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.

Eficácia do herbicida amicarbazone aplicado sobre a palha ou no solo no controle de plantas daninhas na cultura da cana-de-açúcar

A eficácia dos herbicidas no sistema de cana-crua é diretamente influenciada pela quantidade e distribuição de palha na área, bem como pela ocorrência da primeira chuva superior a 20 mm posterior à aplicação, uma vez que a palha é capaz de interceptar o herbicida antes que este atinja o solo. Nesse contexto, a presente pesquisa teve como objetivo avaliar a eficácia e o comportamento do herbicida amicarbazone no controle de plantas daninhas no sistema de cana-crua. Para isso, foi realizado um experimento em condições controladas, considerando diferentes doses de amicarbazone (D1 = 1,05 kg ha-1, D2 = 0,875 kg ha-1, D3 = 0,700 kg ha-1 e D4 = 0,525 kg ha-1) e situações de aplicação desse herbicida, a saber: sobre 5 t de palha ha-1, sobre o solo e coberto com 5 t de palha ha-1, além de pulverização sobre o solo sem cobertura de palha, resultando assim em 12 tratamentos. Aos 7, 14, 21 e 28 dias após a aplicação (DAA), foi avaliada a porcentagem de controle das seguintes espécies de plantas daninhas: Ipomoea grandifolia, Brachiaria decumbens, Merremia cissoides e Euphorbia heterophylla. Pelos resultados obtidos, pode-se constatar que, independentemente da espécie de planta daninha avaliada, os maiores índices de controle foram observados quando o amicarbazone foi aplicado sobre a palha, simulando-se em seguida precipitação correspondente a 30 mm de chuva, e nos tratamentos em que o herbicida foi aplicado diretamente no solo sem palha. Dessa forma, para as espécies I. grandifolia, M. cissoides e E. heterophylla, todos os tratamentos apresentaram excelente controle (nota 6 - 100%) a partir dos 14 DAA; para B. decumbens, o controle total ocorreu aos 28 DAA. Portanto, pode-se concluir que o amicarbazone é uma excelente alternativa para o manejo dessas espécies de plantas daninhas em cana-crua.

Efeitos de sentido das não coincidências do dizer na escrita acadêmica

Universidade Federal do Rio Grande do Norte

Presence of autoantibodies against HeLa small nuclear ribonucleoproteins in chagasic and non-chagasic cardiac patients

We detected anti-human small nuclear ribonucleoprotein (snRNP) autoantibodies in chagasic patients by different immunological methods using HeLa snRNPs. ELISA with Trypanosoma cruzi total lysate antigen or HeLa human U small nuclear ribonucleoproteins (UsnRNPs) followed by incubation with sera from chronic chagasic and non-chagasic cardiac patients was used to screen and compare serum reactivity. Western blot analysis using a T. cruzi total cell extract was also performed in order to select some sera for Western blot and immunoprecipitation assays with HeLa nuclear extract. ELISA showed that 73 and 95% of chronic chagasic sera reacted with HeLa UsnRNPs and T. cruzi antigens, respectively. The Western blot assay demonstrated that non-chagasic cardiac sera reacted with high molecular weight proteins present in T. cruzi total extract, probably explaining the 31% reactivity found by ELISA. However, these sera reacted weakly with HeLa UsnRNPs, in contrast to the chagasic sera, which showed autoantibodies with human Sm (from Stefanie Smith, the first patient in whom this activity was identified) proteins (B/B', D1, D2, D3, E, F, and G UsnRNP). Immunoprecipitation reactions using HeLa nuclear extracts confirmed the reactivity of chagasic sera and human UsnRNA/RNPs, while the other sera reacted weakly only with U1snRNP. These findings agree with previously reported data, thus supporting the idea of the presence of autoimmune antibodies in chagasic patients. Interestingly, non-chagasic cardiac sera also showed reactivity with T. cruzi antigen and HeLa UsnRNPs, which suggests that individuals with heart disease of unknown etiology may develop autoimmune antibodies at any time. The detection of UsnRNP autoantibodies in chagasic patients might contribute to our understanding of how they develop upon initial T. cruzi infection.

Relação entre padrão comportamental, estágios do ciclo de muda e atividade de enzimas digestivas proteolíticas em juvenis do camarão marinho Litopenaeus vannamei (Crustacea: Penaeidae)

Shrimp farming in Brazil is a consolidated activity, having brought economical and social gains to several states with the largest production concentrated in the northeast. This fact is also reflected in higher feed intake, necessitating a more efficient feed management. Currently, management techniques already foresee food loss due to molting. In this sense, studies relating shrimp s digestive physiology, molting physiology and behavioral response of shrimp feed can optimize the feed management. Thus, our study aimed to evaluate the behavioral response of the marine shrimp L. vannamei (Crustacea: Penaeidae) in accordance with the stages of moulting cycle and feeding schedules based on higher or lower activity of proteolytic digestive enzymes; also, to investigate the influence of feeding schedule on hepatosomatic index and non-specific and specific protease activity (trypsin). Experiments were carried out at the Laboratory of Shrimp Behavioral Studies at UFRN in partnership with the Laboratory of Enzimology UFPE. Juveniles of L. vannamei weighting 5.25 g (+ 0.25 g) were kept in aquaria at a density of 33 shrimp m -2. In the first experiment, shrimp were fed in the light phase or in the dark phase for 8 days; in the ninth day, the animals were observed for 15 minutes every hour during the 12 hours of each phase of the photoperiod. We recorded the frequency of inactivity, exploration, food intake, burrowing, swimming and crawling behavior. At the end of the 12th observation session, the shrimp were sacrified and classified by the method of setogenesis in the molt cycle stages A, B, C, D0, D1, D2 or D3. We found that the shrimp in A stage show high levels of inactivity. Moreover, the frequency of food intake was very low. The shrimp in D3 stage also had low food intake and high inactivity associated with elevated frequencies of burrowing. In the second experiment, shrimp were kept in physiological acclimation to experimental conditions for 28 days, distributed in 12 treatments in the light phase and 12 treatments in the dark phase. In the end, the animals were sacrified and dissected to assess non-specific and specific protease activity (trypsin) activity. In general, these parameters did not vary among animals fed in the light phase and those fed in the dark phase. However, significant differences were found in the activity of specific and nonspecific proteases in relation to food treatment. In the light phase, the major proteolytic activities converged to 10 hours after the start of the light phase, while the lowest activities converged to 6 hours after the beginning of this phase. In the dark phase, the highest enzyme activity converged to 12 hours after the onset of phase, while the lowest activities converged to 3 hours after the onset of phase. In the third experiment, we sought to evaluate the behavioral responses of shrimp in relation to dietary treatments based on higher or lower activity of proteolytic enzymes, considering the results of the second experiment. The behavioral categories observed were the same as the ones in the first experiment, with observations of 30 minutes (15min before and 15min after food supply). We found variation in behavioral responses as a function of the treatments, with greater intake of food in shrimp fed during the period of greatest activity of proteolytic enzymes, in the light phase. Thus we see that periodic events associated with the shrimp s physiology interfere in their behavioral responses, revealing situations that are more adjustable to the provision of food, and consequently optimizing feeding management

Efeito da oferta dietética de proteína sobre o ganho muscular, balanço nitrogenado e cinética da 15N-glicina de atletas em treinamento de musculação

The effect of increased protein intake on the muscle mass gain, nitrogen balance and N-15-glycine kinetics was studied in six young, healthy subjects practitioners of strength training (> 2 years), without use of anabolic steroids and in agreement with the ethical principles of the research. All athletes received adequate diet (0.88g protein/kg/day) during 2 weeks prior the study (D1), and thereafter with diet providing 1.5g of protein/kg/day and 30kcal/g of protein (D2 diet) for the subsequent 2 weeks. Later on, they all received diet with 2.5g of protein/kg/day (D3 diet) and 30 kcal/g protein for the last two weeks. Body composition, food intake, blood biochemistry, nitrogen balance (NB) and 15N-glycine kinetics were determined at the beginning, after D1 (M0) and in the last days of the D2 (M1) and D3 (M2). The results showed at the end of the study (4 weeks) significant increase in muscle mass (1.63 +/- 0.9kg), without difference between D2 and D3. The NB followed the protein/energy consumption (M0 = -7.8g/day; M1 = 5.6g/day and D3 = 16.6g/day), the protein synthesis followed the NB, with M0 < (M1= M2) (M1 = 49.8 +/- 12.2g N/day and M2 = 52.5 +/- 14.0g N/day). Protein catabolism rate was similarly kept among diets. Thus, the results of the NB and N-15-glycine kinetics indicate that the recommended protein intake for these athletes is higher than the one for sedentary adults (0.88g/kg) and lower than 2.5g/kg, around 1.5g of protein/kg/day, with adjustment of the energy consumption to 30 kcal/g of protein.

Condicionamento estrutural das zonasa de cisalhamento da região de Forquilha, domínio Ceará Central: uma abordagem integrada de sensoriamento remoto e geologia estrutural

The studied region, named Forquilha and localized in northwestern Central Ceará domain (northern portion of Borborema Province), presents a lithostratigraphic framework constituted by paleoproterozoic metaplutonics, metasedimentary sequences and neoproterozoic granitoids. The metasedimentary rocks of Ceará group occupy most part of the area. This group is subdivided in two distinct units: Canindé and Independência. Canindé unit is represented basically by biotite paragneisses and muscovite paragneisses, with minor metabasic rocks (amphibolite lens). Independência sequence is composed by garnetiferous paragneisses, sillimanite-garnet-quartz-muscovite schists and quartz-muscovite schists, pure or muscovite quartzites and rare marbles. At least three ductile deformation events were recognized in both units of Ceará group, named D1, D2 and D3. The former one is interpreted as related to a low angle tangential tectonics which mass transport is southward. D2 event is marked by the development of close/isoclinal folds with a N-S oriented axis. Refolding patterns generated by F1 and F2 superposition are found in several places. The latest event (D3) corresponds to a transcurrent tectonics, which led to development of mega-folds and several shear zones, under a transpressional regime. The mapped shear zones are Humberto Monte (ZCHM), Poço Cercado (ZCPC) and Forquilha (ZCF). Digital image processing of enhanced Landsat 7-ETM+ satellite images, combined with field data, demonstrate that these penetrative structures are associated with positive and negative geomorphologic patterns, distributed in linear and curvilinear arrangements with tonal banding, corresponding to the ductile fabric and to crests. Diverse color composites were tested and RGB-531 and RGB-752 provided the best results for lineament analysis of the most prominent shear zones. Spatial filtering techniques (3x3 and 5x5 filters) were also used and the application of Prewitt filters generated the best products. The integrated analysis of morphological and textural aspects from filtered images, variation of tonalities related to the distribution of geologic units in color composites and the superposition over a digital elevation model, contributed to a characterization of the structural framework of the study area. Kinematic compatibility of ZCHM, ZCPC, ZCF shear zones, as well as Sobral-Pedro II (ZCSPII) shear zone, situated to the west of the study area, was one of the goal of this work. Two of these shear zones (ZCHM, ZCPC) display sinistral movements, while the others (ZCSPII, ZCF) exhibit dextral kinematics. 40Ar/39Ar ages obtained in this thesis for ZCSPII and ZCPC, associated with other 40Ar/39Ar data of adjacent areas, indicate that all these shear zones are related to Brasiliano orogeny. The trend of the structures, the opposite shear senses and the similar metamorphic conditions are fitted in a model based on the development of conjugate shear zones in an unconfined transpression area. A WNW-ESE bulk shortening direction is infered. The geometry and kinematic of the studied structures suggest that shortening was largely accommodated by lateral extrusion, with only minor amounts of vertical stretch

Mecanismos de alojamento de magmas granitóides :exemplo do plúton de Japi(RN)

This dissertation describes the igneous suites of the Japi granitoid pluton, intrusive in the Paleoproterozoic gneiss-migmatite complex of the eastern domain of the Seridó Belt, northeastern Brazil. Field relations show that the pluton is affected by strong deformation associated to the Brasiliano orogeny (known as the D3 phase) , with a NW-trending extensionalleft-hand senestral shear zone (the Japi Shear Zone, JSZ) bordering the intrusive body to the west. Four plutonic suites are found in the main pluton and as satellyte intrusions, besides Iate pegmatite and pink leucogranites. An alkaline granitoid suite, dominated by syenogranites bearing sodic augite (and subordinate hornblende), define a main elliptical intrusion. In its northern part, this intrusion is made up by concentric sheets, contrasting with a smaller rounded stock to the south. These granites display a pervasive solid-state S>L fabric developed under high T conditions, characterized by plastic deformation of quartz and feldspar. It is especially, developed along the border of the pluton, with inward dips. A regular magmatic layering is present sometimes, parallel to the tectonic foliation. The syntectonic emplacement as regards to the Brasiliano (D3) event is indicated by the common occurrence of dykes and sheets along transtensional or extensional sites of the major structure. Field relations attest to the early emplacement of the alkaline granites as regards to the other suites. A basic-to-intermediate suite occurs as a western satellyte body and occupying the southern tail of the main alkaline pluton. It comprises a wide variety of compositional terms, including primitive gabbros and gabbro-norites, differentiated to monzonitic intermediate facies containing amphibole and biotite as their main mafic phases. These rocks display transitional high-K calc-alkaline to shoshonitic affinities. Porphyritic monzogranite suítes commonly occur as dykes and minor intrusives, isolated or associated with the basic-tointermediate rocks. In the latter case, magma mingling and mixing features attest that these are contemporaneous igneous suites. These granites show K-feldspar phenocrysts and a hornblende+biotite+titanite assemblage, displaying subalkaline/monzonitic geochemical affinities. Both suites exhibit SL magmatic fabrics overprinting or transitional to solid-state D3 deformation related to the JSI. Chemical data clearly show that they are related to different parental magmas. Finally, a microgranite suite occurs along a few topographic ridges paralell to the JSI. It comprises dominantly granodiorites with a mineralogy similar to the one of the porphyritic granitoids. However, discriminant diagrams show their distinct calc-alkaline affinity. The granodiorites display an essencially magmatic fabric, even though an incipient D3 solid-state structure may be developed along the JSI. Intrusion relationships with the previous suites, as well as regards to the D3 structures, point to their Iate emplacement. All these suites are intrusive in a Paleoproterozoic, high-grade gneiss-migmatite complex affected by two previous deformation phases (D1, D2). The fabrics associated with these earlier events are folded and overprinted by the younger D3 structures along the JSZ. The younger deformation is characterized by NE-dipping foliations and N/NE-plunging stretching lineations. In the JSZ northern termination the foliation acquires an ENE orientation, containing a stretching lineation plunging to the south. Symmetric kinematic cri teria developed at this site confirms the transpressional termination of the JSZ, as also shown by orthorrombic quartz c-axis patterns. E-W-trending d extra I shear zones developed in the central part of the JSZ are interpreted as antithetic structures associated to the transtensional deformation along the JSZ. This is consistent with its extensional-transcurrent kinematics and a flat-and-ramp geometry at depth, as shown by gravimetric data. The lateral displacement of the negative residual Bouguer anomalies, as regards to the main outcropping alkaline pluton, may be modelized by other deeper-seated granite bodies. Based on numerical modelling it was possible to infer two distinct intrusion styles for the alkaline pluton. The calculated model values are consistent with an emplacement by sheeting for the northern body, as already suggested by satellyte imagery and field mapping. On the other hand, the results point to a transition towards a diapir-related style associated to the smaller. southern stock. This difference in intrusion styles may relate to intensity variations and transtensional sites of the shear deformation along the JSZ. Trace element and Sr and Nd isotopes of the alkaline granites are compatible with their derivation trom a more basic crustal source, as compared to the presently outcropping highgrade gneisses, with participation (or alternatively dominated by) of an enriched lithospheric mantle component. Like other igneous suites in the Seridó Belt, the high LlL contents and fractionated REE patterns of the basic rocks also point to an enriched mantle as the source for this kind of magmatism. Geochemical and isotope data are compatible with a lower crustal origin for the porphyritic granites. On the basis of the strong control of the JSZ on the emplacement of lower crustal (porphyritic and alkaline granites) or lithospheric mantle (basic rocks, alkaline granites or a component of them) magmas, one may infer a deep root for this structure, bearing an important role in magma extraction, transport and emplacement in the Japi region, eastern domain of the Seridó Belt

Caracterização geológica, geoquímica e geocronológica da suíte plutônica enoproterozóica da região de Serrinha, porção centro-leste do maciço São José de Campestre, sudeste do RN

The of Serrinha plutonic suite, northeastern portion of the Borborema Province (NE Brazil), is characterized by a voluminous and diversified magmatism of Neoproterozoic age, intrusive in the Archean to Paleoproterozoic gneissic-migmatitic basement of the São José de Campestre massif. Field relations and petrographic and geochemical data allowed us to individualize different lithologic types among this plutonic suite, which is represented by intermediate to mafic enclaves, porphyritic diorites, porphyritic granitoids, porphyritic granodiorites, microporphyritic granites and dykes/sheets of microgranite. The intermediate-to-mafic enclaves occur associated with porphyritic granitoids, showing mixture textures. The porphyrytic diorites occur as isolated bodies, generally associated with intermediate-to-mafic enclaves and locally as enclaves within porphyritic granites. The granodiorites represent mixing between an intermediate to mafic magma with an acidic one. The micropophyritic granites occur as isolated small bodies, generally deformed, while the microgranite dykes/sheets crosscut all the previous granitoids. A U-Pb zircon age of 576 + 3 Ma was obtained for the Serrinha granite. This age is interpreted as age of the peak of the regional ductile deformational event (D3) and of the associated the E-W Rio Jacu shear zone, which control the emplacement of the Neoproterozoic syntectonic plutons. The porphyrytic granitoids show monzogranitic composition, transitional between peraluminous and metaluminous types, typically of the high potassium subalkaline-calc-alkaline series. The intermediate-to-mafic enclaves present vary from quartz diorite to tonalite/granodiorite, with metaluminous, shoshonitic affinity. The diorites are generally quartz-monzodiorite in composition, with metaluminous, subalkaline affinity. They display coarse-grained, inequigranular, porphyrytic texture, with predominance of plagioclase phenocrystals immersed in a matrix composed of biotite and pyroxenes. The microporphyrytic granites are essentially monzogranites of fine- to medium-grained texture, whereas microgranite dikes/sheets varying from monzogranites to syenogranites, with fine to media texture, equigranular. The diversified magmatism occurring at a relatively small surface associated with shear zones, suggests lithospheric dimensions for such structures, with magma extractions from different depths within the lower crust and upper mantle. The geological, geochemical and geochronological characteristics of the Serrinha plutonic suite suggest a pos-collisional geodynamic context for the Neoproterozoic magmatism. Thermobarometric data show emplacement conditions in the range 5-6 kbar (AlTamphibole) and 730-740°C (plagioclase-amphibole) for the porphyrytic granitoids (Serrinha body) and the intermediate-to-mafic enclaves

Influence of Superovulatory Protocols on In Vitro Production of Nellore (Bos indicus) Embryos

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

Taxa de desenvolvimento de Chrysomya albiceps(Wiedemann) (Diptera: Calliphoridae) em dieta artificial acrescida de tecido animal para uso forense

Forensic entomology uses biological and ecological aspects of necrophagous insects to help in criminal investigations to estimate the post-mortem interval (PMI) or to determine the cause of death. Recent papers demonstrated that the presence of toxins in decomposing tissues may alter the insect developmental rate of insects exploiting such tissues as food. Thus, preliminary tests with artificial diets in laboratory are necessary to create a database to investigate and quantify the modifications that can occur with the collected insects from a criminal scene, avoiding any errors on the PMI estimates. The present study aimed to evaluate the developmental rate of Chrysomya albiceps (Wiedemann) reared on: a) artificial diets containing animal tissues: bovine liver (D1), raw muscle (D2), stomach (D3), and chicken heart (D4); b) artificial diet without animal tissue (D5); and c) a control group (C), which had only meat. The efficiency of each substrate was assessed by immature weight gain (mg), larval developmental time, larval and pupal survival, emergence interval and adult size. D1 to D4 diets did not restrict C. albiceps development; however, larvae reared on D1 and D2 diets presented a lower adult emergence rate. D3 and control group showed similarities regarding the efficiency parameters (rate and emergence interval). Thus, the use of diet D3, artificial diet with stomach, is the most recommended.

Cytochemical characterization of Triatoma infestans and Panstrongylus megistus salivary gland cells (Hemiptera, Reduviidae, Triatominae)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Use of vitamin D to reduce lameness in broilers reared in harsh environments

In tropical poultry-producing countries, poultry houses usually have little environmental control. This study investigated the effect of dietary vitamin D on the incidence of leg abnormalities of a fast-growing broiler strain reared under harsh conditions. In this study, 300 one-day-old male broilers were distributed in two treatments with three replicates of 50 birds each. One group was fed a placebo and the other group was fed 25-hydroxycholecalciferol (25-OH-D3) in a soluble form. The environmental variables were weekly recorded during until birds were 49 days old. Birds were weekly gait scored, and their walking speed and vertical force while walking were assessed. Post-mortem examination was performed and skeletal lesions were assessed. Control birds presented more leg problems than those that ingested 25-OH-D3. These results suggest that dietary vitamin D is effective in decreasing the severity of lameness by reducing tibial dyschondroplasia and other leg abnormalities.

Microdureza de resinas em função da cor e luz halógena

O objetivo desse trabalho foi avaliar a influência da intensidade da luz e cor de uma resina composta no grau de dureza Knoop. Corpos-de-prova foram confeccionados utilizando-se matrizes de poliéster envoltas por um anel de cobre, contendo uma cavidade padronizada de 6 mm de diâmetro por 2 mm de espessura. Estas cavidades foram preenchidas com resina composta selecionada, Fill Magic - Vigodent, com as cores A3, B3, C3, D3 e I, fotopolimerizadas através de um fotopolimerizador Elipar, calibrado para produzir 3 intensidades de luz diferentes: 450 mW/cm², 800 mW/cm² e uma intensidade de luz crescente de 100 a 800 mW/cm². Foram confeccionados 90 corpos-de-prova em que o tempo de exposição da resina à luz halógena foi de 40 s. As amostras foram armazenadas em tubos de ensaio com água destilada a 37 ± 1ºC. Após este período, foram realizados os testes de dureza Knoop na região de superfície e fundo. Os resultados mostraram que houve diferença estatística em relação a intensidade de luz, entretanto em relação a cor, não houve diferença estatística. Os autores concluíram que a cor do compósito não influencia a dureza Knoop e que a intensidade progressiva promoveu os melhores resultados de dureza Knoop.

Caracterização e biodigestão anaeróbia dos dejetos de caprinos

Quantificar e caracterizar os dejetos gerados por cabras Saanen em quatro categorias de idade e alimentadas com três dietas e na seqüência, e promover a biodigestão anaeróbia dos dejetos constituíram os objetivos deste trabalho. Para a produção de dejetos, foram utilizadas 36 cabras Saanen, com idades entre 2 e 4 (C1), 4 e 8 (C2), 8 e 12 (C3) e acima de 12 meses (C4), alimentadas com as dietas 1 (D1: 80% volumoso (Vol) e 20% concentrado (Con)); 2 (D2: 60% Vol e 40% Con) e 3 (D3: 40% Vol e 20% Con). Foram quantificadas as produções diárias de fezes e urina e seus teores em N, P, K, Ca, Mg, Na, Fe, Cu, Zn e Mn. Com a mistura das fezes e urina de todas as categorias, separadas segundo as dietas, foram abastecidos biodigestores batelada, com capacidade para 4 L de substrato em fermentação. A C1 apresentou menor (P<0,05) excreção de fezes (164,1 g de MS (massa seca)/animal por dia) e o menor consumo de alimento (362,2g MS (massa seca)/animal por dia). As maiores concentrações de N, P, K, Ca, Mg e K ocorreram nas fezes e urina geradas por cabras da C4 e alimentadas pela D3. O substrato preparado com dejetos oriundos da D3 apresentou 45% de redução nos teores de sólidos voláteis (SV). Os substratos preparados com dejetos obtidos de animais alimentados com a D3 produziram mais biogás (P<0,01) por kg de sólidos totais e SV adicionados.