Learning of shared attention in sociable robotics

Sociable robots are embodied agents that are part of a heterogeneous society of robots and humans. They Should be able to recognize human beings and each other, and to engage in social, interactions. The use of a robotic architecture may strongly reduce the time and effort required to construct a sociable robot. Such architecture must have structures and mechanisms to allow social interaction. behavior control and learning from environment. Learning processes described oil Science of Behavior Analysis may lead to the development of promising methods and Structures for constructing robots able to behave socially and learn through interactions from the environment by a process of contingency learning. In this paper, we present a robotic architecture inspired from Behavior Analysis. Methods and structures of the proposed architecture, including a hybrid knowledge representation. are presented and discussed. The architecture has been evaluated in the context of a nontrivial real problem: the learning of the shared attention, employing an interactive robotic head. The learning capabilities of this architecture have been analyzed by observing the robot interacting with the human and the environment. The obtained results show that the robotic architecture is able to produce appropriate behavior and to learn from social interaction. (C) 2009 Elsevier Inc. All rights reserved.

Analytical Assessment of a Home Made Capillary Electrophoresis Equipment with Linear Charge Coupled Device for Visible Light Absorption Detection in the Determination of Food Dyes

The performance of modular home made capillary electrophoresis equipment with spectrophotometric detection, at a visible region by means of a miniaturized linear charge coupled device, was evaluated for the determination of four food dyes. This system presents a simple but efficient home made cell detection scheme. A computer program that converts the spectral data after each run into the electropherograms was developed to evaluate the analytical parameters. The dyes selected for analytical evaluation of the system were Brilliant Blue FCF, Fast Green FCF, Sunset Yellow FCF, and Amaranth. Separation was carried out in a 29cm length and 75 mu m I.D fused silica capillary, using 10mmolL-1 borate buffer at pH 9, with separation voltage of 7.5kV. The detection limits for the dyes were between 0.3 and 1.5mgL-1 and the method presented adequate linearity over the ranges studied, with correlation coefficients greater than 0.99. The method was applied for determination and quantification of these dyes in fruit juices and candies.

Un estudio sociolingüístico sobre el catalán : Los efectos de la inmersión lingüística

This thesis analyzes the current state of the language immersion program in Catalonia after its implementation 30 years ago, and after the immigration wave of the last decade. The language immersion is a method of teaching a second language using a language of instruction different than the students’ mother tongue. The Catalan authorities use this as a method for preserving Catalan in the society.The aim of this study is to examine the use of Catalan at school and outside of school by students who have followed the language immersion program. Language attitudes play an important role for the maintenance of a minority language, as Catalan. Therefore, in this study, the informants’ attitudes towards Catalan have also been measured. The method applied is a quantitative method where the informants have answered a written questionnaire. The results show a high level of knowledge of Catalan and its frequent use in the classroom. In contrast, outside of school the Castilian language is more often used. The informants seem to have a positive attitude towards Catalan.The conclusion is that the language immersion works satisfactory in a school context but often fails outside of school.

Solcellsdrivet FTX-system för miljonprogramshus : Tjärna Ängar, Borlänge

Projektet omfattade undersökning och framtagande av ett solcellssystem med förmåga att försörja ett FTX-system i ett flerbostadshus från miljonprogrammet med el. För att kunna bedöma storlek och utformning av komponenter har information tagits genom: Informationssökning via databaser, kurslitteratur och intervjuer Simuleringar av solceller i datorprogrammet PVSYST Modulering av ventilationskanaler i datorprogrammet MagiCAD Syftet var främst att undersöka om det gick att få fram ett teoretiskt fungerande system med avseende på både solceller och ventilation. Beroende på vad resultatet blev skulle även ekonomin i projektet undersökas. Undersökningen visade att det teoretiskt ska gå att installera solceller för elframställning som klarar av att täcka FTX-systemets elbehov på årsbasis. Solcellerna bedöms även producera tillräckligt med el för viss övrig elkrävande utrustning under stora delar av året. Det visade sig även att det skulle gå att få solcellerna ekonomiskt lönsamma om en kalkyltid på 14 år används. Metoden som använts för dessa resultat är noga beskriven och är med små förändringar tillämpbar för ett stort antal byggnader i det svenska byggnadsbeståndet. En viktig slutsats är att om fastighetsägarna kan se 15 år fram i tiden för en investering i solenergi, skulle det innebära inte bara miljömässiga utan även ekonomiska vinster. Det finns redan idag kunnande, teknik och produkter för att utvinna en stor del av fastigheternas elbehov genom solens energi.

Características do pelame de vacas Holandesas em ambiente tropical: um estudo genético e adaptativo

As características do pelame (espessura da capa, comprimento médio dos pêlos, número de pêlos por unidade de área, densidade de massa dos pêlos, ângulo de inclinação dos pêlos com respeito a superfície da epiderme e diâmetro médio do pêlos) foram avaliadas em 973 vacas da raça Holandesa, entre novembro de 2000 e abril de 2001, numa área localizada 20cm abaixo da coluna vertebral, no centro do tronco, tanto nas malhas brancas como nas negras. As amostras de pêlos foram obtidas com um alicate comum adaptado. O método da Máxima Verossimilhança Restrita (REML) foi usado para estimar os componentes de variância e covariância sob modelo animal, sendo empregado o sistema MTDFREML. Os resultados mostraram que as características do pelame preto são diferentes das do branco, quando os animais são criados em ambiente tropical. O pelame preto apresentou-se menos denso, com pêlos mais curtos e grossos devido à maior necessidade de perder calor, enquanto que, o pelame branco é mais denso e com pêlos mais compridos, oferecendo uma melhor proteção contra à radiação solar direta. A seleção de vacas predominantemente negras pode ser uma boa escolha para aumentar a resistência do gado Holandês às condições do ambiente tropical, principalmente à radiação solar, quando esses animais são criados a campo, devido a que a epiderme sob esse tipo de malhas é altamente pigmentada. Tal seleção pode ser facilmente realizada, considerando a alta herdabilidade (h²=0,75) para a proporção de malhas negras. Esta seleção deve ser realizada no sentido de um pelame menos denso, com pêlos curtos e grossos favorecendo as perdas de calor sensível e calor latente.

Avaliação morfométrica da área do epidídimo e dos dúctulos eferentes e ductos epididimários da codorna doméstica, no decorrer do ano

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Trajetória do hospital dia Dr. Elger nunes: um recorte histórico da psiquiatria e saúde mental no Rio Grande do Norte

In Brazil, the mental health network proposed by the Psychiatric Reform inserts the intermediate and replacement services in the pursuit of alignment or resocialization of patients with mental and behavioral disorder in the community. Was adopted, among other services, the Center for Psychosocial Care, Home Therapy, Sheltered Home, Day Hospital and psychiatric beds in general hospital. In this context, the State of Rio Grande do Norte implanted the Day Hospital Dr. Elger Nunes (HDEN) in Natal / RN in 1996, linked to State Department of Public Health. At HDEN happened a multi and interdisciplinary therapeutic work, besides being the scene of disciplinary practices, and extension projects for graduate courses in Higher Education Institutions in the city. However, with the process of decentralization of local services, the hospital was terminated by an administrative state act in 2006, leaving damage to the activities provided to users, disciplinary practices and extension activities. From this breakdown, the objective was to narrate the trajectory of HDEN through a multidisciplinary team of professionals and teachers who used it as a field of disciplinary practices. It is characterized as a documental and qualitative, backed in the technique of thematic oral history, following the phases: authorization of the interviewee, interview recording, transcription, textualization and transcreation of the material obtained. We used documents, ordinances, general reports of activities, among others, plus interviews to fifteen employees who used this service, being thirteen part of the multidisciplinary team of professionals and two graduation professors of health care area, nursing and medicine. The stories collected were organized according to the technique chosen, respecting its steps. In preparing the body subjected to ALCESTE computer program, priority was given to the vital tone for the formation of categories and classes elected by the program, structured in three thematic areas. In the first axis, called Trajectory of HDEN, were recalled the beginning of its activities, the steps of that time, their activities, and its actors - users, families, professionals, and teaching practices. The second axis has dealt with the process of extinction of HDEN, rescuing the feelings of employees, the main reasons given at the time and immediate postextinction scenario. And the third axis revealed in an articulated form the situation of mental health in Natal / RN, listing to the challenges and prospects for the psychosocial care, starting from the trajectory of HDEN with emphasis on activities. Moreover, the trajectory of HDEN provides recognition of the historical basis outlined in the constitution of the network of substitute services present in the current scenario of psychosocial care in the city of Natal and in RN.

Desenvolvimento de Modelos no Programa DigSILENT PowerFactoryTM para o Estudo de Estabilidade Transitória em Sistemas Elétricos de Potência com Aerogerador

This work presents a description of models development at DigSILENT PowerFactoryT M program for the transient stability study in power systems with wind turbine. The main goal is to make available means to use a dynamic simulation program in power systems, widely published, and utilize it as a tool that helps in programs results evaluations used for this intent. The process of simulations and analyses results starts after the models setting description phase. The results obtained by the DigSILENT PowerFactoryT M and ATP, program chosen to the validation also international recognized, are compared during this phase. The main tools and guide lines of PowerFactoryT M program use are presented here, directing these elements to the solution of the approached problem. For the simulation it is used a real system which it will be connected a wind farm. Two different technologies of wind turbines were implemented: doublyfed induction generator with frequency converter, connecting the rotor to the stator and to the grid, and synchronous wind generator with frequency converter, interconnecting the generator to the grid. Besides presenting the basic conceptions of dynamic simulation, it is described the implemented control strategies and models of turbine and converters. The stability of the wind turbine interconnected to grid is analyzed in many operational conditions, resultant of diverse kinds of disturbances

Maximização da penetração da geração distribuída através do algoritmo de otimização nuvem de partículas

This work develops a methodology for defining the maximum active power being injected into predefined nodes in the studied distribution networks, considering the possibility of multiple accesses of generating units. The definition of these maximum values is obtained from an optimization study, in which further losses should not exceed those of the base case, i.e., without the presence of distributed generation. The restrictions on the loading of the branches and voltages of the system are respected. To face the problem it is proposed an algorithm, which is based on the numerical method called particle swarm optimization, applied to the study of AC conventional load flow and optimal load flow for maximizing the penetration of distributed generation. Alternatively, the Newton-Raphson method was incorporated to resolution of the load flow. The computer program is performed with the SCILAB software. The proposed algorithm is tested with the data from the IEEE network with 14 nodes and from another network, this one from the Rio Grande do Norte State, at a high voltage (69 kV), with 25 nodes. The algorithm defines allowed values of nominal active power of distributed generation, in percentage terms relative to the demand of the network, from reference values

Antenas planares integradas com FSSs para aplicações em sistemas de comunicações sem fio

This work presents a theoretical and experimental analysis about the properties of microstrip antennas with integrated frequency selective surfaces (Frequency Selective Surface - FSS). The integration occurs through the insertion of the FSS on ground plane of microstrip patch antenna. This integration aims to improve some characteristics of the antennas. The FSS using patch-type elements in square unit cells. Specifically, the simulated results are obtained using the commercial computer program CST Studio Suite® version 2011. From a standard antenna, designed to operate in wireless communication systems of IEEE 802.11 a / b / g / n the dimensions of the FSS are varied to obtain an optimization of some antenna parameters such as impedance matching and selectivity in the operating bands. After optimization of the investigated parameters are built two prototypes of microstrip patch antennas with and without the FSS ground plane. Comparisons are made of the results with the experimental results by 14 ZVB network analyzer from Rohde & Schwarz ®. The comparison aims to validate the simulations performed and show the improvements obtained with the FSS in integrated ground plane antenna. In the construction of prototypes, we used dielectric substrates of the type of Rogers Corporation RT-3060 with relative permittivity equal to 10.2 and low loss tangent. Suggestions for continued work are presented

Análise preditiva a partir da caracterização das emissões gasosas e do óleo lubrificante em frotas com motorização a diesel

This work was motivated by the importance of conducting a study of vehicle emissions in captive fleets with diesel engine, coupled with the predictive maintenance plan. This type of maintenance includes techniques designed to meet the growing market demand to reduce maintenance costs by increasing the reliability of diagnoses, which has increased interest in automated predictive maintenance on diesel engines, preventing problems that might evolve into routine turn into serious situations, solved only with complex and costly repairs, the Reliability Centered Maintenance, will be the methodology that will make our goal is reached, beyond maintaining the vehicles regulated as fuel consumption and emissions. To Therefore, technical improvements were estimated capable of penetrating the automotive market and give the inshore fleet emission rates of opacity of the vehicles, being directly related to the conditions of the lubricating oil thus contributing to reducing maintenance costs by contributing significantly to emissions of pollutants and an improvement in the air in large cities. This criterion was adopted and implemented, em 241 buses and produced a diagnosis of possible failures by the correlation between the characterization of used lubricating oils and the analysis of opacity, with the objective of the aid the detection and solution of failures for the maintenance of sub-systems according to design criteria, and for this to be a deductive methodology to determine potential causes of failures, has been automated to implement a predictive maintenance system for this purpose was used in our study a mobile unit equipped with a opacimeter and a kit for collection and analysis of lubricating oil and the construction of the network diagnostics, we used a computer program in Microsoft Office Access 2007 platform tool is indispensable for creating a database data, this method is being used and successfully implemented in seven (7) bus companies from the city of Natal (RN) Brazil

Perfis de distribuição volumétrica de pontas XR 11003 e TXVK-4 em diferentes condições de pulverização

Com o objetivo de avaliar a uniformidade da distribuição volumétrica e o efeito da angulação dos bicos na barra em pulverizações, foi conduzido experimento em laboratório, com dez unidades de cada uma das pontas de jato plano XR 11003 e de jato cônico vazio TXVK-4, fabricadas pela Spraying Systems Co. As pontas XR 11003 foram avaliadas, isoladamente, em mesa de prova para bicos construída conforme a Norma ISO 5682-1:1996, a 0,30; 0,40 e 0,50 m de altura, submetidas à pressão de 200 e 300 kPa e posicionadas com ângulos de 30º e 45º no sentido horário e anti-horário e na vertical; as pontas TXVK-4 foram avaliadas nas mesmas alturas, porém a 300 e 400 kPa, e somente na vertical. A distribuição média do volume coletado em cada configuração, das dez unidades de cada ponta, foi inserida num programa computacional, desenvolvido para o estudo, que permitiu a simulação do padrão de deposição de uma barra pulverizadora, com 24 bicos, com sobreposições variáveis, obtendo-se, ao final, o coeficiente de variação da sobreposição, o desvio- padrão e a média do volume aplicado. Os resultados sugerem a necessidade de ajustes no espaçamento entre bicos para a obtenção de melhor uniformidade na distribuição, principalmente quando se utiliza ângulo na barra; há menor influência da variação da altura da barra sobre a uniformidade da distribuição quando o espaçamento entre bicos é reduzido.

Distribuição volumétrica de calda produzidas pelas pontas pulverização XR, TP e TJ sob diferentes condições operacionais

Foram avaliados os perfis de distribuição volumétrica das pontas de pulverização de jato plano Extended Range XR 8004, Teejet TP 8004 e TwinJet TJ60-8004, em mesa de teste construída segundo a norma ISO 5.682-1:1996, sendo as pontas de pulverização posicionadas a 30, 40 e 50 cm de altura da mesa coletora, submetidas à pressão de 200 e 300 kPa, e posicionadas com ângulos de 30 e 45º nos sentidos horário e anti-horário e na posição vertical (0º). As pontas TJ60-8004 foram analisadas nas mesmas alturas, porém somente na posição vertical. Avaliaram-se 10 unidades de cada tipo de ponta, instaladas isoladamente na mesa. A distribuição média do volume pulverizado, coletado nas provetas, foi inserida em programa computacional, que permitiu a simulação do perfil de distribuição de uma barra pulverizadora com 24 bicos, em espaçamentos variáveis, obtendo-se ao final o coeficiente de variação, o desvio-padrão e a média do volume. Os resultados mostraram que a uniformidade de distribuição é menos influenciada pela variação da altura da barra quando o espaçamento entre bicos é reduzido e que há necessidade de adequação do espaçamento quando se utiliza ângulo na barra pulverizadora.

Detecção de predadores por dicromatas e tricromatas humanos e a sua implicação na evolução da visão de cores em primatas

Among placental mammals, primates are the only ones to present trichromatic color vision. However, the distribution of trichromacy among primates is not homogeneous: Old World primates shows an uniform trichromacy (with all individuals being trichromats) and New World primates exhibit a color vision polymorphism (with dichromatic males and dichromatic or trichromatic females). Visual ecology studies have investigated which selective pressures may have been responsible for the evolution of trichromacy in primates, diverging from the dichromat standard found in other mammals. Cues associated with foraging and the socio-reproductive status were analyzed, indicating a trichromatic advantage for the rapid detection of visually conspicuous objects against a green background. However, dichromats are characterized by an efficient capture of cryptic and camouflaged stimuli. These advantages regarding phenotype may be responsible for the maintenance of the visual polymorphism in New World primates and for the high incidence of color blindness in humans (standing around 8% in Caucasian men). An important factor that has not yet been experimentally taken into account is the predation risk and its effect on the evolution of trichromacy in primates. To answer this question, we prepared and edited pictures of animals with different coats: oncillas (Leopardus spp.), puma (Puma concolor) and ferret (Galictis cuja). The specimens were taxidermized and the photographs were taken in three different vegetation scenarios (dense forest, cerrado and grassland). The images of the predators were manipulated so that they fit into two categories of stimulus size (small or large). After color calibration and photo editing, these were presented to 40 humans (20 dichromats and 20 trichromats) by a computer program, which presented a set of four photos at a time (one picture containing the taxidermized animal amid the background vegetation and three depicting only the background vegetation) and recorded the response latency and success rate of the subjects. The results show a trichromatic advantage in detecting potential predators. The predator detection was influenced by the background, the predator species, the dimension of the stimulus and the observer s visual phenotype. As humans have a high rate of dyschromatopsias, when compared to wild Catarrhini or human tribal populations, it is possible that the increased rate of dichromats is a result of reduced pressure for rapid predator detection. Since our species came to live in more cohesive groups and resistant to attack by predators, with the advent of agriculture and the formation of villages, it is possible that the lower risk of predation has reduced the selection in favor of trichromats

Aprendizagem da língua japonesa apoiada por ferramentas computacionais: estudo e desenvolvimento do jogo Karuchā Ships Invaders

The use of technology tools for teaching and learning has grown increasingly in our daily life. In this context, a branch that has had tremendous growth is the area of teaching and learning language through computational tools. The study of CALL (Computer Assisted Language Learning), accomplished in this research, aims to evaluate existing tools in this context, focused specifically on the Japanese language; and from this study, accomplish the development of a new computational tool that can assist teaching/learning of the Japanese language. As results, we present a wide survey on the subject in various technologies/devices, as well as the complete development process of a new tool, the Karuchā Ships Invaders game, that proposes to teach basic concepts of the language, blended with entertainment, and still, focusing on the Brazilian students of Japanese language audience. We will present all the concept phases of the game and its evolution through the research, as well as an interface evaluation. Still, we present proposal and validation of a method to evaluate motivational aspects of computational tools with educational focus, and results extracted from an experiment accomplished with prospective users