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.

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

(Por) entre pedra e tela: a construção de uma memória republicana (Natal - 1906-1919)

This work, from a perspective that thinks the space as a historical category, and especially as a relationship which stresses the role of objects, proposes an analysis of the construction of a Republican memory in the city of Natal in the early twentieth century. This research will focus mainly on two objects: the obelisk opened in 1917, and the Andre de Albuquerque Square on the occasion of the celebration of Frei Miguelinho´s death centenary and the paint Julgamento de Frei Miguelinho ordered by the State Government to the painter Antonio Parreiras, picture that was in the Salão Nobre do Palácio do Poder Executivo of that time. In a geral way this work intend to analyse the construction of this memory as well as the role of these objects in this process. To achieve that, we propose to trace ways and networks to follow the possible associations(between people, events, images, discourses, objects, institutios etc.) in the constitution of mutual belongings. Thus, our procedure was to follow these objects through the pathways in which they became possible, so that in the end we could defend the idea that they are active participants of the process that establish them.

Indicadores da resposta ao estresse agudo associados com a familiaridade ao ambiente e aos procedimentos de banho e tosa em cães (Canis familiaris) da raça poodle

The stress responses can be parameters used in order to identify the welfare of animals. Behavior parameters can also be regarded as means to identify their relation to stressing situations. In this study, adult male and female poodle dogs, accustomed (group 1) or not (group 2) to the environment of a bath and grooming salon were analyzed through the plasmatic concentration of cortisol, cell counting of the immune system (total leukocytes and percentage of neutrophils and lymphocytes) and through observation of changes in behavior before and after the bath and grooming service. After arriving at the kennel, the dogs were taken to the bath and grooming facility, where they had their blood samples taken and were observed for ten minutes. The subsequent procedures consisted of the bath and grooming services and the collection of another blood samples. The research results were analyzed through non-parametric statistic tests and p < 0.05. Accustomed and non-accustomed dogs presented different hormonal and behavior responses: accustomed dogs presented an increasing of the cortisol level at the second blood samples collection, thus indicating stress towards the aforementioned procedures and presenting behavior responses which can be described as moderated stress. Non-accustomed dogs presented the same cortisol levels in both first and second samples suggesting that they were already reacting to the new environment. Dogs also shown behavioral responses which can be described as acute stress. Both male and female dogs showed similar immunological changes as well as different endocrine and behavioral profiles. Concerning aggression, this study demonstrates that biting the owner can be a predicting behavior of aggression during the bath and grooming service, male dogs were more aggressive than the female, and that males were more reactive to unknown caretaker. The results of this research propose that the familiarization of the animal with the bath and grooming environment and caretaker is important to the welfare of poodle dogs, especially to that of male dogs

Critérios comportamentais utilizados por técnicos na avaliação do desempenho esportivo de futebolista das categorias de base

Currently one of the major concerns in sports is to identify, select, discover and reveal talents in soccer. As principal reasons is perceived the search direct or indirect for resources for players, clubs, media, sports brands and their sponsors. However, high salaries are an exception and not a rule, because the majority of professional players in Brazil receives 1 minimum salary per month. It is also known that on professional clubs, daily, arriving several players to try to be a professional soccer player, however, the majority of clubs - almost all does not present methodological, systematic and analytical aspects to select promising players. The selective processes ("sieves" or "big sieves") developed by technical observers ( olheiros") summarized in the observation of the sportive performance of a big group of players in a period of few minutes given to each player. In this period the target behavior is the ability with the ball. If promising players are identified on that selection, they are referred to the club for a new observation, which will be conducted by the responsible coach of base category in question. It is understood by base categories, the amateur categories (not professional), to serve as a "base" for the formation of the cast of professional clubs. What are sub-13 (under 13 years), sub-15 (under 15 years), sub-17 (under 17 years) and sub-20 (under 20 years). The absence of common criterias and performance indicators of these professionals may hamper the evaluation of promising players, and be a costly activity for the club. This study proposes to identify, characterize and categorize the criterias and methods of behavioral evaluation, used by coaches of base categories of Rio Grande do Norte (RN) to evaluate the sportive performance of young soccer players, with the purpose of to compare the criterias of evaluation of sportive performance of young soccer players, used by coaches with different time of experience in function. The proposal had 2 pilot studies, the first (June and July, 2007) were interviewed 29 coaches, 17 of category sub-13 and 12 of category sub-17. The data were tabulated and organized into spreadsheets in order to describe, and developed a set of descriptors of behavior. And the second (May and June, 2008), with revisions made based on observations, analysis and descriptions found in the first, were interviewed 14 technical of category sub-15. After the results found in pilots, it was possible to outline the study in question, which had 46 coaches base categories of the RN. And from the results show that the characteristic of greatest importance, according to the interviewees was the behavior, the 2nd most important characteristic considered was the motivation, the 3rd was the ability and the 4th was the physical condition and the last was the affiliation. And by analyzing the results to the methods of evaluation of sportive performance used by coaches, it was noted clearly that most uses only the observation to select young soccer players. Therefore, needs a systematization to the selection of soccer players, since there is complexity in the verification of characteristics and aspects involved with purpose to avoid wrong evaluations and selections and the results negligible

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

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

Urbanização turística em ponta negra: relações de força e processos sociais no período de 1979-2009

This master thesis aimed to investigate how the power relations operating in the tourism social processes, have shaped the urbanization of Ponta Negra district, Natal, Rio Grande do Norte - RN. The study assumes that the production of space is the result of global phenomena individualized by local forces a process of glocalization. The method used was the case study. It used primary and secondary data and information were treated using the technique of content analysis. The urbanization of Ponta Negra is inserted in the context of global process triggered in the 1970s. The Park of Dunas and Costeira Highway (PD/VC) urbanization project marks the beginning of the Tourisms since 1979. The period in focus was 1979 to 2009. The tourism was dived into four major sections time: tourism in Natal before the Coastal Highway (1939-1979); Project Parque das Dunas / Coastal Highway to the first boom in domestic tourism (1979 - 1990); the internationalization of tourism (1991-2000) and, of first "boom" to "decline" of international tourism (2001-2009). Based on the historical evolution of the tourism were elected three different social processes, able to demonstrate how relations of social forces brought in space act on them and help shape the process of urbanization of the neighborhood in question: The removal of beach hut , the soccer field Botafogo Football Club and the skyscrapers . Finally, it should summarize the research identified interests and conflicts among the actors that form the thrust of spatial transformations: cultural conflicts resulting from the imposition of social practices that differ from the taste of native; clashes between different groups that reflect the duality between use value and exchange value; and interests in land values. In addition, demonstrated that the social relations that involve the production of the area are stimulated by deep-seated societal processes historically and camouflaged by market relations and a modern facade that the city has acquired in recent times; revealed that the actors are linked in networks to increase their influence and that this influence varies mainly according to economic and political power that they or their associates hold

Análise da relação entre apego ao lugar, satisfação e fidelidade dos visitantes em destinos turísticos ambientais: um estudo em Fernando de Noronha/PE

The competition among tourist destinations environmental generates the emergent need to find different strategies to close down if the purpose of delight and retain their visitants. A customer satisfaction, loyalty and the development of attachment to place form a solid compound in search of promotion a tourist destination. This study presents the general objective analysis of the relationship between attachment to place, satisfaction and loyalty of visitors, in the archipelago of Fernando de Noronha / PE. Therefore, a model will be used as reference, where they will be analyzed various constructs related to attachment to place, satisfaction and loyalty, as well as the relations between them. The methodology used in the study consists of an exploratory, descriptive, where the sample is random and consists of individuals who visited Fernando de Noronha on a pre-defined period of ten days. Based on a sample table, we defined a quantitative equivalent of 246 questionnaires, which will be applied when the visitor leaves the destination, the departure lounge of airport. A proposal focuses on the possibility to get results able to understand the subjective and intriguing relationship that involves the triad attachment to place, satisfaction and loyalty, trying to thus provide subsidies for optimizing environmental tourist destination

O campo e o jogo: uma História do Estádio Castelão (1963-1991)

The study aims to examine the planning, the construction and uses of the stadium Presidente Castelo Branco (Castelão), opened in Natal, capital of Rio Grande do Norte, in 1972. Used as main sources of documents printed newspapers A República, Tribuna do Norte e Diário de Natal; photographs of the 1960s, 1970s and 1980s and, finally, an interview with Moacyr Gomes da Costa, architect responsible for building the stadium Castelão. Seeks to understand the changes and continuities stemming from the construction of this stadium for football history and the city. Articulated in the text the inauguration of the stadium with the process of commodification and massification of football norte-rio-grandense, that occurred from the 1970s. Indicates the places where they practiced football in Natal before the construction of a stadium and analyzes the historical needs that led to the construction of a sports square. Discusses the transformation of football matches in shows profit, which now involve large economic interests. Investigates how political potiguares made use of football stadiums as a mechanism of legitimation and realize this debate with the performances of Djalma Maranhão and the Cortez Pereira, that at different times using this mechanism. Search elements that favored the popularization experienced by football potiguar from the 1970s, the role of the sports press this process and the emergence organized supporters

Inatividade física e fatores associados em adultos, São Paulo, Brasil

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

Lazer, agressividade e violência: considerações sobre o comportamento das torcidas organizadas

O futebol possui grande representatividade social em diferentes culturas. Porém, a paixão despertada nas torcidas pode gerar comportamentos agressivos e violentos, em um momento que deveria ser de diversão, caracterizando o lazer desviante, o qual ainda não está devidamente esclarecido. Esta pesquisa qualitativa teve como objetivo investigar, nos estudos acadêmicos, o comportamento agressivo das torcidas organizadas e seus desdobramentos no tempo destinado ao lazer. Para tanto, na pesquisa bibliográfica, buscou-se informações em obras de referência, compostas por livros e teses, além da consulta a diferentes bases de dados, com os descritores: lazer, torcidas organizadas, agressividade e violência. Os resultados indicam que, independente da gênese do comportamento agressivo, quando em presença de um grupo, ou dependendo do contexto sociohistórico, da composição das torcidas, da violência integrante da sociedade, da mídia, da má organização esportiva e da impunidade, estes fatores podem afetar mudança no comportamento individual, contribuindo para manifestações agressivas e violentas no âmbito futebolístico em campo e nas torcidas. Este tipo de manifestação pode favorecer a diminuição do público nos estádios, além de repercutir na delimitação das atividades vivenciadas no contexto do lazer. Estas condutas violentas podem, até mesmo, acarretar graves conseqüências nos âmbitos físico e/ou psíquico. Por fim, aponta-se a premência de políticas públicas específicas envolvendo o lazer e os megaeventos.

Comportamento das concentrações séricas e urinárias de creatinina e uréia ao longo de uma periodização desenvolvida em futebolistas profissionais: relações com a taxa de filtração glomerular

As determinações de creatinina e uréia têm sido utilizadas para avaliar o impacto do treinamento físico. Portanto, o principal objetivo do presente estudo foi verificar o comportamento das concentrações séricas e urinárias de creatinina e uréia em futebolistas profissionais ao longo de uma periodização. Participaram do estudo 18 jogadores de futebol que foram avaliados no início (T1), meio (T2) e fim (T3) de uma periodização específica. Os atletas foram submetidos às avaliações antropométrica e de determinação da capacidade aeróbia e da eficiência do metabolismo anaeróbio alático. As concentrações de creatinina e uréia dos atletas foram mensuradas no soro e na urina, além da taxa de filtração glomerular (TFG), determinada por três métodos distintos, sendo um independente e dois dependentes do volume urinário. A análise das respostas das variáveis em T1, T2 e T3 foi realizada por Anova one-way, seguida de post hoc de Newman-Keuls, assim como foi aplicado teste de correlação de Pearson. Para todos os casos o nível de significância prefixado foi de 5%. Houve melhora nos parâmetros aeróbio (p < 0,01) e anaeróbio alático (p < 0,01) ao longo da periodização, assim como foi verificada diminuição do volume urinário (p < 0,05) ao longo do estudo. As concentrações de creatinina apresentaram comportamento oposto quando determinadas no soro (p < 0,05) e na urina (p < 0,01) ao longo da periodização, não apresentando correlações significativas. Todos os métodos de determinação de TFG mostraram redução dos valores (p < 0,05) em resposta ao treinamento periodizado. Foram observadas correlações significativas entre todos os métodos em T1, e também em T2 e T3 apenas entre os métodos dependentes do volume urinário. de acordo com os resultados, é possível concluir que as concentrações de creatinina determinadas no soro e na urina de futebolistas profissionais foram sensíveis ao programa de treinamento desenvolvido; contudo, apresentaram comportamentos opostos. Isso provavelmente ocorreu devido à limitação metodológica da técnica de coleta de urina de 24h.

Comparação entre métodos invasivos e não invasivo de determinação da capacidade aeróbia em futebolistas profissionais

O Limiar Anaeróbio (Lan) pode ser determinado por protocolos que utilizam concentrações fixas de lactato sanguíneo como o OBLA (Onset of Blood Lactate Accumulation) e os que utilizam procedimentos mais individualizados, como o Lactato Mínimo (Lacmin). Independente do método, a mensuração da capacidade aeróbia através do Lan nesses casos exige a utilização de equipamentos sofisticados, além do elevado custo por atleta, o que torna sua aplicação limitada. Como alternativa, um dos testes não invasivos mais empregados no meio esportivo é o de 12 minutos proposto por Cooper. O objetivo principal do presente estudo foi comparar a intensidade de exercício obtida pelo teste de 12min com as intensidades correspondentes ao Lan obtido pelo protocolo adaptado ao de Tegtbur et al. (1993) (Lac minat) e pelo OBLA em futebolistas profissionais. Para tanto participaram 16 atletas pertencentes a uma equipe profissional filiada à série A3 do futebol paulista. Cada atleta foi avaliado nos três protocolos, com intervalo mínimo de 48 e máximo de 72 horas. Os resultados mostraram diferença (p < 0,05) entre as velocidades (km.h-1) obtidas pelo teste de Cooper (15,09 ± 0,94) e OBLA (14,28 ± 1,02); entretanto, esses testes apresentaram correlação significativa. Cooper e OBLA não apresentaram correlação com o Lac minat, mas as velocidades foram similares com esse protocolo. Dessa maneira, a partir da análise de regressão entre os valores de Cooper e OBLA foi possível determinar uma equação de correção que permita, através do teste de Cooper, a obtenção da intensidade correspondente ao Lan determinado pelo OBLA em futebolistas profissionais.

Capacidade funcional, desempenho e solicitação metabólica em futebolistas profissionais durante situação real de jogo monitorados por análise cinematográfica

Foi objetivo deste estudo caracterizar a relação entre o nível de aptidão física, desempenho e solicitação metabólica em futebolistas durante situação real de jogo. Seis jogadores de futebol profissional com média de idade de 20,8 ± 2,6 anos (17-25), peso 70,4 ± 7,5kg (63-81,3) e altura 173,3 ± 9,7cm (166-188), foram submetidos a testes de aptidão física em campo e análise cinematográfica durante a partida. Os testes de aptidão física foram realizados em campo, com medições de lactato sanguíneo. A via metabólica alática foi avaliada por meio de cinco corridas na distância de 30m, em velocidade máxima, com pausa passiva de um minuto entre cada corrida. As concentrações de lactato foram medidas no 1º, 3º e 5º minuto após o término das cinco corridas. Para detecção do limiar anaeróbio foram realizadas 3 corridas de 1.200m nas intensidades de 80, 85 e 90% da velocidade máxima para essa distância, com intervalo passivo de 15 minutos entre cada corrida. As dosagens de lactato sanguíneo foram feitas no 1º, 3º e 5º minuto de repouso passivo após cada corrida. Os futebolistas foram submetidos à filmagem individual durante o transcorrer do jogo e as concentrações de lactato foram medidas antes, no intervalo e no final da partida para análise da solicitação energética e metabólica, respectivamente. Os seguintes resultados foram verificados: 1) o limiar anaeróbio em velocidade de corrida, correspondente à concentração de lactato sanguíneo de 4mmol.L_1 foi encontrado aos 268 ± 28m.min_1 ou 16,1 ± 1,6km.h_1; 2) a velocidade média e a concentração de lactato máximo nas corridas de 30m foram de 6,9 ± 0,2m.s_1 e 4,5 ± 1,0mmol.L_1, respectivamente; 3) a distância total percorrida foi de 10.392 ± 849m, sendo 5.446 ± 550m para o primeiro e 4.945 ± 366m para o segundo tempo, respectivamente; 4) os valores médios encontrados nas concentrações de lactato sanguíneo foram de 1,58 ± 0,37; 4,5 ± 0,42 e 3,46 ± 1,54mmol.L_1 antes, no intervalo do primeiro para o segundo tempo e ao final da a,respectivamente; e 5) a distância média total atingida ao final das partidas pelos jogadores de meio-campo (10.910 ± 121m) foi ligeiramente maior que a percorrida pelos atacantes (10.377 ± 224m) e defensores (9.889 ± 102m), mas não significativa. Houve correlação negativa (r =- 0,84; p < 0,05) entre o limiar anaeróbio (268 ± 28m.min_1 ou 16,1 ± 1,6km.h_1) e a concentração de lactato sanguíneo (4,5 ± 0,4 mmol.L_1) no primeiro tempo do jogo. Portanto, os resultados sugerem que a capacidade aeróbia é um determinante importante para suportar a longa duração da partida e recuperar mais rapidamente os futebolistas dos esforços realizados em alta intensidade, com o desenvolvimento de concentrações de lactato sanguíneo menores ao final do primeiro e segundo tempo das partidas.