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.

Planejamento cooperativo de tarefas em um ambiente de futebol de robôs

Este trabalho apresenta o desenvolvimento de um método de coordenação e cooperação para uma frota de mini-robôs móveis. O escopo do desenvolvimento é o futebol de robôs. Trata-se de uma plataforma bem estruturada, dinâmica e desenvolvida no mundo inteiro. O futebol de robôs envolve diversos campos do conhecimento incluindo: visão computacional, teoria de controle, desenvolvimento de circuitos microcontrolados, planejamento cooperativo, entre outros. A título de organização os sistema foi dividido em cinco módulos: robô, visão, localização, planejamento e controle. O foco do trabalho se limita ao módulo de planejamento. Para auxiliar seu desenvolvimento um simulador do sistema foi implementado. O simulador funciona em tempo real e substitui os robôs reais. Dessa forma os outros módulos permanecem praticamente inalterados durante uma simulação ou execução com robôs reais. Para organizar o comportamento dos robôs e produzir a cooperação entre eles foi adotada uma arquitetura hierarquizada: no mais alto nível está a escolha do estilo de jogo do time; logo abaixo decide-se o papel que cada jogador deve assumir; associado ao papel temos uma ação específica e finalmente calcula-se a referência de movimento do robô. O papel de um robô dita o comportamento do robô na dada ocasião. Os papéis são alocados dinamicamente durante o jogo de forma que um mesmo robô pode assumir diferentes papéis no decorrer da partida

O impacto das tarefas de aprendizagem mediadas pela lousa digital interativa na motivação situacional de aprendizes de inglês

Some authors have suggested that learning tasks conducted in L2 classes can motivate learners in different ways. Similarly, Interactive Whiteboards (IWB) have already been linked as drivers to engagement and enthusiasm in L2 classes, which may cause some impact on affective variables that influence learning (e.g. motivation). This crosssectional mixed-methods study aims to understand how situational motivation caused by learning tasks mediated by the IWB impact participants. We seek to answer the following research questions: (1) How does motivation as a personality trait of the learner relate to his/her additional language learning performance?, (2) How does the type of learning task mediated by the IWB impact the learner s motivation?, (3) How does motivation vary along the learning task mediated by the IWB? and (4) What is the relation between the learning task motivation and the learners perception about the task mediated by the IWB? Data collection lasted four months with 29 learners from a private language school. The instruments used were the following: (a) an initial questionnaire (adapted from the Attitudes/Motivation Test Battery by GARDNER, 2004), (b) situation-specific on-line scales to assess learners motivation in three moments: before, during and after the task, and analyze how motivation varies along the task; (c) class observations and field notes resulting from these observations, (d) participants end-of-course grades to understand the connection between academic success and their motivational profiles and (e) a final questionnaire with the qualitative purpose to know learners perceptions about the tasks mediated by the IWB. Our theoretical framework is based on Task-Based Learning and cognitive aspects present in tasks (WILLIS, 1996; SKEHAN, 1996), theories on motivation and second language learning (GARDNER, 2001; DÖRNYEI e OTTÓ, 1998; DÖRNYEI, 2000; 2002) and conceptions about L2 learning mediated by technology (GIBSON, 2001; OLIVEIRA, 2001; MILLER et al, 2005). Our results do not point out to a significative correlation between learners end-of-course grades and their motivational profiles. However, they indicate that there is some variability in situational motivation along the tasks, even among learning tasks from the same type. Furthermore, they show that learners report different perceptions for each learning task and that the impact of the IWB on participants did not have a large proportion

A influência da prática meditativa sobre parâmetros psicofisiológicos e tarefas de memória operacional em indivíduos saudáveis

Meditation is described as a method for improving attention and promoting psychological and emotional stability, presenting favourable results on memory and stress tolerance as well. Studies have shown differences in physiological and psychological measurements between meditators and non-meditators. The aim of this study was to investigate the influence of regular meditation practice on working memory, psychological measurements and quality of life of healthy practitioners. We carried out a comparative study with meditators and non-meditators. Working memory tests and standard inventories of life quality, anxiety, mood, sleep quality, depression and stress were applied. Our study showed that meditators presented better scores in parameters indicative of life quality, mood, depression and stress when compared with non-meditators. Moreover, there was a trend in best performance of meditators in memory tasks (forward digit span task and Hanoi tower). These findings corroborate other studies showing that regular meditation can provide an improvement in general quality of life and affecting positively the behavioral and attentional functions in individuals

O papel das relações sociais e da atenção social durante tarefas cooperativas em Callithrix jacchus

Several studies on nonhuman primates show that the relationships between individuals strongly influence the expression of cooperative behavior, both in natural environment and in captivity settings. Recent studies suggest that cooperative breeders present outstanding performance in tasks involving social cognition, such as cooperative tasks with experimental apparatuses. In experimental research on this subject it is crucial to differentiate between real cooperation (or communicative cooperation, mediated by social attention) and by-product cooperation that results from simultaneous actions of individuals. The present study assessed, in Callithrix jacchus, a cooperative breeder species, if social relationships and social attention between subjects are important factors during performance in cooperative tasks. During the experimental procedure the animals participated in three different cooperative tasks: cooperation task, prosocial task and control task. Diverging from the literature, matrix correlation tests revealed no significant relationship between grooming or proximity and the execution of the tasks, suggesting that other factors such as age or hierarchy may have an effect on the performance in cooperative tasks in this species. There was also no relationship between the execution of the cooperative tasks and social glances, suggesting that there was no social attention during the tasks. Moreover, there were lower rates of social glances in the cooperative tasks as opposed to the control tasks. However, the small number of pulls in prosocial tasks suggests that the animals distinguished between tasks that benefited only a partner and tasks that generated benefits to themselves, choosing the latter. We conclude that, for the tasks presented in this study, we could neither detect the role of social relationships on the cooperative tasks nor assert that there were true cooperation and prosocial behavior

A situação atual da indexação nas tarefas bibliotecárias

Na atualidade a atribuição dos descritores de assuntos ou indexação do conteúdo dos livros, nem sempre está associada ao contexto concreto de cada biblioteca, provocando, em muitos casos, que a recuperação por assuntos não resulte adequada. Neste trabalho analisam-se os principais desafios e perspectivas da indexação dos livros, os avanços de análises de assuntos nos catálogos de bibliotecas, examinam-se procedimentos, instrumentos, regras e condutas utilizadas nas análises e representação do conteúdo dos livros. Também se mostra a interação entre o ensino, a pesquisa e a atuação profissional necessária para que os estudantes possam desenvolver competências na análise, na representação e na procura da informação, assim como os princípios - provavelmente menos evidentes- da organização do conhecimento. Este trabalho coloca em evidência que as políticas de gestão da informação, mais quantitativas que qualitativas, deixam num segundo plano o processamento intelectual do conteúdo prejudicando, desta maneira, a recuperação por assuntos através do catalogo da biblioteca. Finalmente, se recolhe uma serie de propostas docentes relacionadas com a atribuição de descritores de assuntos em contextos bibliotecários.

Desempenho de escolares com dislexia do desenvolvimento em tarefas fonológicas e silábicas

OBJETIVO: caracterizar o desempenho em tarefas fonológicas e silábicas de escolares com dislexia do desenvolvimento e comparar estes achados com o desempenho de discentes com bom desempenho escolar. MÉTODOS: participaram do estudo 26 alunos de oito a 12 anos de idade, de ambos os sexos, de 2ª. a 4ª. séries do Ensino Fundamental municipal na cidade de Marilia-SP, divididas em GI: composto por 13 escolares com dislexia atendidos no Centro de Estudos da Educação e Saúde - CEES/UNESP e GII: composto por 13 alunos com bom desempenho acadêmico, pareados segundo sexo, idade e escolaridade com o GI. Como procedimento foi utilizada a Prova de Consciência Fonológica - Instrumento de Avaliação Seqüencial - CONFIAS. Os resultados foram analisados estatisticamente pelo Teste Mann-Whitney (comparação entre os grupos) e Teste dos Postos Sinalizados-Wilcoxon (comparação entre as variáveis). RESULTADOS: os resultados evidenciaram diferença estatisticamente significante, sugerindo melhor desempenho do GII em relação ao GI quanto às tarefas fonêmicas e silábicas. O GI apresentou diferença estatisticamente significativa nas tarefas silábicas e fonêmicas, com melhor desempenho nas primeiras. Entre os escolares do GII não houve grande diferença estatística entre tarefas silábicas, apenas entre tarefas fonêmicas. CONCLUSÃO: o estudo concluiu que escolares com dislexia do desenvolvimento apresentam dificuldades quanto à identificação de rima e produção de palavras com o som dado, apontando para um déficit em acessar os códigos e as representações fonológicas.

Desempenho de escolares com transtorno de déficit de atenção e hiperatividade em tarefas metalinguisticas e de leitura

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Treino prévio reduz o tempo de execução de tarefas visuo-espaciais em ambiente virtual

Objective. To evaluate the influence of previous adaptation to different computational environments in visuo-spacial tasks performance of healthy individuals. Method. Healthy volunteers (n = 30), 15 male, mean age 25.3 ± 3.3 years, were divided in three groups: the first group, considered control, was not adapted to the proposed environments; the second group was adapted to a closed environment (stable and expected), and the third group was adapted to an open environment A (unexpected). The proposed task was to go through two open environments B and C (maze). The dependent variables Time and Error were considered for the analysis. Results. It was observed that during the adaptation phase, in the Time variable, the groups presented a progressive improvement in the performance to each task (p = 0.0036). The group adapted in the A open environment, showed a tendency to be faster in the execution of B and C open environments tasks, than the group adapted in the closed environment (p = 0.068). Conclusion. The study suggests that subjects adapted to visuo-spacial tasks execution involving unknown and no guided situations, present a tendency to a better time performance in these tasks when compared to subjects adapted in fixed and guided situations.

Efeitos de tarefas cognitivas no controle postural de idosos: Uma revisão sistemática

Demanding attention in order to keep postural balance increases with aging and with the presence of concurrent tasks that require information processing. Several studies have demonstrated that motor performance can be related to the complexity of the task and aging process, presenting a possible interaction between these factors. The aim of this review was to identify and analyze published papers about the effects of cognitive tasks on the postural control of elderly individuals. A systematic search in the Web of Science, SportDiscus, CINAHL, Science Direct on line, Biological Abstracts, PsycINFO, and Medline databases was made and 444 articles were found. Eight were selected that studied the variables of interest. These studies showed that postural control seems to be influenced by the individual's attention processes and that deficits in such ability may be associated to an increased risk of falls. © FTCD/CIDESD.

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

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Análise e modelação de perdas em conversores CC-CC do tipo Boost entrelaçados

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Modelação das fibras musculares e efeitos na composição corporal de ratos submetidos a diferentes protocolos de treinamento físico

Pós-graduação em Fisioterapia - FCT

Comportamento locomotor na doença de Parkinson: tarefas de subir e descer degraus

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A ancoragem funcional através do manejo de cão em tarefas de equilíbrio

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)