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

Educação matemática, ciência e tradição: tudo no mesmo barco

Les connaissances de la tradition et position de la Science dehors pour un non-hiérarchique dialoguez qui frappe pour les distinguer mais ils sont undésavouer inséparable étant donné les compléments ils composent. Cet essai assume la possibilité de ce roi de dialogue dans un place spéciale: la classe. Sur ce qui vient au connaissance de la tradition, le centre remarquable est pour la construction de bateaux du travail manuel, una pratique culturellement déployé dans la ville d'Abaetetuba, dans le État de Pará, Brésil. En revanche, la Science est concentrée par le le contenu d'école a adopté dans l'Ensino Fundamental (École primaire). La construction du dialogue est faite en utilisant des activités de l'enseignement qui accentuez des aspects géométriques (solide, géométrique, angles et symétries) aussi bien que par information qui implique le tableau, poésie, histoire, géographie et physique - les deux inspiré dans le chiffre de bateau résumé dans un CD-ROM interactif. Les activités ont eu lieu dans D'Escola Ensino Pedro Teixeira Fondamental (Abaetetuba-Pa), avec étudiants du 6e niveau (plus spécifiquement avec un groupe de 13 étudiants) d'août à octobre2004. Ethnomathématiques et transdisciplinarité sont le support théorique sous-jacent du projet. Dans résumé, c'est possible pour dire que l'interaction entre Science et Tradition, à travers activités au-delà lesquelles vont le le contenu a restreint à mathématiques d'école, contribuées à,: identifiez le contenu a appris pas sur dans série antérieure; renouveler le rôle joué par école dans ses fonctions didactique pédagogiques; réduire le isolement entre information passée historique et les étudiants présent culturel; indiquer des obstacles à l'érudition des mathématiques intéresser aux aspects cognitifs et behavioristes; et provoquer un participation affective qui rôle principal à la qualité d'apprendre l'école contenu aussi bien que les connaissances de la tradition

Comportamento social de botos-cinza, sotalia guianensis, na praia de Pipa, RN, Brasil: dinâmica, sequência, sincronia e respostas ao turismo de observação

Social behavior of Guiana dolphins, Sotalia guianensis, at Pipa Beach, RN, Brazil: dynamics, sequence, breathing synchrony, and responses to dolphin watching. Social animals form groups that can range from temporary to permanent. Depending on the nature of the social relationships developed between individuals, groups present a particular social organization and the effect of these interactions shapes the activity patterns of these animals. This study investigates: (i) fission-fusion dynamics of Guiana dolphins, through the analysis of three dimensions of the social system (variation in spatial cohesion, variation in size and composition of groups), (ii) sequence, routine and behavioral stability, (iii) breathing intervals in synchronized groups and (iv) behavioral responses of the animals to dolphin watching. Systematic observations of Guiana dolphins were made from a platform located in cliffs about 25 m above sea level that surround Madeiro Bay, Pipa Beach. Sampling occurred from December 2007 to February 2009 between 0600 h and 1600 h, and the groups of Guiana dolphins were investigated according to their size (alone and group) and composition (adults, adults and juveniles, and adults and calves). According to the analysis of fission-fusion dynamics, Guiana dolphin groups frequently changed their composition, modifying their patterns of spatial grouping and cohesion every 20 minutes on average. More than 50% of the individuals maintained a distance of up to 2 m from other group members and new individuals were attracted to the group, especially during feeding, leaving it for foraging. Large groups were more unstable than small, while groups containing only adults were more stable than groups of adults and juveniles. According to the Z-score analysis to investigate the sequence and behavioral routine, lone individuals were more ! .7! ! involved in foraging and feeding, while resting was more common in groups. Foraging and feeding were more common in homogeneous groups (individuals of the same age class), while heterogeneous groups (different age classes) were often involved in socialization, displaying a broader behavioral repertoire. Foraging and resting behavior presented higher stability (continuous duration in minutes) than the other behaviors. The analysis of breathing intervals in synchronized groups showed significant differences depending on type of behavior, composition and area preference. During resting, breathing intervals were of longer duration, and groups with calves showed shorter breathing intervals than groups without calves. Lone individuals also preferred areas called corral , often used for the entrapment of fishes. The Markov chain analysis revealed behavioral changes in the presence of boats, according to the type of group composition. Groups composed of adults presented decreased resting and increased in traveling during the presence of boats. Groups of adults and juveniles showed a massive reduction of socialization, while the behavior transition probability traveling-traveling was higher in groups of adults and calves. In the presence of the boats, stability of resting was reduced by one third of its original duration and traveling more than doubled. The behavioral patterns analyzed are discussed in light of socio-ecological models concerning costs and benefits of proximity between individuals and behavioral optimization. Furthermore, significant changes in behavioral patterns indicate that Guiana dolphins, at Pipa Beach, have suffered the effects of tourism as a result of violation of rules of conduct established for the study area

Ocupação de área e interações de golfinhos-rotadores (Stenella longirostris) com o turismo náutico no Arquipélago de Noronha/PE, Brasil

Several works characterize the presence of spinner dolphins at Fernando de Noronha Archipelago in the Dolphins Bay. Though, the dolphins abidance inside this cove has decreased and a new area has been occupied by the animals to achieve the same behaviors, that are resting, breeding and nursing. This area comprises the Inside Sea northeast border of Fernando s de Noronha Island, including the opposing Middle and Dog shore area, the San Antonio Bay and the Between Islands region. The aim was to characterize the dolphins occupation and describe their interactions with the tourism in this area. Data were collected in 2008 and 2009 through a fixed point observation. The study area was divided into seven sub-areas, recording: presence/absence of dolphins, days abidance endurance, abidance length in each area, estimated number of individuals, dolphins direction and speed of displacement, boats presence, interaction period, monitoring, boats attitude and velocity. The dolphins abidance time displayed the same pattern during both years of study, with the higher occupancy in the Between Islands region. Groups with farther than 200 individuals were more frequent both 2008 (46.2%) and 2009 (42.3%). Thus the displacement s slow speed as the preferred direction towards Rat Island also showed the same pattern in both years. The Between Islands region also presented the boats major abidance near the dolphins groups. Boats moved farther in slow speed (95%) than at high speed (5%). The legislation s compliance for the cetaceans protection occurred in 89.7% of 2.839 interactions between boats and spinners, in which this variable was recorded. Whenever boats moved at a slow speed during the meetings with spinner dolphins groups, animals also moved at a slow speed (n = 337), significantly more than the fast displacements (n = 128) ix or "porpoise" (n = 4) (X2 = 318.543, p = -0.001). When boats quickly passed by groups, a significant difference between the dolphins displacement speeds was observed (X2 = 18.264, p =- 0.001), however, the slow (47%) and fast (47% ) displacements frequency was equal, noted the difference with the porpoise displacements (6%), which had the lowest frequency. Data indicate the establishment of a new occupation pattern of the spinner dolphins at Fernando de Noronha, with the Between Islands area being of great importance to the dolphins habits and currently the main area of the boats meeting with the dolphins, showing the need of new conservation measures in this area

Cuidado ao filhote de boto cinza, Sotalia guianensis (van Benédén, 1864)

In some species parental care is vital to survival. Many studies have reported various parental care behaviours in cetaceans. In Sotalia guianensis, some behaviours have been already described and linked to parental care. However, many aspects are still unknown and all these information might be important for the species conservation. The aim of the present study was minimize these gaps, showing the options involved in the marine tucuxi parental care. The observations took place in Enseada do Curral, located in Pipa, Tibal do Sul, Rio Grande do Norte Coast. Between January and December of 2005 the local population of tucuxi was observed during 42 days. The methods used were Focal Animal and Ad Libitum. The results suggest that calves are present in the bay all year long. Groups with calves had a mean of 6,9 animals, allowing the animals to participate in different activities in the group besides caring. The calves created different associations, being usually followed by an adult. In groups, the calves stay mainly in the centre, which offers them protection. Calves remained next to the adults tail, facilitating breastfeeding. The calves most noticeable activities were those in the surface and the behaviour frequencies decreased, in general, in the presence of human swimmers and boats, what could be considered a threat to the animals. Adults shared positions when caring for calves, suggesting allomaternal care; food transfer from adults to calves was observed, which might be related to diet acquisition; three non-described behaviours were seen, indicating a diversified behavioural repertoire for this species

The song of humpback whale and the potential effects of whale-watching in the abrolhos bank, BA, Brazil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

The song of humpback whale and the potential effects of whale-watching in the abrolhos bank, BA, Brazil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)