981 resultados para Operador de consequência
Resumo:
Os níveis de incidência e severidade de sintomas das doenças resultam da interação hospedeiro-patógeno-ambiente. Nesse contexto, a favorabilidade do ambiente, em particular, depende do nível de umidade, intensidade de radiação solar, luminosidade e molhamento foliar, dentre outros fatores. Por outro lado, a magnitude de expressão desses fatores é dependente do ciclo e porte das plantas, e possivelmente, também, do alinhamento de plantio. No presente estudo, foi avaliada a influência dos alinhamentos de plantio N-S, L-O, NE-SO E NO-SE no desempenho agronômico de plantas de laranjas 'Natal'e 'Valência', assim como na severidade de sintomas da mancha-preta-dos-citros (MPC), causada por Guignardia citricarpa. Para tal, foram selecionadas cinco propriedades distribuídas ao longo do cinturão citrícola paulista, de talhões semelhantes, a partir das quais foram coletadas amostras de 50 frutos, em dez plantas de mesma linha, da região central dos mesmos. Tais frutos foram levados para laboratórios e analisados quanto aos níveis de severidade de sintomas da MPC, produção e qualidade do suco. Constatouse que os frutos oriundos de pomares implantados no alinhamento N-S apresentavam menores níveis de severidade da doença, enquanto no alinhamento NE-SO, os mais elevados. Propriedades localizadas mais ao sul do Estado de São Paulo apresentaram menores níveis de doença, provavelmente em consequência da ocorrência recente da doença em tais áreas. em relação à produção, os alinhamentos de plantio N-S e L-O proporcionaram maior número de frutos por planta, assim como quanto ao número de caixas por planta. Por outro lado, a menor produção foi verificada nos alinhamentos NO-SE. em relação à qualidade do suco, não foi possível estabelecer um padrão definido em termos de ratio e ºBrix e os respectivos alinhamentos de plantio. Foi verificado que os valores de ratio foram menores nos frutos de pomares localizados mais ao sul do Estado, de maiores latitudes.
Resumo:
We make many journeys during our lifetime. In each of them we accumulate experiences that result in an amount of knowledge that constitutes our history. The dissertation presents one of these journeys: that one I took along with students of Pedagogia da Terra project from Universidade do Estado do Rio Grande do Norte UERN to think about the knowledge within their memories in their way from countryside to city seeking for education. I used as main references to this task the ideas of Edgar Morin about Method as Strategy, implication of the subject in knowledge, pertinent knowledge, and knowledge reconnection. And from Paulo Freire I used the concepts of cultural identity assumption and dialog. I built as resource of method the metaphor of the suitcase, called by me the trunk of memory treasures . The use of this cognitive operator makes possible for those students bring their memories to the surface and share them collectively, by the process I name as auto-social- biographical narratives. The explicitness of the memories they choose to reveal by means of these narratives permitted me to understand the metamorphosis of these knowledge since their childhood to nowadays. In order to present an archeology of knowledge within these life histories I chose a narrative writing style concerned with simplicity and lightness, where I use the description of facts and discussions occurred during this journey. My main arguments in systematizing this experience are: scientific production can and should be grounded on knowledge diversity and on a more sensible approach to phenomena; education and pedagogy need to take as starting point and fuel for their practices the singularities of the subjects, their life history, educational background and knowledge resulting from both. Teacher s formation programs which students have mixed, rural and urban, background should value cognitive experiences built in the interaction with that knowledge closer of a sensible logic, deeper grounded in land and nature. Doing so, education can contribute to join diverse knowledge against monocutural forms of thinking and educational practices
Resumo:
The present work concerns an auto-ethnographic study based on life experiences and reflections of an educator at Escola Viva Preschool and Elementary-Middle School, located in the city center of Natal, Rio Grande do Norte. As a cognitive model of operation, we use the metaphor of the Circle Dance. The objective of this study is to identify, interpret and describe the ludopoetics that are achieved through a Musical Education program, which we denominate, Humanescent. The data of this investigation was derived from the music making by Preschool and Elementary-Middle School students at Escola Viva during 2007, 2008 and 2009, from which 20 learners were selected to form the corpus, along with the description and interpretation of photos of their experiences and sand tray scenes. We justify the methodological systemization of the research based on our own pedagogical practice, which supports Musical Education in the schools based on the principals of Embodiment, Autopoesis and Flow. The methodological systemization was developed through an Action Research model and on the concepts of Systemic Development, with the goal of re-reading the context investigated through the structuring of categories of Ludopoesis: Self-esteem, Self-territory, Self-connectivity, Self-realization and Selfworth. We used an observant-participant research approach with regard to the perception of emergent knowledge, the surroundings, the experience lived and the contextual and vibration of the circumstances. Besides this, we used projection to interpret the experiences lived, in the form of drawings, short poems, letters or sand tray scenes as symbolic interpretations of experience. In the unfolding of the Ludopoetic Process (Selfesteem, Self-territory, Self-connectivity, Self-realization and Selfworth) we draw conclusions about the relevance of the ludic musical experience, which foments the formation of the self based on music learning, and which is demonstrated in the Embodiment of the learners. In the auto-formative process (of learners and educators) we observe the importance of pedagogical work based on Musical Humanescent Education that gives value to the music making path to the construction of music and performance in play, creativity, and sensibility. The experience of making music in a playful way allows for organization of the self and its autonomous production in the joy of living within a ludopoetic process. These findings highlight the educator as in a permanent state of selfformation, which generates moments of flow. However, in Musical Humanescent Education, music is learned collectively, doing a circle dance, experiencing love, fostering an expansion of the creative spirit, and giving recognition to playfulness as a necessary condition for education and to the value of music made with the true nature and sensibilities of the educators
Resumo:
This dissertation was written for the making of a model to be used as reference to the construction and diagnoses of educational projects in on-line environments. The model approaches a series of characteristics, technical and humans, which if considered can increase the potential of awake the interests to the active use of these projects for the students and build conditions to the development of an active posture by the students, fundamental factor to the educational advances. Focused in the students, not in the technology in use, we propose this model as a guide, reference to be used in a critical way in relation with every educational context. This research was made from the qualitative category, trough the method of study of case, using as reference to the analysis the use of the website guanabara.info - website outside of the school context - by it users, heard through the internet, by the use of semi-opened interview, in a data taken of the primary type. We follow as theoretical references Paulo Freire´s work, considering his vision of education and the building of knowledge as a process which occurs between man, and Celestín Freinet, in his pedagogy of humanized and critical insertion of the technologies in the school. At the end, we show the practical utilization of the model constructed using it for the diagnostics of an educational project in the on-line educational environmental moodle
Resumo:
La relation entre l`ignorance, l`apprentissage et de la création composent un décor provocant pour nous faire réfléchir sur l`éducation et la science. Pour éclaircir cette réflexion, nous démarrons sur les propositions de Ilya Prigogine (1986), pour qui l`art est une métaphore qui représente la science au XXe siècle, les idées d`Edgar Morin (2004), en soulignant la contribution fondamentale de l`art à l`état humain, et Maurice Merleau- Ponty (1980), qui crédite à l`art la possibilité d`un nouveau regard sur le monde, un regard sensible, esthétique. Ayant par référence la présence de ces arguments, nous réaffirmons la thèse de que l`art peut présenter des métaphores pour considérer la science, l`éducation et la condition humaine sur des bases complexes et transdisciplinaires. Nous nous concentrons sur des catégories particulières de la déformation et de la répétition. La première est considérée comme un désordre nécessaire au corps, à la science et à l`éducation, des lieux de métamorphose constante, d`après les principes de la complexité. La seconde est appréciée comme un opérateur sans lequel la variation, l`écart, le nouveau et l`invention ne peuvent pas émerger. Nos métaphores ressortent des travaux esthétiques de deux artistes de renom: Pina Bausch et Hans Bellmer, les délinquants qui certainement se rebellent contre la trivialité dans l`art et la vie. Ils exploitent des rêves, des démonstrations affectueuses impertinentes, esthétiques inaugurales, antiparadigmatiques et audacieuses. En un mot, ils incarnent ce qu`on appelle une pensée complexe. Nous comprenons que les deux artistes déclenchent des dispositifs qui dialoguent avec le manifeste de Merleau-Ponty lorsque l`on cherche dans l "aisthesis" la possibilité d`une production naturelle qui est en elle-même, créative. Ayant comme horizon cette puissance créatrice nous concentrons notre regard sur les anagrammes du corps proposés par Bellmer et sur la répétition exprimée par Pina Bausch. La déformation et la répétition sont des étapes embryonnaires de la création
Resumo:
El concepto de paisaje, caracterizado por la colaboración de distintos dominios cognitivos, atraviesa campos disciplinarios y formas de estructurar la producción de conocimiento a través del Arte. Para Cauquelin (2007), la representación occidental de la mirada paisajística es siempre una mirada estética que indica una conexión inseparable de la forma percibida con la forma sentida. Esa mirada estética recuerda al hombre su condición bioantropológica. En ese sentido, entiendo que un paisaje se presenta como un medio donde el humano puede ejercer su singularidad poética, transitando, así, por campos o capas de conocimientos diversos capaces de ampliar su visión rearticuladora del mundo. Motivada por esa percepción, elegí como campo empírico el Museo Taller de Cerámica Francisco Brennand, en Recife, Pernambuco. Reconstruido por el artista, el lugar, injertado de recuerdos de la infancia, pasa a abrigar, a partir de 1971, el conjunto de su obra de cerámica y pintórica. La frecuentación del artista transformó la estrategia metodológica de la entrevista en sabias y agradables conversaciones, que me proporcionaron la experiencia de otras posibilidades de enfoque durante la realización de la investigación. El objetivo de la investigación es ampliar las relaciones conceptuales entre paisaje y representación, en el sentido de privilegiar a la imaginación creativa. Tomé al paisaje como una metáfora y como un operador cognitivo, imprescindibles para el aprendizaje de la condición humana. Compartir estrategias a la vez complementares y recíprocas es lo que proponen Almeida (2009) y Morin con vistas a volver a enlazar la cultura científica y la cultura humanística, en un metodo mestizo y bricoleur que es necesaria para una reforma del pensamiento que lleva en cuenta el ensueño de la materia propuesto por Bachelard (2008). El arte se convierte, así, en un operador cognitivo capaz de promover cambios en el contexto de la educación, en dirección a una pedagogía con base compleja, como propone Pereira (1999)
Resumo:
The objective of this study was to evaluate the effect of low laser power on the performance of anaerobic endurance of the quadriceps muscle in young subjects. Low-level laser therapy (LLLT) appears to decrease some indices of muscle fatigue. Most of these effects may be due to the influence of the laser on the muscles predominantly aerobic. Animal studies and clinical trials have already shown that the laser can improve the efficiency of mitochondrial metabolism for the resynthesis of adenosine triphosphate and thus slow down - or minimize, the deleterious effects of muscle fatigue. This research was characterized as an experimental study of the controlled clinical trial, randomized, blinded, attended by 93 volunteers, military, with ages between 18 and 19 years. The subjects were randomly allocated into three groups: Control (G1), Placebo (G2) and Laser (G3). All volunteers underwent an anthropometric assessment and a protocol Fatigue. This protocol was applied to an initial assessment (AV-1) for the collection of baseline data, and a final evaluation (AV-2). As the study variables, we used the blood lactate concentrations and indices of muscle power, as average power and peak velocity. The fatigue protocol consisted of a test of speed with twenty repetitions, performed on an exercise machine leg press 45º . In conclusion, it was found that, in this study, LLLT caused a significant increase in the Average of the Averages Powers, phase eccentric exercise in leg press 45º performed by young individuals
Resumo:
Descriptive exploratory study, with quantitative approach, with data collected from April to May 2009, aiming to identify the types of occupational violence affecting professionals on the nursing and medical staff in an emergency hospital service in Natal/RN, over the last 12 months; to identify emergency sectors where occupational violence episodes took place; to characterize aggressors on each type of occupational violence; to know the procedures adopted after each violent act targeting nursing and medical staff professionals; and to know the consequences of violence suffered by the nursing and medical staff professionals. The sample consisted of 26 nurses, 95 nursing assistants/technicians and 124 physicians, for a total of 245 professionals. The results showed that 50.61% of the professionals were women, aged 41 to 45 (22.45%), with post-graduate studies (51.43%), married (60.82%); 21.22% had 16 to 20 years of experience in the profession and in emergency practice; working 40 weekly hours (86.12%); and working both the day shift and the night shift (70.21%); 27.35% consider violence to be a part of their profession and the patient s companions as an important risk factor (86.53%); couldn t inform whether there was a specific established procedure for reporting occupational violence (45.71%); 73.06% suffered occupational violence in the 12 months; 70.20% verbal assault, 24.08% moral harassment, 6.12% physical assault, and 3.67% sexual harassment; 66.67% of the patients took part in the physical assault; the companions, in verbal assault (58.14%); and the health staff in moral harassment (69.49%); facing episodes violence, 37.65% of the professionals reported the fact to their co-workers; 57.25% uffered from stress as a consequence; on 4.71% of the episodes the professionals had to be bsent from work, resulting in 75 days of occupational violence-related absence. We conclude here was a high rate of occupational violence in the researched population, with verbal ssault and moral harassment as the most frequent violence types. Because factors related to ccupational violence were very diverse, actions seeking to confront this problem shouldn t be limited to the work environment itself. Education ought to be one of the most effective ctions for avoiding or minimizing these events occurrence
Resumo:
Hansen's disease, despite significant advances regarding the diagnosis, treatment and control still carries an immense burden of stigma as a result, mainly of its socio-historical marked by prejudice and isolation of patients, translated by suffering, abandonment and psychosocial problems. Thus, the study set out to rescue the life stories of former leprosy patients with a leprosarium history; recovering the life trajectory stories of these former patients and to identify common factors to these life stories. Exploratory-descriptive study with a qualitative approach, using the Life History Research Methodology. The sample was composed by twelve former leprosy patients who lived while undergone treatment in the Colony Hospital St. Francisco de Assis, located in Natal, Rio Grande do Norte. The network was composed without considering sex and age limit, patients that lived in the Colony Hospital for at least six months and who agree to participate freely in the study. The subjects with special physical needs (hearing) or mental disabilities and those who do not agree to participate were excluded. A semi-structured interview was used to data collection, the interviews were recorded in the household context of individual, residents in neighborhoods Felipe Camarão, Km 6 and Jardim America, more precisely at Nova Vida village, all located in that district. The data collected were subjected to the technique of thematic content analysis. This study had obtained an appropriate consent of the UFRN Research Ethics Committee under the protocol No. 016/2010. After extensive and careful readings of life stories we identified three themes that guided the data analysis: behavioral stages, social exclusion and, stigma and prejudice. Thus, it is clear that the practice of compulsory confinement of patients in nursing homes and the mythical image of Hansen's disease as being ugly and deformed, contributed to solidifying the historical stigma surrounding the disease and its patients, raising in society and family attitudes and feelings of exclusion, prejudice and fear. Moreover, there are remarkable stories in the lives of these interviewed reporting suffering, denials, anger that reverberate to this day, affecting negatively the social and family reintegration of these individuals. As a result, we see the need for managers and local health professionals, especially nurses, rethink existing strategies for social rehabilitation of the patient and ex-leprosy patient aiming to suppression unjust and harmful stigma rooted in image and stories of these individuals
Resumo:
The present study had as a main objective to analyze how the professionals at a CAPS ad unit in Natal-RN conceive the knowledge-practice process with regard to the Harm Reduction Policy (HRP) towards alcohol and other drugs. For the accomplishment of this proposal, it was intended: 1) Verifying the possibilities and limits of the HRP implementation at a CAPS ad unit in Natal-RN; 2) Relating the professionals knowledge at a CAPS ad unit in Natal in regard to the Harm Reduction Policy; 3) Enumerating the HRP programmatic actions at the institution. The research had exploratory, descriptive and qualitative approach aspects, guided by the concepts of biopower and self care proposed by Michel Foucault. Data collection occurred in June and July 2011, in which the focal group technique was used. After that, collect field material was analyzed through the content analysis method proposed by Minayo. The results showed some conceptual and practical approach between the harm reduction strategy and the knowledge-practice of the professionals at this CAPS ad unit. The discursive models about drug usage, especially the moral-legal model, still have a significant role in the daily lives of these professionals, being amplified by some demands of their jobs or even through the instituted discourse. The individuals recognize the need for less prohibited practices and more socializing ones, identifying them with the Harm Reduction (HR) logic, when there is a coherent and well-founded understanding about HR among the professionals. Distorted and reductionist views about HR as considering the simple instrumental function of this strategy (distribution of basic supplies) among the professionals, represent one of the main barriers for its implementation. There are few programmatic activities that are related to the RD strategy at this CAPS ad unit which makes a more effective appropriation by the working team difficult to reach. The working processes and the postures adopted by this CAP ad unit professionals have been showing that many of their practices and conceptions were modified to the detriment of new necessities emerged from the demands. Consequently, the self care notion is revealed which brings the need for the valorization of these care agents roles, that is, their collective and individual contribution.
Resumo:
Os resíduos vegetais das culturas, ao se decomporem, alteram os atributos químicos do solo e, como consequência, influenciam a produtividade das culturas em sucessão. O objetivo deste trabalho foi avaliar os atributos químicos do solo e a produtividade das culturas de soja, milho e arroz, cultivadas no verão, em sucessão a culturas de inverno em semeadura direta. O experimento foi realizado em Jaboticabal-SP (48 ° 18 ' 58 '' W e 21 ° 15 ' 22 '' S), em um Latossolo Vermelho eutrófico. O delineamento experimental foi em blocos ao acaso, no esquema em faixas, com três repetições. Os tratamentos foram constituídos pela combinação de quatro sequências de culturas de verão (monoculturas de milho e soja e rotações soja/milho e arroz/feijão/algodão) com sete culturas de inverno (milho, girassol, nabo forrageiro, milheto, guandu, sorgo e crotalária). Os cultivos iniciaram-se em 2002. Após o manejo das culturas de inverno e antes da semeadura das culturas de verão do ano agrícola 2006/2007, foram coletadas amostras de solo nas camadas de 0-2,5; 2,5-5,0; 5-10; 10-20; e 20-30 cm. Nas amostras de solo, foram determinados: teores de matéria orgânica, pH, teores de P (resina), K, Ca e Mg trocáveis e acidez potencial (H + Al). As sequências de verão rotação soja/milho e milho em monocultura proporcionaram no solo menores teores de matéria orgânica na camada de 0-10 cm e de P do solo na camada de 0-20 cm. Na sequência de verão arroz/feijão/algodão, maiores teores de K foram proporcionados pelas culturas de inverno crotalária e nabo forrageiro, na camada de 0-10 cm, e milheto, na de 0-2,5 cm. Crotalária, milheto, nabo forrageiro e sorgo, cultivados no inverno, proporcionaram maiores teores de matéria orgânica no solo na camada de 0-30 cm. Maiores teores de P no solo foram proporcionados pela crotalária, na camada de 0-2,5 cm, e pelo nabo forrageiro, na de 0-5 cm. Maiores produtividades de soja, como monocultura de verão, foram obtidas após nabo forrageiro e crotalária e, quando em rotação com milho no verão, após nabo forrageiro, crotalária e milheto. Maiores produtividades de milho foram obtidas após nabo forrageiro, milheto e guandu, e menor produtividade de arroz foi obtida após sorgo.
Resumo:
Objetivou-se com este trabalho avaliar a produção fecal por meio do indicador interno, fibra em detergente neutro indigestível (FDNi), e externos, cromo complexado com ácido etilenodiaminotetracético (Cr-EDTA ) e o cloreto de itérbio (YbCl3), além de estimar o fluxo duodenal da matéria seca e os coeficientes de digestibilidades aparentes total, ruminal e pós-ruminal, de diferentes nutrientes. Foram utilizadas oito novilhas mestiças Holandês/Zebu, distribuídas em duplo quadrado latino 4 x 4. Os indicadores Cr-EDTA, YbCl3 e o FDNi não estimaram produção fecal de forma eficiente (p < 0,05), obtendo resultado de 1,64; 1,71 e 2,71 kg dia-1, respectivamente, quando comparado à coleta total de fezes, que obteve resultado de 1,39 kg dia-1. Os valores estimados de fluxo de matéria seca, tanto para a metodologia de único, quanto para de duplo indicador, podem ser considerados biologicamente aceitáveis. Contudo, o valor obtido pela associação Cr-EDTA/YbCl3, utilizada na forma de duplo indicador, foi o mais confiável, pela melhor recuperação dos indicadores externos (Cr-EDTA e YbCl3), que obtiveram médias de 89 e 85%, respectivamente, em comparação ao interno (FDNi), que obteve média 67%. Os coeficientes de digestibilidade ruminal e pós ruminal, estimados pela associação Cr-EDTA/YbCl3, foram considerados melhores, em consequência do valor de fluxo de matéria seca estimado por esta associação.
Resumo:
The changes incurred in the financial system with the introduction of new technologies and new forms of administration of banks has caused impact on the health of workers. These changes, which passed in the process of work, generate a combined share of the risk factors that result in numerous injuries and illnesses among banks, notably between the operators of banks tellers. The Work-Related Musculoskeletal Disordes - WRMD represent a group of occupational diseases always present among these workers. Because of its high incidence and the amount of financial resour envolved to manage the problem has been the object of constant study. This paper aims to analyze the bank teller activity; search the occurrence of WRMD in the activity, identifying the factors determining the occurrence of WRMD in the activity and determine the real number of touchs on a keyboard made by the operator and propose solutions that influence the reduction of illness in the workplace of the bank teller. Methodological tools of ergonomics are used to provide a broad knowledge of aspects of work that have been studied and influential in the generation of occupational diseases studied. It was found that activity put workers to serious risk of occupational diseases. As the main contributory factors and determinants for this illness: the requirements and control the numbers daily endorsements; evaluation system based on performance targets for productivity; management system at time of service to customers; work with stressful factors (broken box); excess of time worked; furniture of workstations with ergonomic inadequacies and policy for the prevention of occupational diseases inefficient. They have also noted cases of illness for DORT workers without fulfilling the legal requirement of the issuance of the communication of labour accident and without the removal of the employee of the workplace
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The Combinatorial Optimization is a basic area to companies who look for competitive advantages in the diverse productive sectors and the Assimetric Travelling Salesman Problem, which one classifies as one of the most important problems of this area, for being a problem of the NP-hard class and for possessing diverse practical applications, has increased interest of researchers in the development of metaheuristics each more efficient to assist in its resolution, as it is the case of Memetic Algorithms, which is a evolutionary algorithms that it is used of the genetic operation in combination with a local search procedure. This work explores the technique of Viral Infection in one Memetic Algorithms where the infection substitutes the mutation operator for obtaining a fast evolution or extinguishing of species (KANOH et al, 1996) providing a form of acceleration and improvement of the solution . For this it developed four variants of Viral Infection applied in the Memetic Algorithms for resolution of the Assimetric Travelling Salesman Problem where the agent and the virus pass for a symbiosis process which favored the attainment of a hybrid evolutionary algorithms and computational viable
Resumo:
Techniques of optimization known as metaheuristics have achieved success in the resolution of many problems classified as NP-Hard. These methods use non deterministic approaches that reach very good solutions which, however, don t guarantee the determination of the global optimum. Beyond the inherent difficulties related to the complexity that characterizes the optimization problems, the metaheuristics still face the dilemma of xploration/exploitation, which consists of choosing between a greedy search and a wider exploration of the solution space. A way to guide such algorithms during the searching of better solutions is supplying them with more knowledge of the problem through the use of a intelligent agent, able to recognize promising regions and also identify when they should diversify the direction of the search. This way, this work proposes the use of Reinforcement Learning technique - Q-learning Algorithm - as exploration/exploitation strategy for the metaheuristics GRASP (Greedy Randomized Adaptive Search Procedure) and Genetic Algorithm. The GRASP metaheuristic uses Q-learning instead of the traditional greedy-random algorithm in the construction phase. This replacement has the purpose of improving the quality of the initial solutions that are used in the local search phase of the GRASP, and also provides for the metaheuristic an adaptive memory mechanism that allows the reuse of good previous decisions and also avoids the repetition of bad decisions. In the Genetic Algorithm, the Q-learning algorithm was used to generate an initial population of high fitness, and after a determined number of generations, where the rate of diversity of the population is less than a certain limit L, it also was applied to supply one of the parents to be used in the genetic crossover operator. Another significant change in the hybrid genetic algorithm is the proposal of a mutually interactive cooperation process between the genetic operators and the Q-learning algorithm. In this interactive/cooperative process, the Q-learning algorithm receives an additional update in the matrix of Q-values based on the current best solution of the Genetic Algorithm. The computational experiments presented in this thesis compares the results obtained with the implementation of traditional versions of GRASP metaheuristic and Genetic Algorithm, with those obtained using the proposed hybrid methods. Both algorithms had been applied successfully to the symmetrical Traveling Salesman Problem, which was modeled as a Markov decision process