A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot

Aquesta tesi proposa l'ús d'un seguit de tècniques pel control a alt nivell d'un robot autònom i també per l'aprenentatge automàtic de comportaments. L'objectiu principal de la tesis fou el de dotar d'intel·ligència als robots autònoms que han d'acomplir unes missions determinades en entorns desconeguts i no estructurats. Una de les premisses tingudes en compte en tots els passos d'aquesta tesis va ser la selecció d'aquelles tècniques que poguessin ésser aplicades en temps real, i demostrar-ne el seu funcionament amb experiments reals. El camp d'aplicació de tots els experiments es la robòtica submarina. En una primera part, la tesis es centra en el disseny d'una arquitectura de control que ha de permetre l'assoliment d'una missió prèviament definida. En particular, la tesis proposa l'ús de les arquitectures de control basades en comportaments per a l'assoliment de cada una de les tasques que composen la totalitat de la missió. Una arquitectura d'aquest tipus està formada per un conjunt independent de comportaments, els quals representen diferents intencions del robot (ex.: "anar a una posició", "evitar obstacles",...). Es presenta una recerca bibliogràfica sobre aquest camp i alhora es mostren els resultats d'aplicar quatre de les arquitectures basades en comportaments més representatives a una tasca concreta. De l'anàlisi dels resultats se'n deriva que un dels factors que més influeixen en el rendiment d'aquestes arquitectures, és la metodologia emprada per coordinar les respostes dels comportaments. Per una banda, la coordinació competitiva és aquella en que només un dels comportaments controla el robot. Per altra banda, en la coordinació cooperativa el control del robot és realitza a partir d'una fusió de totes les respostes dels comportaments actius. La tesis, proposa un esquema híbrid d'arquitectura capaç de beneficiar-se dels principals avantatges d'ambdues metodologies. En una segona part, la tesis proposa la utilització de l'aprenentatge per reforç per aprendre l'estructura interna dels comportaments. Aquest tipus d'aprenentatge és adequat per entorns desconeguts i el procés d'aprenentatge es realitza al mateix temps que el robot està explorant l'entorn. La tesis presenta també un estat de l'art d'aquest camp, en el que es detallen els principals problemes que apareixen en utilitzar els algoritmes d'aprenentatge per reforç en aplicacions reals, com la robòtica. El problema de la generalització és un dels que més influeix i consisteix en permetre l'ús de variables continues sense augmentar substancialment el temps de convergència. Després de descriure breument les principals metodologies per generalitzar, la tesis proposa l'ús d'una xarxa neural combinada amb l'algoritme d'aprenentatge per reforç Q_learning. Aquesta combinació proporciona una gran capacitat de generalització i una molt bona disposició per aprendre en tasques de robòtica amb exigències de temps real. No obstant, les xarxes neurals són aproximadors de funcions no-locals, el que significa que en treballar amb un conjunt de dades no homogeni es produeix una interferència: aprendre en un subconjunt de l'espai significa desaprendre en la resta de l'espai. El problema de la interferència afecta de manera directa en robòtica, ja que l'exploració de l'espai es realitza sempre localment. L'algoritme proposat en la tesi té en compte aquest problema i manté una base de dades representativa de totes les zones explorades. Així doncs, totes les mostres de la base de dades s'utilitzen per actualitzar la xarxa neural, i per tant, l'aprenentatge és homogeni. Finalment, la tesi presenta els resultats obtinguts amb la arquitectura de control basada en comportaments i l'algoritme d'aprenentatge per reforç. Els experiments es realitzen amb el robot URIS, desenvolupat a la Universitat de Girona, i el comportament après és el seguiment d'un objecte mitjançant visió per computador. La tesi detalla tots els dispositius desenvolupats pels experiments així com les característiques del propi robot submarí. Els resultats obtinguts demostren la idoneïtat de les propostes en permetre l'aprenentatge del comportament en temps real. En un segon apartat de resultats es demostra la capacitat de generalització de l'algoritme d'aprenentatge mitjançant el "benchmark" del "cotxe i la muntanya". Els resultats obtinguts en aquest problema milloren els resultats d'altres metodologies, demostrant la millor capacitat de generalització de les xarxes neurals.

O impacto da terceirização do call center em empresas de energia elétrica no Brasil

This dissertation seeks to recognize the impacts that outsourcing of the call center brings to firms of electrical energy in Brazil. For this research, two existing cases in the brazilian sector electric: i) case of Cemig, firm mineira of electrical energy; ii) case Light, firm carioca of electrical energy. The framework of this dissertation is based of the methodology of multiple study cases described by Robert Yin (2003). This work analyzed separately each of the cases and compared the results obtained in each analysis. In this way, this research aimed at analyzing the impacts that firms sufering in outsource the call center, despite the citys are diferents, like the factors of the environment. The obtained results suggest that the firms adopt the mixed call center, with the greatest part of outsources employees and with less proper. The importants impacts seeks in this research are the lost of the image, quality and the control of the process of answering. The aim impacts of a outsourcing the call center find in this research are the lost of the image of the firm and the reduction of the control of the process of customer service, impacting directly on the quality of the customer service.

Síntese e caracterização de ferrita ni-zn pelo método dos precursores poliméricos calcinada por energia de microondas

Magnetic ceramics have been widely investigated, especially with respect to intrinsic and extrinsic characteristics of these materials. Among the magnetic ceramic materials of technological interest, there are the ferrites. On the other hand, the thermal treatment of ceramic materials by microwave energy has offered various advantages such as: optimization of production processes, high heat control, low consumption of time and energy among others. In this work were synthesized powders of Ni-Zn ferrite with compositions Ni1- xZnxFe2O4 (0.25 ≤ x ≤ 0.75 mols) by the polymeric precursor route in two heat treatment conditions, conventional oven and microwave energy at 500, 650, 800 and 950°C and its structural, and morphological imaging. The materials were characterized by thermal analysis (TG/ DSC), X-ray diffraction (XRD), absorption spectroscopy in the infrared (FTIR), scanning electron microscopy (SEM), X-ray spectroscopy and energy dispersive (EDS) and vibrating sample magnetometry (VSM). The results of X-ray diffraction confirmed the formation of ferrite with spinel-type cubic structure. The extrinsic characteristics of the powders obtained by microwave calcination and influence significantly the magnetic behavior of ferrites, showing particles ferrimagnéticas characterized as soft magnetic materials (soft), is of great technological interest. The results obtained led the potential application of microwave energy for calcining powders of Ni-Zn ferrite

Impacto do racionamento nos resultados das empresas concessionárias do serviço público de distribuição de energia elétrica: um estudo nas empresas privadas da Região Nordeste

This work verifies the impact caused by the Emergencial Program of Reduction of Consumption of Electric Energy (energy-rationing program) in the results of the concessionary private companies of the public service of electric energy distribution localized in the Northeast Area. As the rationing invigorated from June 2001 to February 2002, its effects are diluted in the results presented by these companies in the second semester of 2001 and first quarter of 2002, with prominence for the last quarter of 2001, when the revenue of extraordinary tariff restore was instituted by the National Agency of Electric Energy (ANEEL), consequence of the so-called General Agreement of the Electric Sector made between the federal government and the companies of the electric sector. The structure of a generic electric sector and a historical review of the Brazilian electric sector from the time it was controlled by the private enterprises, including the State control period, about 1960, and returning to the control of the private enterprises in 1990, under a new regulation structure are presented. An explanation of the models of economic regulation that Brazil used for the electric sector is made, with prominence for the price cap that is the actual effective model. The process of tariff revision foreseen in the concession contracts signed by the federal government and the concessionary companies is presented, highlighting its two stages: the tariff rebalancing that defines the new price cap and the calculation of the factor X that establishes the efficiency goals for the companies. There is made a presentation of the Emergencial Program of Reduction of Consumption of Electric Energy and of the consequent General Agreement of the Electric Sector, which created the revenue of extraordinary tariff restore. A conceptual revision on reviews is presented, regarding to concepts, accomplishment and recognition. A brief review of the six companies that made part of the worked sample is also presented. Analyzing the quarters historical review and of amount of sold energy, it was possible to conclude that the energy-rationing altered the results of the studied companies significantly and that alteration was masked by the accounting process of the revenue of extraordinary tariff restore

Influência da energia de soldagem em uniões de lâminas finas através de laser pulsado de Nd:YAG

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Limitação do Requerimento Microbiano em Energia Metabolizável Fermentável ou Proteína Degradável na Suplementação do Pasto de Inverno de Vacas da Raça Canchim

Foram utilizadas 30 vacas gestantes da raça Canchim, mantidas em sistema de pastejo rotativo intensivo de capim-marandu, que receberam suplemento alimentar para manutenção de peso corporal durante a estação seca. Para avaliar as recomendações do Agricultural and Food Research Council, quanto ao fornecimento de substrato dietético para o crescimento da microbiota ruminal, os animais foram distribuídos em um delineamento inteiramente ao acaso (três tratamentos x dez repetições), de acordo com os seguintes tratamentos: controle (sem restrição do requerimento microbiano de proteína degradável e energia fermentável); restrição do requerimento microbiano de proteína degradável; e restrição do requerimento microbiano de energia metabolizável fermentável. Os suplementos foram compostos com silagem de milho, milho moído e soja integral, cujas quantidades predeterminadas foram fornecidas aos animais diariamente às 10 h. O período de avaliação teve duração de 192 dias, durante o qual foram efetuadas pesagens dos animais no início/término de cada um dos quatro subperíodos experimentais estabelecidos. A avaliação dos resultados indicou que não houve diferença no desempenho dos animais que receberam os diferentes suplementos com médias de ganho de peso corporal de 0,18; 0,02; e 0,12 kg/cab/dia para os respectivos tratamentos descritos. Concluiu-se que a limitação do crescimento da microbiota ruminal por meio da redução dos aportes de energia fermentável ou proteína degradável não interferiu no desempenho de vacas Canchim durante o período seco.

Qualidade da água para a irrigação de plantas em viveiros: utilização de descargas elétricas sem efeito térmico e de campos de energia no controle de Meloidogyne incognita Raça 1

The effect of electrical discharges without thermic effect and of energy field on Meloidogyne incognita Rara 1 larvae elimination in weir water was tested. on an average, 63,22% of larvae were killed by electrical discharges, in comparison with 53,12% of dead larvae in the control (water that received only ammonium sulphate) as an electrolyte. Water exposed to energy fields presented higher percentages of dead larvae (50,01% for electromagnetic field, 43,78% for variable electric field and 40,48% for static electric field) in comparison with control, represented by water without exposition to any energy field and without ammonium sulphate (34,27%).

Uma metodologia para o controle de seguranca dinamica de sistemas de energia eletrica

This work presents an algorithm for the security control of electric power systems using control actions like generation reallocation, determined by sensitivity analysis (linearized model) and optimization by neural networks. The model is developed taking into account the dynamic network aspects. The preventive control methodology is developed by means of sensitivity analysis of the security margin related with the mechanical power of the system synchronous machines. The reallocation power in each machine is determined using neural networks. The neural network used in this work is of Hopfield type. These networks are dedicated electric circuits which simulate the constraint set and the objective function of an optimization problem. The advantage of using these networks is the higher speed in getting the solutions when compared to conventional optimization algorithms due to the great convergence rate of the process and the facility of the method parallelization. Then, the objectives are: formulate and investigate these networks implementations in determining. The generation reallocation in digital computers. Aiming to illustrate the proposed methodology an application considering a multi-machine system is presented.

Análise comparativa de métodos de avaliação da composição corporal em homens sadios e em pacientes com doença pulmonar obstrutiva crônica: antropometria, impedância bioelétrica e absortiometria de raios-X de dupla energia

The aim of this study was to examine the agreement between the results of body fat (BF and BF%), fat-free mass (FFM) and FFM index (FFMI= FFM/height2) as estimated by skinfold anthropometry (ANT), bioelectrical impedance (BIA) and dual-energy X-ray absorptiometry (DXA) in two groups of men (> or = 50 y), one comprising healthy individuals (n=23) and the other, patients with chronic obstructive pulmonary disease (COPD) (n=24). Comparisons between body composition techniques were done by repeated measures ANOVA; the Bland & Altman procedure was used to analyse agreement. RESULTS AND CONCLUSIONS: 1) comparison between healthy and COPD groups showed significant differences between all studied variables; 2) in the healthy group, values for BF, BF%, FFM and FFMI were not significantly different when BIA or ANT was compared to DXA; however, in COPD, values for BF and BF% were significantly higher and for FFM and FFMI significantly lower when BIA was compared to DXA; in contrast, no differences were shown between values for these variables when ANT was compared with DXA; 3) Bland & Altman test, in both groups, showed no agreement between BIA and DXA and between ANT and DXA; it was also shown that body fat was overestimated and fat free mass underestimated by BIA in relation to DXA.

A Influência da Referência de Tensão na Avaliação de Indicadores de Qualidade de Energia

This paper discusses the importance of the voltage referential for power quality monitoring and power systempsilas instrumentation. Considering the operating conditions of simple power circuits, it will be demonstrated that an incorrect choice of the voltages referential may result in erroneous quantification of some power quality indices, especially in three-phase four wire circuits. The use of a virtual reference point and the neutral conductor as reference have been considered and the simulation results confirm the influence of the voltage reference selection in the evaluation of total harmonic distortion, unbalance factors and voltage sags. Finally a way of linking both methods will be discussed by means of Blakesleypsilas theorem. © Copyright 2010 IEEE - All Rights Reserved.

Demanda de bienes de capital del sector de distribución de energía eléctrica: metodología general y aplicación al caso de Chile

Incluye Bibliografía

Notas sobre la oferta y demanda de maquinaria y equipo para el sector de energía eléctrica en América Latina

Contiene informacion sobre: la demanda de equipos del sector energia electrica en America Latina; la oferta de maquinaria y equipo, y el significado industrial de los programas del sector electrico en el periodo 1980-1990.

Mini-inversores para aproveitamento de energia fotovoltaica, com técnicas de MPPT, sincronismo e conexão com a rede de CA em BT, proteção de ilhamento, gerenciamento da energia e da operação

Pós-graduação em Engenharia Elétrica - FEIS

Modelação e análise da vida útil (metrológica) de medidores tipo indução de energia elétrica ativa

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Detecção de faltas em sistemas de distribuição de energia elétrica usando dispositivos programáveis

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)