Estratégia de navegação com planejamento dinâmico e algoritmo genético aplicada a robôs móveis terrestres

This work proposes a new autonomous navigation strategy assisted by genetic algorithm with dynamic planning for terrestrial mobile robots, called DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm). The strategy was applied in environments - both static and dynamic - in which the location and shape of the obstacles is not known in advance. In each shift event, a control algorithm minimizes the distance between the robot and the object and maximizes the distance from the obstacles, rescheduling the route. Using a spatial location sensor and a set of distance sensors, the proposed navigation strategy is able to dynamically plan optimal collision-free paths. Simulations performed in different environments demonstrated that the technique provides a high degree of flexibility and robustness. For this, there were applied several variations of genetic parameters such as: crossing rate, population size, among others. Finally, the simulation results successfully demonstrate the effectiveness and robustness of DPNA-GA technique, validating it for real applications in terrestrial mobile robots.

Estratégia de navegação com planejamento dinâmico e algoritmo genético aplicada a robôs móveis terrestres

This work proposes a new autonomous navigation strategy assisted by genetic algorithm with dynamic planning for terrestrial mobile robots, called DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm). The strategy was applied in environments - both static and dynamic - in which the location and shape of the obstacles is not known in advance. In each shift event, a control algorithm minimizes the distance between the robot and the object and maximizes the distance from the obstacles, rescheduling the route. Using a spatial location sensor and a set of distance sensors, the proposed navigation strategy is able to dynamically plan optimal collision-free paths. Simulations performed in different environments demonstrated that the technique provides a high degree of flexibility and robustness. For this, there were applied several variations of genetic parameters such as: crossing rate, population size, among others. Finally, the simulation results successfully demonstrate the effectiveness and robustness of DPNA-GA technique, validating it for real applications in terrestrial mobile robots.

Sobre a ação do docente: os sentidos dados ao planejamento e formação continuada por professores de uma escola pública municipal de Natal

Este trabajo tiene como objetivo comprender los sentidos dados a la relación entre el planeamiento y el proceso de formación continuada por profesores de una escuela pública municipal de la ciudad de Natal (RN). La conjetura guía es la percepción de que los profesores parecen no concebir el planeamiento escolar como espacio de formación colectiva y continuada. Así, esta conjetura es motivo de reflexión a medida que el planeamiento puede ser visto como un proceso cargado por tensiones y conflictos estructurales reprimidos en la escuela. Nuestro principio teórico metodológico es una interpretación de múltiples referencias que parte de conceptos en diferentes modelos de análisis en la comprensión de una realidad en que diferenciadas dimensiones están entremezcladas. Adoptamos como metodología de investigación la Entrevista Comprensiva, en que el objeto de la investigación se construye por medio de la elaboración teórica de las hipótesis surgidas en el campo de la investigación. El investigador busca dominar y personaliza los instrumentos y teoría a un proyecto concreto de investigación, cuya imagen más cercana es lo que se denomina de artesanía intelectual . En el proceso de construcción comprendemos la necesidad de entender el registro de un saber social incorporado por los individuos a su historicidad, a sus orientaciones y definiciones de su acción en relación al conjunto de la sociedad. En este sentido, los profesores entrevistados comentan su entendimiento revelando sentidos sobre cómo hacer efectivo un planeamiento que atienda las realidades del cotidiano de los alumnos. Observamos en nuestros análisis que parte del grupo de profesores tiene consciencia de hacer del planeamiento como base del trabajo docente no apenas dirigido al aspecto práctico elaboración y ejecución -, sino relacionado a un proceso de otros aspectos simultáneos como la reflexión acción-reflexión sobre la acción. De este modo, existe la posibilidad de mejorar el planeamiento transformándolo en más dinámico y participativo a través de los proyectos de trabajo como alternativa de enseñanza y de acercar la práctica pedagógica a la realidad de los alumnos, por ese motivo el planeamiento diario es de fundamental relevancia, ya que el espacio escolar es complejo y dinámico. Sin embargo, percibimos que existe incomprensión del planeamiento como espacio de formación continuada en la escuela en consecuencia de prácticas sin reflexión, y por eso, el proceso de planeamiento tiende a ser visto apenas como técnico y no un proceso político que apunta hacia la acción reflexiva. Por estas razones surgen tensiones externas e internas, unidas a las incertidumbres del trabajo docente en el cotidiano escolar, asociada a los sentimientos antagónicos que pueden ser elementos que dificultan y limitan el trabajo profesional de los docentes, llevándolos a la improvisación. Los profesores sugieren la construcción de la propuesta pedagógica dirigida a la formación continuada, coligada a la introducción de una práctica reflexiva que considere a la colectividad, siendo incluidas la autonomía, la flexibilidad y la abertura del planeamiento, y resaltan la actuación mediadora del coordinador pedagógico como de fundamental importancia para fortalecer el trabajo colectivo en la escuela y de enfatizar practicas reflexivas

Produção pesqueira artesanal: diagnóstico ergonômico e bases para um planejamento nutricional situado e a promoção da saúde dos jangadeiros

The traditional fishing with rafts is characterized by unpredictability, high stakes and inadequate work conditions. The extensive working hours, physical wear, inadequate nutrition, unsanitary conditions, lack of salvage equipment and instruments suitable working, added by the presence of changes in the nutritional status of fisherman, that contribute to the picture of insecurity in high seas, injuries and health. This study aimed to analyze the activity of the fisherman s from Ponta Negra, Natal / RN, and check the conditions of supply of these fishermen and their implications on health and development of their work. To this finality, was used a methodology based on the ergonomic work analysis employing techniques such as observational and interactional conversational action, listening to the answers, observation protocols, photographic and video records. The script conversational dynamic action was developed from literature searches about the artisanal fisheries, culture and food habits of this population, and analyzes the overall situation of focus and two reference situations. To collect data on the usual diet of fisherman as well as quantitative and qualitative analysis that was used for data analysis and 24h recall the Food Frequency Questionnaire (FFQ). The impact of this power to the health of fisherman was evaluated performing a nutritional assessment. The results revealed that the fishermen carry out their activities with poor working conditions, health and nutrition. Feeding practices of these fishermen undertake development work, making it even more stressful, as well contributing to the emergence of Chronic Noncommunicable Diseases. The management of the activity, as well as the current structure of the vessel, also contributes to the adoption of inappropriate feeding practices during the shipment of catch. The results of this indicate the need for adequate interventions in order to assist in recovery and / or maintenance of health of fisherman minimizing reflections of nutritional disorders for the development activity by improving the quality of life in this population

Planejamento municipal do turismo: diretrizes e perspectivas - o caso da SETURDE

Given the uncertainties of the environment in today's world, strategic planning is again discussed as an important tool to position the organization in future likely. To address this a more dynamic and less linear, trying to adapt the multiple realities, the method of scenarios can be one of the strategies to anticipate future designs. In the public sphere, an efficient implementation of human resources and financial managers require a new approach to the formulation of strategies. Tourism, in turn, presents itself as an important segment of the national economy shaped up as a major source of funds for the formation of the Gross Domestic Product - GDP - of states and municipalities. This study aims to know the guidelines and perspectives of municipal planning of tourism in the city of Natal/RN from the case by the representatives of the sector. The survey was developed based on a qualitative, exploratory, based on the case in the Secretaria Municipal de Turismo e Desenvolvimento Econômico - SETURDE. The results express that the body goes through a time of changes in its organizational structure and in defining its role with the local tourism. The national plan for tourism and the choice of Christmas as the host city for the World Cup in 2014 have stimulated interest in developing a formal strategic planning in the organization. However, when it comes to more complex tools, such as the method of future scenarios, the technical know its definition and importance for future actions. The results presented support the conclusion that the actions are designed intuitively and without complying with the scientific methods developed for this purpose, as the method of strategic scenarios. However, the evidence beginning to emerge from the plans and documents issued by the federal government, as well as the Secretary's own initiative, direct the actions of the body to coordinate and act as a fulcrum for local action to the increase in tourism

A importância da Arquitetura da Informação no planejamento de ambientes digitais inclusivos

SANTOS, Raimunda Fernanda dos; SILVA, Eliane Ferreira da. A importância da Arquitetura da Informação no planejamento de ambientes digitais inclusivos.In: SEMINÁRIO DE PESQUISA DO CENTRO DE CIÊNCIAS SOCIAIS APLICADAS,17.,2012,Natal/RN. Anais... Natal/RN: Centro de Ciências Sociais Aplicadas, 2012. Trabalho oral.

Planejameto municipal do turismo: diretrizes e perspectivas - o caso da SETURDE

Given the uncertainties of the environment in today's world, strategic planning is again discussed as an important tool to position the organization in future likely. To address this a more dynamic and less linear, trying to adapt the multiple realities, the method of scenarios can be one of the strategies to anticipate future designs. In the public sphere, an efficient implementation of human resources and financial managers require a new approach to the formulation of strategies. Tourism, in turn, presents itself as an important segment of the national economy shaped up as a major source of funds for the formation of the Gross Domestic Product - GDP - of states and municipalities. This study aims to know the guidelines and perspectives of municipal planning of tourism in the city of Natal/RN from the case by the representatives of the sector. The survey was developed based on a qualitative, exploratory, based on the case in the Secretaria Municipal de Turismo e Desenvolvimento Econômico - SETURDE. The results express that the body goes through a time of changes in its organizational structure and in defining its role with the local tourism. The national plan for tourism and the choice of Christmas as the host city for the World Cup in 2014 have stimulated interest in developing a formal strategic planning in the organization. However, when it comes to more complex tools, such as the method of future scenarios, the technical know its definition and importance for future actions. The results presented support the conclusion that the actions are designed intuitively and without complying with the scientific methods developed for this purpose, as the method of strategic scenarios. However, the evidence beginning to emerge from the plans and documents issued by the federal government, as well as the Secretary's own initiative, direct the actions of the body to coordinate and act as a fulcrum for local action to the increase in tourism

Processo de planejamento estratégico em universidade pública: o caso da Universidade Federal do Pará

The goal of this research is to check if the strategic planning developed between 2001 and 2009 into the State University of Para (Universidade Federal do Pará - UFPA) was consolidated into its Academic Centers as a management practice. To this end, we identified the planning formalization degree of the Academic Centers, the conceived tools for the planning, the conception and the methodological process used in the tools elaboration, as also its implementation. The research used a qualitative approach: it is descriptive and it uses the case study technique. The data were gathered from primary and secondary sources, through bibliography, documents, and field researches through semi-structure interviews. The analysis and data interpretation were done by each investigated Academic Center from the analytics categories guided by the specifics goals. We used theoretic fundamental based principles and the university as a study empiric reference based on its structure analysis, organizational processes and institutional strategic plan. We inspected how the strategic planning process was developed throughout the fixed period and how the investigated Academic Centers are from the collected documents and interviews. The theoretical foundation was built from three axis: the Brazilian undergraduate and posgraduate education system; the university itself including its singularity and complexity as an organization; and the planning as a strategic management process. The main results show us that the UFPA has updated regulatory milestones, presenting organizational structure, laws, instructions, manuals and deployed management model that give the strategic planning development conditions beyond its administration, i. e., into its Academic Centers. The centers also present those established milestones and develop the basic planning processes of the institution. Those processes are conceived based on the institutional strategic planning and the managers mainly use the procedural orientation defined by the university management, from where the conceptual foundation is originated and propagated. According to the literature and to the research done in this work, we can conclude that the Academic Centers from the UFPA developed the strategic planning practice. This planning is organized and founded and guided the plans and decisions which avoided the disordered management and, according to the managers, allowed the advances and performance improvement. We can conclude that the UFPA built an important foundation with respect to the management professionalization. On the other hand, we can not conclude that the management practice is consolidated since there are weaknesses into the structuring of the technical teams and there is not any management tool for the implementation of the elaborated plans

Meio ambiente e planejamento: a relação cidade-natureza nos Planos Urbanísticos da cidade de Natal no século XX

This research studies the relation between city and nature in the urbanity s plans from Natal RN, Brazil, during the 20th century. Investigates and analyses the main documents that bring environmental s ideas inside from the urbanity s plans of Natal; gives the historical and economical situation from the city in each period studied; features the urbanity s plans, using categories of analyses to comprehension of this instruments. Try to contribute in the bigger process of historical rescue of Natal, and stimulates new studies. It was used documental s research, and bibliographic material. It was identified four (04) kinds of plans: the ones that focus in health and aesthetic (1901, 1929, 1935) technology and science (1968), zoning and control (1974, 1984) and environment. The hints founded shows that environmental ideas were put inside of the plans by government demands, especially in 1994 s plan, almost always without popular contribution and without this population get understands its meanings and implications

Outorga onerosa do direito de construir e dinâmica do mercado imobiliário formal: planejamento e descaminhos na expansão urbana de Parnamirim RN (2008-2010)

The `Outorga Onerosa do Direito de Construir - OODC` (Public Concession of Building Rights), instrument instituted by The City Statute in 2001, has as main objective the recovery of urban property, seeking for a fair distribution the urbanization benefits. The possibility of usage of the OODC instrument is linked to the maximum utilization coefficient, determined to specific areas in accordance to existing infrastructure conditions, further taking into account the formal real estate market, expansion axis and crowding. Being an instrument which establishes values to be paid for a better use of land, it maintains a narrow relation to the real estate, incentivizing or discouraging the crowding in specific areas. The present study investigates the relationship between the criteria for the making of the Public Concession of Building Rights instrument and the dynamics of the formal real estate market. It takes as empiric universe Parnamirim (RN), part of the Natal Metropolitan Area (RN), focusing on the application of the OODC in the period of 2008-2010. It seeks to better understand the necessary basis for the formulation of the instrument, about how it works and its relation to the formal real estate market. It aims to depict the formal real estate market by presenting the production of urban space in Parnamirim in terms of intensity and nature of the real estate, furthermore identifying the licensed properties through the application of the municipality instrument. For the conclusion, it is discussed the criteria for the formation of OODC, its relationship to the dynamics of the formal real estate market and its influencing possibilities in the processes of usage and occupation of land in the context of urban planning

Áreas de transição rural e urbana em São Gonçalo do Amarante : elementos para delimitação no planejamento territorial

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Contra as Secas: a engenharia e as origens de um planejamento regional no nordeste brasileiro

Droughts surfaced in 1877 as a crucial problem for the birthing Brazilian nation. Engineers, who formed the country's technical and scientific elite, took it upon themselves to study, understand and fight the problem through planned actions of intervention on space. This work, based on proposals and discussions contained in engineering magazines and reports, aims to provide elements for the comprehension of how these systematized actions against droughts, in the Iate nineteenth and early twentieth century, contributed to spatial analysis and the formation of a (then-inexistent) regional and territorial planning discipline in Brazi!. Engineers, by taking up the position of masterminds in the country's modernization, guaranteed for themselves personal economic stability, social prestige and political power. By understanding nature, either as a resource to be exploited or an adversary to national progress, they contributed to the delimitation of the region now known as the Northeast. By seeking to understand the drought phenomenon, they created knowledge about the space they sought to intervene on; by constructing their projects amid political and economical difficulty, they changed the organizational structures of cities and country in the northeast. The proposals for açudes (Iarge water reservoirs) allowed the fixation of population and the resistance against droughts; the roads - railroads and automotive roadways - connected the sertão to the capitais and the coast, speeding up help to the affected populations during droughts and allowing the circulation of goods so as to strengthen the local economies in normal rimes. The adopted practices and techniques, adapted from foreign experience and developed through trial and improvement, were consolidated as an eminently spatial intervention course, even if a theoretical body of regional or territorial planning wasn't formed in Brazil. Regional Planning proper was first applied in the country in the Northeast itself, in the 1950s, based off an economical view of reality in order to achieve development. The engineer's work prior tothat date, however, cannot be dlsconsldered. It was proved that, despite facing financial and political hurdles, engineers had a profound commitment to the problem and intended to act systematically to transform the economical and social relations in the region, in order to be victorious in their struggle against droughts

Sanitarismo e planejamento urbano: a trajetória das propostas urbanísticas para Natal entre 1935 e 1969

The Escritório Saturnino de Brito (Saturnino de Brito Office), created in 1920 under the sanitaristic guidance of the engineer Saturnino de Brito, has a vast record of works throughout the whole national territory, even after the death of its founder, in 1929 at which point his son, and also engineer, Saturnino de Brito Filho, assumed the head of the company , with a compromise to continue his father s work and assure his administrative, technical and urbanistic principles up until the early 1980s, when that institution came to an end. The scarcity of theorical studies about this Office, alongside the importance of the contributions it made in countless cities, oriented the focus of this study on its performance in Natal, where it remained from 1935 to 1969, designing, executing and managing sanitationist works and the services associated with them and going through several political, economical, social, cultural and urbanistic contexts periodicized in this work into three moments. Thus, it is intended to analyze how the Saturnino de Brito Office behaved and adapted itself to the conjunctural changes that unfolded into each of these moments, and more specifically, to observe the forms of intervention adopted the principles, the instruments and the scope aiming to verify the transition of the sanitaristic set of urbanistic ideas into the urban planning as a development strategy on a local level

Otimização do processo de síntese do aluminato de cobalto via método de polimerização de complexos (MPC) através do planejamento fatorial fracionado

In the ceramics industry are becoming more predominantly inorganic nature pigments. Studies in this area allow you to develop pigments with more advanced properties and qualities to be used in the industrial context. Studies on synthesis and characterization of cobalt aluminate has been widely researched, cobalt aluminate behavior at different temperatures of calcinations, highlighting especially the temperatures of 700, 800 and 900° C that served as a basis in the development of this study, using the method of polymerization of complex (CPM), economic, and this method applied in ceramic pigment synthesis. The procedure was developed from a fractional factorial design 2 (5-2) in order to optimize the process of realization of the cobalt aluminate (CoAl2O4), having as response surfaces the batch analysis data of Uv-vis spectroscopy conducted from the statistic software 7.0, for this were chosen five factors as input variables: citric acid (stoichiometric manner), puff or pyrolysis time (h), temperature (° C), and calcinations (° C/min), at levels determined for this study. By applying statistics in the process of obtaining the CoAl2O4 is possible the study of these factors and which may have greater influence in getting the synthesis. The pigments characterized TG/DSC analyses, and x-ray diffraction (XRD) and scanning electron microscope (SEM/EDS) in order to establish the structural and morphological aspects of pigment CoAl2O4, among the factors studied it were found to statically with increasing calcinations temperature 700°< 800 <900 °C, the bands of Uv-vis decrease with increasing intensity of absorbance and that with increasing time of puff or pyrolysis (h) there is an increase in bands of Uv-vis proportionally, the generated model set for the conditions proposed in this study because the coefficient of determination can explain about 99.9% of the variance (R²), response surfaces generated were satisfactory, so it s possible applicability in the ceramics industry of pigments

Síntese de pigmento cerâmico ferrita de cobalto utilizando planejamento experimental

Synthetic inorganic pigments are the most widely used in ceramic applications because they have excellent chemical and thermal stability and also, in general, a lower toxicity to man and to the environment. In the present work, the ceramic black pigment CoFe2O4 was synthesized by the polymerization Complex method (MPC) in order to form a material with good chemical homogeneity. Aiming to optimize the process of getting the pigment through the MPC was used a fractional factorial design 2(5-2), with resolution III. The factors studied in mathematical models were: citric acid concentration, the pyrolysis time, temperature, time and rate of calcination. The response surfaces using the software statistica 7.0. The powders were characterized by thermal analysis (TG/DSC), x-ray diffraction (XRD), scanning electron microscopy (SEM) and spectroscopy in the UV-visible. Based on the results, there was the formation of phase cobalt ferrite (CoFe2O4) with spinel structure. The color of the pigments obtained showed dark shades, from black to gray. The model chosen was appropriate since proved to be adjusted and predictive. Planning also showed that all factors were significant, with a confidence level of 95%