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

Boto cinza (Sotalia guianensis, Van Benédén, 1864) (Cetacea, Delphinidae): Atividade aérea, forrageio e interações inter-específicas, na Praia de Pipa (Tibau do Sul RN) e estudo comparativo entre duas populações do Nordeste do Brasil

Sotalia guianensis is a small cetacean of the Delphinidae family, with coastal habits and whose area of distribution ranges from Florianópolis (27º35'S, 48º34'W), in Brazil, to Honduras (15º58'N, 85º42'W). At Pipa beach, on the south coast of RN state, in Brazil, the species occur throughout the year. The present study was carried out in two bays, which are bordered by cliffs. The animals were monitored from vantage points, using the "Ad libitum" and "all the occurrences" methods; during the years of 1999 and 2004. The study was divided in 4 chapters: Behavioral standards of two populations of gray dolphin, (Sotalia guianensis, Van Benédén, 1864) in the northeast of Brazil; Aerial activity of the gray dolphin: its possible function and the influence of environmental and behavioral factors; The influence of daily and monthly variation of the tides, of the period of the day and group size on the gray dolphin forage activity; kleptoparasitism interactions of frigatebird (Fregata magnificens, Mattheus, 1914) during the gray dolphin forage activity. The results have shown that the gray dolphin has a varied and complex behavioral repertoire. The leap is the most frequent behavior; the aerial activity is diffuse during daylight and is influenced by some factors, such as the level of the tide and social factors. The gray dolphin, when in the bay, most frequently feeds isolate or in small groups. The forage is diffuse during daylight; however, being more frequent in the morning and is influenced by the daily and monthly variation of the tide. At Pipa beach, kleptoparasitarian interactions were registered between the gray dolphin and the frigatebird (Fregata magnificens). The frigatebird forage strategy consists basically of two ways: to fly over great extensions searching for dead fish and to steal food (kleptoparasitism). These interactions were predominantly carried out between immature and female adult birds and adult and immature dolphins, and occurred during daylight. The present study can be considered an initial landmark to a better knowledge on the gray dolphin surface behavior, especially regarding the aerial behavioral repertoire and forage strategy of this species. However, it is necessary to continue these studies, so that we can understand better the complex social life of these animals and thus create effective measures for its conservation

Comportamento de mergulho do boto-cinza, Sotalia guianensis, na enseada do Curral, Praia de Pipa-RN, Brasil :possíveis adaptações cardíacas ao mergulho

The marine tucuxi, Sotalia guianensis, is one of the smallest known cetaceans, has coastal habits, and occurs from Hondures to Santa Catarina, in southern Brazil. The objective of this dissertation was to describe diving behavior of the marine tucuxi in three age classes and to analyze the cardiac capacity to dive through the examination of hearts of stranded specimens. Observations were made from October 2004 to November 2005 from a vantage point, in Curral Bay at Pipa beach-RN. We used Ad Libitum sampling and All occurrences to record the behaviors. The diving was characterized by the total exposition of the tail fluke for a few seconds, in 90° or 45° angles. Were recorded 131 dives in three behavioral contexts: foraging, traveling and socialization. The difference between juveniles and adults in dive time and fluke out at 45° or 90° to search and/or capture prey is probably influenced by the strategy used and ability to capture the prey. The frequency of fluke out at 90° for foraging in adults may be related to increased physiological efficiency of adults in comparison to juveniles. However, in the context of travel and socialization the dive time and fluke out were independent between the age classes. Dive in calves were frequent during socialization (play behavior) and traveling. This, associated with synchronic calve-adult diving suggests that a relationship of these behaviors and the acquisition of experience and foraging skills. As observed in other cetaceans, the heart (n=12) of the estuarine dolphin is broad and presents long ventricles which form a round apex. The right ventricle is long and narrow. The degree of dilatation of the aortic bulb may support the heart during diastole. The characteristic morphology of the heart and short dive duration < 2 min and depth ranged from 10m in the estuarine dolphin, can be likely at physiological adaptation for diving, typical de dolphins with coastal habits. The limitation of diving time in this specie may be influenced by anatomical and physiological restrictions

A Violência sexual contra crianças e adolescentes na Cidade do Natal: direitos garantidos ou negados?

This study presents the issue of sexual violence against children and adolescents in the city of Natal RN from a critical approach over the work carried out at the Delegacia Especializada em Defesa da Criança e Adolescente DCA, with the perspective towards guaranteeing their rights. It is constituted of an analysis under a theoretical-methodological focus, both quantitative and qualitative, taking as a premise the sexual violence against children and adolescents in its social, legal, historical, cultural and economical dimensions that are behind this issue. The established course between knowledge and methodology involved: a conceptual analysis of the sexual violence, a research in the official records of the Public Power, the application of questionnaires with the coordinators of social projects and programmes, the accomplishment of interviews with key institutional actors and mothers of victimized children and adolescents, besides the analysis of quantitative indicators from the data made available by the DCA. The research took place within the Delegacia Especializada em Defesa da Criança e Adolescente, and also took for reference the information from institutions that develop actions directed towards children and adolescents victims of sexual abuse. Through this study, the strategies and the contradictions existing in the struggle against sexual violence towards children and adolescents implemented by the Public Power were learnt, the need for a greater articulation was identified to guarantee their rights and it also allowed for the tracing of a panorama of the sexual violence against children and adolescents in the period from 2001 to 2004 in the city of Natal-RN

“Eu quero ver se a justiça vai funcionar mesmo”: a resolubilidade dos casos de abuso sexual contra crianças e adolescentes no município de Natal/RN

This study presents the issue of Children and Youth sexual violence from a critical eye in assessing the actions of the organs of defense and protection in cases of sexual abuse against children and adolescents in the city of Natal / RN. We aimed to perform this evaluation from the investigation of 05 cases of child and adolescent victims of sexual abuse that were answered by Precinct Specializing in Defense of Children and Adolescents (DCA), considering the service flow of cases, the articulation between the organs that make up System Warranty rights (SGD), the record of the complaint, as well as the elapsed time between the record of the complaint and the accountability of the offender. Thus, the present study consists in an analysis from the quantitative and qualitative theoretical-methodological approach assuming 'sexual violence in their social, historical, cultural, legal and economic dimensions. The route established between the knowledge about the object and the method of analysis involved: literature about the conceptual discussion on sexual violence, analyzing quantitative data provided by DCA, as well as semi-structured interviews with victims and those responsible for the professionals working in institutions of the defense agencies. Is apprehended in this study that the situations of violence against children is a multifaceted phenomenon that has expressions from ancient societies, assuming a peculiarity in contemporary society to consider the juvenile population as subjects of rights. Furthermore, it was possible to identify the lack of effectiveness, with respect to the actions of the organs of defense in intervention situations of sexual abuse now investigated as yet not actually configure a process of articulation between these bodies from the perspective of ensuring rights and break the cycle of violence.