Controle adaptativo robusto para um modelo desacoplado de um robô móvel

This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text

Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

Estratégias baseadas em aprendizado para coordenação de uma frota de robôs em tarefas cooperativas

In multi-robot systems, both control architecture and work strategy represent a challenge for researchers. It is important to have a robust architecture that can be easily adapted to requirement changes. It is also important that work strategy allows robots to complete tasks efficiently, considering that robots interact directly in environments with humans. In this context, this work explores two approaches for robot soccer team coordination for cooperative tasks development. Both approaches are based on a combination of imitation learning and reinforcement learning. Thus, in the first approach was developed a control architecture, a fuzzy inference engine for recognizing situations in robot soccer games, a software for narration of robot soccer games based on the inference engine and the implementation of learning by imitation from observation and analysis of others robotic teams. Moreover, state abstraction was efficiently implemented in reinforcement learning applied to the robot soccer standard problem. Finally, reinforcement learning was implemented in a form where actions are explored only in some states (for example, states where an specialist robot system used them) differently to the traditional form, where actions have to be tested in all states. In the second approach reinforcement learning was implemented with function approximation, for which an algorithm called RBF-Sarsa($lambda$) was created. In both approaches batch reinforcement learning algorithms were implemented and imitation learning was used as a seed for reinforcement learning. Moreover, learning from robotic teams controlled by humans was explored. The proposal in this work had revealed efficient in the robot soccer standard problem and, when implemented in other robotics systems, they will allow that these robotics systems can efficiently and effectively develop assigned tasks. These approaches will give high adaptation capabilities to requirements and environment changes.

Planejamento cooperativo de tarefas em um ambiente de futebol de robôs

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

Desenvolvimento de um Sistema de Visão Global para uma Frota de Mini-Robôs Móveis

Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second

Fabricação de eco-composito com a fibra de lã canina

The Sustainability has been evidence in the world today; organizations have sought to be more and more into this philosophy in their processes, whether products or attendance. In the present work were manufactured eco-composites with animal fiber (dog wool) that is currently discarded into the environment without any use. The fibers were characterized and made matting (non-woven). The phases of the project were consisted to develop methods and to convert these fibers (booster) blended with polyester resin (matrix) in different proportions (10%, 20% and 30%) at the composite. Were studied fiber characteristics, mechanical properties of the composites, water absorption and scanning electron microscopy. Initially, the fibers were treated with solution of sodium hydroxide of 0.05 mols, and then taken to matting preparing at the textile engineering laboratory - UFRN. The composites were made by compression molding, using an orthophthalic polyester resin as matrix and 1% MEK (methyl ethyl ketone peroxide) as initiator (catalyst). To evaluate the mechanical tests (tensile and flexural) and water absorption were made twelve specimens with dimensions 150x25x3 mm were cut randomly. According to the standard method, tensile tests (ASTM 3039) bending tests (ASTM D790) were performed at the mechanical testing of metals at laboratory UFRN. The results of these tests showed that the composite reinforced with 30% had a better behavior when exposed to tension charge; while on the three points bending test showed that the composite reinforced with 10% had a better behavior. In the water absorption test it was possible to see that the highest absorption happened on the composite reinforced with 30%. In the micrographs, it was possible to see the regions of rupture and behavior of the composite (booster / matrix)

O ensino médio no contexto do Plano Nacional de Educação: o que ainda precisa ser feito

A intenção desse artigo é analisar alguns objetivos e metas propostos para o ensino médio, pelo antigo Plano Nacional de Educação (pne Lei n. 10.172/01), no sentido de avaliar quais deles foram totalmente alcançados, quais foram parcialmente alcançados e quais não foram atingidos, visto que um novo pne está sendo proposto. Por outro lado, nosso objetivo também é avaliar em que medida o alcance ou não das metas propostas no início da década passada influencia na percepção e nas expectativas dos alunos do ensino médio em relação ao seu ingresso, num futuro próximo, no ensino superior. Serão abordadas questões referentes ao atendimento e à oferta de ensino médio e suas questões pedagógicas específicas.

Consumo máximo de oxigênio e limiar anaeróbio de jogadores de futebol: comparação entre as diferentes posições

O grau de desenvolvimento das capacidades físicas no futebol é fator determinante do nível desportivo do jogador. O objetivo do presente estudo foi comparar valores de limiar anaeróbio e consumo máximo de oxigênio entre jogadores profissionais de futebol de diferentes posições. Para tanto, 25 atletas (idade = 22,08 ± 8,28 anos, peso = 76,12 ± 9,8kg, altura = 179,8 ± 7,1cm e relação corporal = 12,21 ± 3,67% de gordura corporal) foram divididos em cinco grupos, como se segue: goleiros (GO), zagueiros (ZA), laterais (LA), meio-campistas (MC) e atacantes (AT). O VO2max foi determinado em esteira ergométrica através de análise direta e a velocidade de corrida correspondente ao limiar anaeróbio fixo de 4mM (V4mM), em teste de campo (2 x 1.000m a 90 e 95% da velocidade máxima para a distância) através de interpolação linear. A V4mM foi menor (p < 0,05) para o grupo GO em relação aos demais grupos. Além disso, os grupos LA e MC apresentaram valores de V4mM significantemente maiores em relação aos grupos ZA e AT. O grupo GO mostrou VO2max significantemente menor em relação a todos os outros grupos, sendo que estes últimos não apresentaram diferença entre si. Uma vez que os atletas de diferentes posições não realizavam treinamento diferenciado, os autores creditam as diferenças encontradas à especificidade da movimentação durante partidas e coletivos.

Registros de ordens e ocorrências: uma prática de letramento no trabalho da enfermagem hospitalar

Nursing documentation is a literacy practice which is regulated by law. Among the written practices of the literacy field, nursing registration is understood as the attendance resume of the main problems and occurrences on duty. In other words it is a document and a communication instrument used by hospital orderly on duty. It s main goal is to keep a record of the information which is necessary to the continuity of the activities as well as to the assistance to the patients. Taking into consideration the complexity of this kind of literacy practice, this study which took place in a hospital context, aims at studying the nursing registration process in order to explain its implementation in the nursing field. The discussion is situated in the area of applied linguistics, and it makes a linkage between linguistics approaches and language questions which are related to the area of discourse at work. The theoretical foundations come from contemporary literacy studies such as Hamilton (2000) who proposes the following categories: participants, domain, artifacts and activities. The analysis was guided by the principles of the ethnographic methodology which proposes that the researcher spends much time in the field and uses a set of techniques in order to collect data related to the subjects speech as well as their deeds concerning the research main object. The data were collected through field observations, analysis of 100 nursing records, 04 reflective sessions and interviews as well involving 36 nurses. On one hand, the analysis reveals the importance of the nursing records in terms of documentation and communication. On the other hand, it shows informational, compositional as well as normative difficulties in terms of linguistics and legal aspects. For, we conclude that these questions need to be addressed through the process of intervention especially in events of teacher in service activities so that the professional nurses may improve their practice in relation to the elaboration of the nursing documentation on duty

A esfera como metáfora: representações do futebol no campo da literatura (leituras do tema no conto de ficção)

Football, understood as a phenomenon of sports practice and nearly universal coverage, can also be seen as a game whose operation circumvents the cultural universe of people who practice it. Much more than just a sport, so this game is a cultural phenomenon par excellence, bearing a communicational and aesthetic dimension whose occurrence has been spotted in various fields of scientific and cultural. Therefore, it is as game and as a phenomenon of culture, we intend to focus on football here as an object of study. Our aim is to investigate the sport in Brazil taking the Literature and Journalism as privileged instances of their representation in the media. Thus, the central idea of this research is to show when and how football has become a recurrent theme in Brazilian literature, starting with its journalistic approach until we get an overview of the aesthetic representation of the game, Literature as the main focus of attention and taking the genre of fiction story as material fact of their representation. With this approach, we intend to develop an overall view, overview of the literature about football in our country and at the same time, particularize this vision in some representative authors of it, like the writer-journalist Mario Filho (the historian, essayist on the modernization of chronic specific theme), José Lins do Rego (writer passionate about the game), Nelson Rodrigues (the esthetician that elevated the sport to the status of art by chronic), Lima Barreto (who along with Antonio de Alcantara Machado pioneered the formalized within the fiction) and the storytellers of the topic itself. In the end, we intend to infer the results of evaluations and reviews of books and authors listed, we have examined a wide sense, but also vertical (and which were focused on a socio-historical perspective and critical-aesthetic) within the assumption that seems be a homology between the way football practice amongst us will historically winning characteristics as to form a Brazilian school of football, and how our writers, journalists will be addressing the topic, which also would focus on creating a "Brazilian way" of telling literary football. The proof of this hypothesis operational work together with the development of historiography and the necessity arising from it, creating a "Guide to Reading football theme in fictional tale of Brazil" shut the focal perspective of this study

Controles físico, físico-químico, químico e microbiológico dos frutos de Dimorphandra mollis Benth., Fabaceae

Considerando-se a qualidade dos fitoterápicos, é importante salientar que a preocupação com esta questão inclui rigoroso acompanhamento das diferentes etapas de desenvolvimento e produção, desde a coleta do vegetal até o produto final. O controle de qualidade de drogas vegetais e seus extratos é essencial quando utilizados como matéria-prima para o desenvolvimento de fitoterápicos. Neste trabalho foram utilizadas diversas técnicas (farmacopeicas e não farmacopeicas) visando estabelecer parâmetros de qualidade dos frutos de Dimorphandra mollis Benth. (Leguminosae), popularmente conhecida como faveiro. Os resultados obtidos determinaram as características físico-químicas da droga vegetal e mostraram que o pó dos frutos e o extrato etanólico 70% de D. mollis apresentam um teor de flavonóides de 10,25% e 17,21%, respectivamente. A análise fitoquímica preliminar dos frutos caracterizou a presença de taninos, saponinas e flavonóides. Na análise microbiológica do extrato não houve crescimento de patógenos entre os testes realizados.

Experience generalization for multi-agent reinforcement learning

On-line learning methods have been applied successfully in multi-agent systems to achieve coordination among agents. Learning in multi-agent systems implies in a non-stationary scenario perceived by the agents, since the behavior of other agents may change as they simultaneously learn how to improve their actions. Non-stationary scenarios can be modeled as Markov Games, which can be solved using the Minimax-Q algorithm a combination of Q-learning (a Reinforcement Learning (RL) algorithm which directly learns an optimal control policy) and the Minimax algorithm. However, finding optimal control policies using any RL algorithm (Q-learning and Minimax-Q included) can be very time consuming. Trying to improve the learning time of Q-learning, we considered the QS-algorithm. in which a single experience can update more than a single action value by using a spreading function. In this paper, we contribute a Minimax-QS algorithm which combines the Minimax-Q algorithm and the QS-algorithm. We conduct a series of empirical evaluation of the algorithm in a simplified simulator of the soccer domain. We show that even using a very simple domain-dependent spreading function, the performance of the learning algorithm can be improved.

Efeito do aquecimento com corrida sobre a agilidade e a impulsão vertical em jogadores juvenis de futebol

The aim of this study was to evaluate the effect of warm-up on agility (AG) and on vertical jump (VJ) tests in youth soccer players. Sixteen players performed the AG and VJ tests without warm-up (NW) and with warm-up (WW) randomly, within two weeks, at least 48 h interval, during season. The warm-up was performed only a light running during 10 min. The paired t-test identified significant difference (p <0,05) between the NW and WW conditions in the tests of SR and CJ (9,14 +/- 0,28 vs 8,94 +/- 0,30 s e 51,4 +/- 4,2 vs 54,5 +/- 6,4 cm, respectively). The warm-up performed on light intensity running was effective to improve the AG and VJ tests performance in youth soccer players.

Adventure race's injuries

Objective. - To describe the distribution of frequency of the injuries during adventure competition.Material and methods. - Fifty-five participants who underwent to the second stage of the Caloi Adventure Camp competition answered to a questionnaire about their personal characteristics, training status and injuries.Results. - The age of the athletes was 32 +/- 10 years old and the body mass index (BMI) 23.3 +/- 2.2 kg/m(2). The most frequent injuries occurred during trekking (61%), followed by mountain bike (24%). Abrasions (36.7%) and cuts (24.5%) were the most frequent injuries mentioned. Tissue level lesions occurred in 61.2% of the episodes. The most frequent injuries were contusions (16.3%) at muscular level, and sprain (6.1%) and fracture (6.1%) at osteoarticular system. Related to the body structure, the lower limb was the most affected (49%), mainly ankle (14.3%) and knee (12.2%). In the upper limb (30.6%), arm and forearm were more affected with cuts and abrasions. Neck and trunk were responsible for 20.4% of the injuries. Cramps (31%) and tendinitis (11%) were also mentioned.Conclusion. - The data suggest that it is necessary to create one training approach including prevention and logistics for participants rescue and rapid attendance during the tournament. (C) 2008 Published by Elsevier Masson SAS.

Apoio social e síndrome da fragilidade em idosos residentes na comunidade

Introduction: The frailty in the elderly is the result of a complex interplay between many social and clinical factors involved in its genesis. Although there is an understanding of its association with increased risk of adverse clinical outcomes, still it is unclear whether this syndrome can be aggravated due to lack of social support. So, the objective of this study was to analyze the association between social support and frailty syndrome in elderly community residents. Materials and methods: Observational analytical cross-sectional study, with a sample of 300 elderly living in the city of Natal-RN. Were collected informations about socialdemographic, economics and physical health data. The Social support was assessed by the status of cohabitation; marital status; contact frequency and diversity rate; received and given attendance frequency rate; and Map Minimum Relations of the Elderly. The frailty was assessed using the following criteria: unintentional weight loss, weakness, low physical activity, exhaustion and Slowness. To observe any possible associations, we performed the Pearson chi-square test, the Student t test and multivariate analysis using binary logistic regression, adopting a significance level of 5%. Results: It was observed that there were no associations of frailty with the social support variables, except for housekeeping mode (p = 0.046) of the MMRI. For the sociodemographic, economic, physical health and social support data, only age (p <0.001), sedentary lifestyle (p = 0.002) and poor perceived health (p = 0.001) were the ones that remained in the logistic regression model, with strong association for the presence of frailty. Conclusion: Among the variables related to social support, only to help with housekeeping was significantly associated with frailty. However, more studies need to be developed to characterize the social vulnerability, as well as health services need to recognize the importance of social support as an integral part of care for the elderly