which was observed under peaks of maximum expression of EEG waves. Methodology: 40 individuals, divided in two groups, both gender, 20 young and 20 elderly, were submitted to a 60 minutes intervention, including balance training under VR. The first 25 minutes referred to initial evaluation, general orientation and cognitive assessment by the use of Mini Mental. The next ten minutes were designated to the avatar creation and tutorial video presentation. Through the following 20 minutes, the individuals from both groups were exposed to the exact same sequence of games under virtual contexts, while submitted to electroencephalography by Emotiv EPOC® focusing Adhesion, Frustration and Meditation states. The virtual interface was provided by the Nintendo® game, Wii Fit Plus, with the scenarios Balance Bubble (1), Penguin (2), Soccer (3), Tight Rope (4) and Table Tilt (5). Finally, a questionnaire of personal impressions was applied on the 5 minutes left. Results: data collected showed 64,7% of individuals from both groups presented higher concentration of adhesion peaks on Balance Bubble game. Both groups also presented similar behavior regarding meditation state, with marks close to 40%, each, on the same game, Table Tilt. There was divergence related to the frustration state, being the maximum concentration for the young group on the Soccer game (29,3%), whilst the elderly group referred highest marks to Tight Rope game (35,2%). Conclusion: Findings suggest virtual contexts can be favorable to adhesion and meditation emotional patterns induction, regardless age and for both sexes, whilst frustration seems to be more related to cognitive motor affordance, likely to be influenced by age. This information is relevant and contributes to the orientation for the best choice of games applied in clinical practice, as for other studies regarding this topic

A cooperação em crianças de rede pública de Natal/RN:uma abordagem evolucionista

Cooperation is a well known behavior and influenced by all cultures. Probably selective pressures brought advantages to individuals that cooperate, and then this behavior is current in human societies. Most of it is studied about cooperation and natural selection was understood by the game theory, a mathematical approach that helps to understand the conflict and cooperation. We believe that natural selection and game theory could facilitate understanding these behaviors and two theoretical articles were written regarding this view. It was also found that most of data about cooperation was obtained in (with) adults. Since game theory is effective to understand this phenomenon, and to be used and understood, two games were used with five and eleven year old children: the common pool and public goods games. The results are presented in four empirical articles. We found that children respond to social dilemmas of game theory like the adults do. They adjust their rounds regarding the feedback obtained of their partness; in the beginning they cooperate and reduce the degree of cooperation along (throughout) the following session; in the absence of punition the level of opportunism increased, mainly in larger groups; boys and girls behave differently when donate. This research suggest that cooperation has an evolutionary basis in human and it is since earlier in the behavioral pattern shown by adults.

Fatores que influenciam a cooperação em humanos

Human cooperation is fundamentally affected by reciprocal exchange, but it is also remarkably common on the context of large and symbolically marked in-groups, which promote cooperation through the feeling of belonging to a group. In this thesis, two empirical articles were produced in order to investigate how human cooperation is affected by factors such as reciprocity, in-group behavior, in-group markers and gender. We investigated this subject through the administration of online games consisting of token donations, on which the subjects faced virtual players controlled by the experiment. We found that cooperative behavior is strongly influenced by reciprocity, and it is also affected by the in-group behavior, observed on the context of the social variables place of birth, ethnicity, and religions, once all of them acted as in-group markers. The subjects´ in-group behavior was enhanced when they played with generous in-group opponents, but weakened when their in-group opponents were non-generous. It was also found that cooperation is not affected by gender, but men and women cooperated in different ways under the influence of reciprocity and in-group behavior. Women are much more reciprocal on their cooperative behavior and men are less willing to cooperate with outgroupers, even when they act generously. The overall results contribute to a better understanding of the adaptive value of cooperation, reciprocity and in-group behavior on the solution of important challenges through the human evolutionary history

O jogo de RPG como ferramenta auxiliar de aprendizagem na disciplina de Ciências

ON reflecting the traditional teaching approach, characterized by non-dynamic and descriptive methods that still persists in schools at the present time, associated to social living enrichment has motivated the search for new techniques to stimulate students in the process of teaching, such as roleplaying games, known as RPG, already being used in various school disciplines. Considering the amount of themes in general sciences and in biology, in particular that could be explored through RPG our purpose was to develop a game to be used as a learning complementary tool. PANGÉIA, the game we developed, was based on the GURPS system and to be placed at the geological Eras of the earth. The objective of the game was playing a character that represented an animal belonging to a Class of Vertebrates, and making it surviving and reproducing during risky situations presented in the game. These situations were narratives by the Master about challenges that the character would face, which should be solved using the dices. Along the narrative, the Master introduced concepts and informations about the subject being studied. To evaluating how the game worked out, we solicited 11 volunteers, from two different schools in Natal, to play PANGÉIA. Before starting the game, and without knowing the final objectives of our project, the volunteers answered a general questionnaire to let us know their level of knowledge, which was also answered after playing the game. The comparison of the volunteers answers before and after playing the game suggests that this activity influenced them. Also, based on this test, we identified critical aspects to be modified in PANGÉIA, specially a stronger relation between both the questionnaire and the game placement with the narrative of the master. In order to have PANGÉIA used as a complementary learning tool, a teachers handbook has to be written, including rules concerning the format of game application. Nonetheless, based on this pilot study, we conclude that topics on sciences and biology can be easily adjusted to RPG format, and its flexibility provides multiple combinations that can be used to help learning the more difficult topics to be taught in a class

Criar o próprio jogo didático ou apenas jogar? Efeitos de diferentes estratégias de ensino na motivação e aprendizado de ciências

The use of games as educational tools is common, however the effectiveness of games with educational purposes is still poorly known. In this study we evaluated three different low-cost teaching strategies make and play your own board game, just play an educational science game and make a poster to be exposed in the school regarding: (1) science learning; (2) use of deep learning strategies (DLS); and (3) intrinsic motivation. We tested the hypothesis that, in these three parameters evaluated, scores would be higher in the group that made and play their own game, followed respectively by the group that just played a game and the group that made a poster. The research involved 214 fifth-grade students from six elementary schools in Natal/RN. A group of students made and played their own science board game (N = 68), a second group played a science game (N = 75), and a third group made a poster to be exposed at school (N = 71). Our hypothesis was partly empirically supported, since there was no significant difference in science learning and in the use of DLS between the group that made their own game and the group that just played the game; however, both groups had significantly higher scores in science learning and in use of DLS than the group that made the poster. There was no significant difference in the scores of intrinsic motivation among the three experimental groups. Our results indicate that activities related to non-digital games can provide a favorable context for learning in the school environment. We conclude that the use of games for educational purposes (both making a game and just playing a game) is an efficient and viable alternative to teach science in Brazilian public school

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

Pistas orgânicas: uma atividade lúdica para o ensino das funções orgânicas

Educational games can work as a complementary tool in teaching and learning chemistry, playing an important role in the development of the students cognitive structures, familiarizing them with certain conceptual content, which may arouse interest in the study of such content. In this work, we made an analysis of organic chemistry textbooks recommended by Programa Nacional do Livro Didático 2012, for high school students in order to verify the existence of methodological proposals using educational games. From this analysis, we proposed an educational game to be developed for students on 3º year of high medium and undergraduate chemistry, that are in 1º semester of the course, which is constituted of a tray and 48 letters, which work various concepts concerning organic functions, such as: structural characteristics, physical properties, chemical and properties diverse of the compounds used for the confection of the letters. The game was applied to a class degree in chemistry, period 2012.1 to a Federal Education of Rio Grande do Norte and a group of students of the 3rd year of the state schools of Rio Grande do Norte, in the period the months of April and May 2012. The analysis of the performance of the game proposed was made using visual observations, photographic records and testimonials of students who participated in the games. The instrument used for the data collection was the student questionnaire, which was similar for both groups, differing only in the amount of questions, because one of them had one more question. During application of the game it was observed that it constitutes a dynamic strategy in the teaching and learning of chemistry concepts, given that students actively participated in the classes as well, demonstrated more motivation in the construction of concepts, furthermore, it was possible to observe evidence of other possibilities of the game. This could be verified through visual observations and testimonials at the end of each game, by reading the answers to the questionnaires

Lógica BDI fuzzy

Intendding to understand how the human mind operates, some philosophers and psycologists began to study about rationality. Theories were built from those studies and nowadays that interest have been extended to many other areas such as computing engineering and computing science, but with a minimal distinction at its goal: to understand the mind operational proccess and apply it on agents modelling to become possible the implementation (of softwares or hardwares) with the agent-oriented paradigm where agents are able to deliberate their own plans of actions. In computing science, the sub-area of multiagents systems has progressed using several works concerning artificial intelligence, computational logic, distributed systems, games theory and even philosophy and psycology. This present work hopes to show how it can be get a logical formalisation extention of a rational agents architecture model called BDI (based in a philosophic Bratman s Theory) in which agents are capable to deliberate actions from its beliefs, desires and intentions. The formalisation of this model is called BDI logic and it is a modal logic (in general it is a branching time logic) with three access relations: B, D and I. And here, it will show two possible extentions that tranform BDI logic in a modal-fuzzy logic where the formulae and the access relations can be evaluated by values from the interval [0,1]

Aprendizado significativo aplicado ao ensino de algoritmos

The course of Algorithms and Programming reveals as real obstacle for many students during the computer courses. The students not familiar with new ways of thinking required by the courses as well as not having certain skills required for this, encounter difficulties that sometimes result in the repetition and dropout. Faced with this problem, that survey on the problems experienced by students was conducted as a way to understand the problem and to guide solutions in trying to solve or assuage the difficulties experienced by students. In this paper a methodology to be applied in a classroom based on the concepts of Meaningful Learning of David Ausubel was described. In addition to this theory, a tool developed at UFRN, named Takkou, was used with the intent to better motivate students in algorithms classes and to exercise logical reasoning. Finally a comparative evaluation of the suggested methodology and traditional methodology was carried out, and results were discussed