Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

Arquitetura de controladores fuzzy em redes foundation fieldbus

Foundation Fieldbus Industrial networks are the high standard technology which allows users to create complex control logic and totally decentralized. Although being so advanced, they still have some limitations imposed by their own technology. Attempting to solve one of these limitations, this paper describes how to design a Fuzzy controller in a Foundation Fieldbus network using their basic elements of programming, the functional blocks, so that the network remains fully independent of other devices other than the same instruments that constitute it. Moreover, in this work was developed a tool that aids this process of building the Fuzzy controller, setting the internal parameters of functional blocks and informing how many and which blocks should be used for a given structure. The biggest challenge in creating this controller is exactly the choice of blocks and how to arrange them in order to effectuate the same functions of a Fuzzy controller implemented in other kind of environment. The methodology adopted was to divide each one of the phases of a traditional Fuzzy controller and then create simple structures with the functional blocks to implement them. At the end of the work, the developed controller is compared with a Fuzzy controller implemented in a mathematical program that it has a proper tool for the development and implementation of Fuzzy controllers, obtaining comparatives graphics of performance between both

Aprendendo e ensinando o sistema de numeração decimal: uma contribuição à prática pedagógica do professor

The central question of the present study is to identify the epistemological knowledge that the teachers-trainees possess regarding the characteristics (properties) of the decimal numbering system; its purpose is to offer a contribution to the pedagogic practice of the teachers who work within the Basic Literacy Cycle, in terms of what concerns both the acquisition of contents and the development of the knowledge that helps them in the elaboration of adequate strategies to working with the Decimal Numbering System in the classroom. The study is based on the constructivist sociointeractionist approach to teaching Mathematics and it constitutes, in itself, a methodological intervention with the teachers-trainees engaged in the Professional Qualification Program in Basic Education of the Federal University of Rio Grande do Norte. The foundations of the study were found in investigations of researchers who had carried out studies on the construction of numerical writing, showing, for instance, that the construction process of ideas and procedures involved in groupings and changes to base 10 take a lot longer to be accomplished than one can imagine. A set of activities was then elaborated which could not only contribute to the acquisition of contents but that could also make the teachers-trainees reflect upon their teaching practices in the classroom so that in this way they will be able to elaborate more consistent didactic approaches, taking into consideration the previous knowledge of the students and also some obstacles that often appear along the way. Even when teachers have access to the most appropriate dicactic resources, the lack of knowledge of the content and of the real meaning of that content make the Decimal Numbering System, a subject of fundamental importance, be taught most times in a mechanical way. The analisys of the discussions and behaviours of the teachers-trainees during the activities reavealed that they made them reflect upon their current practices in the classroom and that, as a whole, the aims of each of the activities carried out with the teachers-trainers were reached

A modelagem matemática como alternativa de ensino e aprendizagem da geometria na educação de jovens e adultos

This is work itself insert in the mathematics education field of the youth and adult education to aim to practitioners of the educational action into the mathematics area performing to with this is teaching kind, adopting to as parameter the Mathematics Molding approach. The motive of the research is to draw up a application proposal of the molding mathematics as teaching and learning geometry alternative in the youth and adult education. The research it develops in three class of the third level (series 5th and 6th) of he youth and adults education in the one school municipal from the Natal outskirts. Its have qualitative nature with participating observation approach, once performing to directly in to research environment as a mathematics teacher of those same classes. We are used questionnaires, lesson notes and analyses of the officials documents as an basis of claim instruments. The results indicates that activity used the mathematic moldings were appreciated the savoir-faire of the student in to knowledge construction process, when search develop to significant learning methods, helping to student build has mathematics connections with other knowledge areas and inside mathematics himself, so much that enlarges your understanding and assist has in your participation in the other socials place, over there propitiate to change in student and teacher posture with relation to mathematic classroom dynamics

Amor, casamento e sexualidade: velhas e novas configurações

Neste artigo, a autora revisita a história do amor, do casamento e da sexualidade buscando resgatar o processo de construção e transformação das relações amorosas da antigüidade à modernidade. Sua análise enfatiza as mudanças ocorridas no casamento moderno e as novas configurações que adquire na atualidade.

Ensinando sobre a natureza da ciência: uma abordagem explícita e contextualizada a partir da história do vácuo

In last decades, the importance of including the contents of the Nature of Science (NOS) in Science Education has been emphasized. Several studies have focused on investigating the conceptions of NOS, supported by students and teachers, as well as design, implement and evaluate proposals that aim to provide a reflection on this theme in the educational context. Considering the complexity of such content, studies indicate the need for explicit and contextualized approaches and the History of Science (HS) is one of the possible paths to this inclusion. We started from the premise that, through a historical study, that aims to discuss the meaning and the basis of our "beliefs", we can know the process of building on what we "believe" and better understand its meaning. This thesis is part of this perspective, proposing to explore the History of the Vacuum, a themed high didactic potential still little used, in order to collaborate with the teaching content of NOS. We present actions on different fronts that originated three products in the context of this research. On the first front, we insert the research and production of instructional materials (three historical texts) to subsidize people interested in the implementation of HPS for educational context through this material. The relevance of this front is justified by the existence of gaps with regard to the production of such material for the context of teacher training. However, we consider that the preparation of instructional material of good quality and accessible does not guarantee that these resources will be used, if they will not be accompanied by discussions in teacher training, on how to use them, contexts and obstacles to be faced. The second part presented refers to the organization and implementation of a workshop for undergraduate students in physics and physics teachers, considering the instrumentalization of these individuals to the preparation and use of teaching strategies to approach aspects of NOS through episodes of History of the Vacuum, as well as the preparation of the text orientation for people interested in implementing the instructional material for secondary education. This guidance text contemplates the difficulties anticipated by the literature of the area and the main challenges faced by the participants about the didactic transposition of HPS for the educational context they were noted during the workshop. The relevance of this second front, in particular, is justified by the existence of gaps with regard to the inclusion of the theme of NOS and the HPS teacher training

Ave! Mossoró! : os mecanismos discursivos sobre o episódio da resistência ao bando de Lampião

This thesis has as objective the interdiscursive relations in the process of language construction in use in the poetic and in the journalistic spheres, with the purpose of perceiving how the genre news is constituted in different fields of social activity, as well as to analyze the argumentative processes that structure the written discourses about the resistance episode to the group of Lampião in Mossoró in the year of 1927. The corpus of the research is constituted by the news of the period informed in the printed newspapers: Correio do povo and O Nordeste, both from Mossoró/RN, and the narratives presented in the cordéis de acontecido : Mossoró in the resistance to the group of Lampião; Lampião in Mossoró in 1927, and Mossoró attacking to the group of Lampião, all potiguar poets. The analysis of the texts had as theoretical background the studies of: The texts analysis had as theoretical background The Discourse Analysis; The Argumentation Theory and the studies about Discourse Genres. We focused our discussion in the emphasis given to the news in the discursive perspective of the social-historic memory constructed in the cordéis, from ideological values (political, economical, religious etc.) that pass to be a fundamental element in the constitution of the image of the resistance. Methodologically, this is a documental research, since it makes use essentially of the written document. Regarding to the nature of the data, the research is characterized as a qualitative one. In the analysis, we considered the argumentative techniques adopted in the defense of the thesis, the meaning effects suggested, and the genres mentioned, that revealed to us the manner in which the episode was informed by the newspapers and the cordéis. That way, we affirm, based on the positions assumed by the announcers of the genres analyzed who defended clearly positions in favor of the defense of Mossoró, that the relation between both is captured interdiscursively, since they are asked by the same ideology, and converge to the same discursive formation, defending identical positions, and structuring their discussions with resembling argumentative techniques, reason by which take us to believe that the discourse presented in that social activity demonstrates and develops traces of a manipulation of the subject. In this case, the discursive construction of the text points towards determining standard of repetition, since the linguistic context is characterized in the journalistic field, and in the poetic field assuming, in the first instance, a local expression

Procedimentos de abertura e fechamento de tópicos na interação em sala de aula

This study is part of interactional perspective, focusing on Conversation Analysis theories, from the Textual Interactive Perspective and Text Linguistics . This research, from its guiding questions, aims at understanding the interaction between teacher and students in the process of the knowledge construction as well as at describing, analyzing and understanding aspects of topical organization speech in the classroom in elementary school, observing the opening and closing procedures of the speech topics in that particular space. Considering that the procedures for opening and closing of discursive topics occur through language marks, we tried to identify which speech marks are used in the opening and closing of the topics studied in the classroom, in interaction during the collaborative process of the discourse established between teacher and students. Therefore, this study is based on authors who analyze specific questions of the text in real context of language use: Koch (1993, 1999), Jubran et al (1991), Jubran (2006), Pine (2005), Penhavel (2010), Galembeck (2012), Barros (1991), Marcuschi (1986 , 1990, 1991 , 1998 , 1999, 2003 , 2004a), Kerbrat - Orecchioni (2006), Favero (1999, 2002) and Galvão (2004, 2010). As a methodology of investigation, the study is focused on the postulates of ethnographic research in order to carry out data collection, through audio and video recordings which were transcribed, according to the NURC project proposal, with some adaptations. Data analysis showed that the procedures for opening and closing of the speech topics occurred by the use of discourse markers, in particular the marker "then", allowing us to understand that these elements are important in the topical organization speech, contributing to ensure textual cohesion and coherence. We conclude that the organization of the discursive topic in the classroom occurs through events that support the explicitness of the content of teaching and learning, considering the diverse necessity of an institutional academic plan, whose main objective is the construction of knowledge

Viagem-memória de Nilo Pereira: do Ceará Mirim ao Recife e do Recife ao Ceará Mirim

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Interação entre professora e alunos em salas de aula com proposta pedagógica de educação inclusiva

Correntes teóricas presentes na literatura científica têm demonstrado a importância das relações interpessoais para o processo de construção do conhecimento. É no contexto da interação professor e aluno que se configura a relação entre as necessidades educacionais dos alunos e as respostas pedagógicas a elas disponibilizadas, o que envolve o domínio do conhecimento pelo professor, sua capacitação técnico-científica, a competência de ensinar pesquisando, as características sócio-culturais e o perfil psicológico dos atores sociais envolvidos- professor e aluno. Buscando melhor compreender este universo, elaborou-se este estudo que teve como objetivo descrever as interações ocorridas entre uma professora, e seus alunos, em classes em que se propunha adotar uma prática pedagógica inclusiva. Os dados foram coletados em 2 salas de aula, em escola estadual de Ensino Fundamental, no município de Bauru. O processo de coleta de dados se deu através do registro da realidade de sala de aula em vídeo tape. Optou-se por este método, por permitir a recuperação posterior dos dados. A coleta se deu no transcorrer do 1º semestre do ano letivo de 2001. A análise fundamentou-se em sistema prévio de categorias, e tratou os dados quantitativa e qualitativamente. Os resultados demonstraram peculiaridades e diferenças nas interações da professora com os seus alunos, em função da presença ou ausência da deficiência. Indicaram, também, que a interação vem demonstrando avanços na prática educacional, no que diz respeito à atenção pedagógica, da professora, ao aluno com deficiência.

Considerações sobre metodologia interativa aplicada à disciplinas de química orgânica de alguns cursos da UFRN

The aiming of this work is linked to chemical education, focusing organic chemistry classes of Chemical Engineering, Pharmacy and Zootechny graduate courses of the Federal University of Rio Grande do Norte. For that, teaching-learning process related to basic chemical subjects which support the understanding of organic chemistry concepts was evaluated in a research period of two years. The education proposal linked to the theoretical content of the cited classes, pointed out the process of knowledge construction, in which educational commitment as well as dedication in the teaching-learning process was also valued. In that approach several didactic tools were applied, among them scientific articles were used as supplementary studies of the basic organic chemistry concepts and related. The acceptability of students, as well as their motivation, performance and learning process was justified by the data collection of the applied teaching methodology. The acceptability and commitment of the students facing this teaching interactive approach, which transversely contributed to the intellectual maturity growth of the students, as well their professional development, were evidenced by satisfactory obtained results that will be herein discussed

Ações educativas com portadores de diabetes Mellitus através da educação popular em saúde

Popular Health Education in its emancipatory dimension refers to individuals and groups to exchange knowledge and experiences, allowing them to associate health to the outcomes of their living conditions. Under this view, health workers and health users are subjects of the educative process. Thus, this study aims to identify the key clinical and socio sanitary attributes and promote educational activities with patients with Diabetes Mellitus (DM) in a Family Health Care Unit of the Western Sanitary District, in the city of Natal / RN. It is an action research which uses the references of the Theory of Liberating Education, which is based on a problem-solving pedagogy and that values dialogue in the process of understanding oneself and the world. Thirty-six diabetics, who are residents of the area covered by the health care unit, and thirty health workers participated in the survey. Each group had an average of twelve participants, and the meetings took place at the Unit´s hall, using conversation wheels, group dynamics, life narratives, experiences telling, movie exhibition and discussions, music, knowledge telling, desires, limitations, beliefs and values socially constructed. Data collection took place during the second half of two thousand and thirteen through Free Word Association Technique (FWAT), recordings of conversation wheels, participative observation, group dynamics, testimonies, questionnaires, life narratives and photographs. The empirical material was organized and subjected to three analyzes: thematic content (Bardin), textual statistics analysis by software IRAMUTEQ (Ratinaud), and photographic analysis (Edmund Feldman). The data analyses originated words, expressions, categories, themes and creative situations showing that popular health education is in process of construction, but still very incipient in primary care. The National Policy on Popular Health Education shows us the necessary ways for the transformation of health practices and the build of a more shared and solidary society. The meetings could be place to reverse that normative logic that has been happening over the years in primary care, but that by itself is not enough. It is possible to conclude that the use of active practices, increasing of listening and training on Popular Health Education will enable changes in the scenario where users and health workers deal with diabetes mellitus. Thus we see the popular health education is being timidly incorporated to the educational process of the subjects involved in this study, and far away from the principles of participation, organization of political work, increase opportunities for dialogue, respect, solidarity and tolerance among different actors involved in addressing the health problems that are fundamental to the improvement in building healthy practices of primary care

A assistência técnica e extensão rural no assentamento modelo: proposição e realidade

This discourse analyzes the technical assistance concerning the rural settlement, which is seen as a demand of the social movement that claims for agrarian reformation, and is a goal of II PNRA, launched in may 2004, as a essential national public politics on process of building and consolidation of settlement and familiar agriculture, proposing the return of technical assistance service and rural extension in Brazil, which were started in the and of 1940 s. We analyze, in particular, the technical assistance program, social and environmental agrarian reformation, on model settlement, a program created, especially, to the rural settlements, coordinated by INCRA. Based on the documental analyze and local study, it is noticed that the experience of technical assistance implemented on model settlement shows the non continuation and fragility on technical assistance actions to rural workers. This context goes against the lately technical assistance governmental apparatus, which ensures to make settlements stronger, to support and to get important the familiar agriculture system. This way, technical assistance execution, trough the tertiary service, follows the neoliberal strategy and, the State, besides decreases the estimate to public politics, takes its actions control from the State to the shared control through partnership and transferring of responsibility, expressing its historic lack of attention to the worker class demands. In spite of workers resistance, expectative and hope, the lack of these services, as well as the other politics deficiencies, which are necessary to the settlements, are endangering its activities and threatening its survival in the settlement

Análise de impacto baseada em rastreabilidade de artefatos para linhas de produto de software

Software Product Line (SPL) consists of a software development paradigm, whose main focus is to identify features common and variability among applications in a specific domain. An LPS is designed to attend all products requirements from its product family. These requirements and LPS may have changes over time due to several factors, such as evolution of product requirements, evolution of the market, evolution of SLP process, evolution of the technologies used to develop the products. To handle these changes, LPS should be modified and evolve in order to not become obsolete, and adapt itself to new requirements. The Changes Impact Analysis is an activity that understand and identify what consequences these changes are cause on LPS. Impact Analysis on LPS may be supported by traceability relationships, which identify relationships between artefacts created during all phases of software development. Despite the solutions of change impact analysis based on traceability for software, there is a lack of solutions for assessing the change impact analysis based on traceability for LPS, since existing solutions do not include estimates specific to the artefacts of LPS. Thus, this paper proposes a process of change impact analysis and an tool for assessing the change impact through traceability of artefacts in LPS. For this purpose, we specified a process of change impact analysis that considers artifacts produced during the development of LPS. We have also implemented a tool which allows estimating and identifying artefacts and products of LPS affected from changes in other products, changes in class, changes in features, changes between releases of LPS and artefacts related to changes in core assets and variability. Finally, the results were evaluated through metrics

A dinâmica territorial do comércio varejista moderno da Zona Norte de Natal/RN

This work studies the territorial dynamics of the trade modern retailer in the North Zone of Natal/RN, undertaken by the expansion of that following of the tertiary section in the researched space. For so much, we accomplished bibliographical and documental research during whole the process of construction of the work and the field research based close to in interviews the responsible for the establishments of the modern retail and application of questionnaires with the residents and consumers of the area in subject. Leaving of the understanding that the territory is used by the society producing the movement of capitalist reproduction in the places, we inferred that the expansion of the modern retail in the North Zone has been promoting a new dynamics in your territory, fact that has been valuing the space and attracted investors to the place. Therefore, we organized the study in this dissertation in three chapters: the first, "North Zone: use and occupation of the soil ", brings us the process of historical and social formation of the North Zone inserted in the context of the urban expansion of Natal; the second chapter, " Expansion of the tertiary section: the growth of the modern retail trade in the North Zone", makes direct reference to the tertiary section and the expansion of the I trade modern retailer; and finally, the third surrender, " The territorial dynamics and the modern retail trade in the North Zone of Natal", in which we expose all the results of the field research, looking for to understand the territorial dynamics that the expansion of the modern retail trade has been producing in the study area