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.

Projeto de um Transformador utilizado em uma Planta de Plasma

This work discusses the design of a transformer used in a plant plasma. This plant, which is being developed in UFRN, will be used in the treatment of waste. It consists basically of a radio frequency power supply and a inductive plasma torch. The transformer operates at the nominal frequency of 400 kHz, with 50 kW, allowing the adaptation of impedance between the power supply and torch. To develop the project, a study was done on the fabrication technologies and physical effects on the frequency of operation. This was followed by the modeling of this transformer. Finally, simulations and tests were conducted to validate the design

Protótipo de uma unidade com tri-geração de energia para utilizações remotas: aplicação de módulo secondutivo gerador termoelétrico

The generation for termoeletricity is characterized as a solid process of conversion of thermal energy (heat) in electric without the necessity of mobile parts. Although the conversion process is of low efficiency the system presents high degree of trustworthiness and low requisite of maintenance and durability. Its principle is based on the studies of termogeneration carried through by Thomas Seebeck in 1800. The frank development of the technologies of solid state for termoeletricity generation, the necessity of the best exploitation of the energy, also with incentive the cogeneration processes, the reduction of the ambient impact allies to the development of modules semiconductors of high efficiency, converge to the use of the thermoeletric generation through components of solid state in remote applications. The work presents the development, construction and performance evaluation of an prototype, in pilot scale, for energy tri-generation aiming at application in remote areas. The unit is composed of a gas lamp as primary source of energy, a module commercial semiconductor for thermoelectric generation and a shirt for production of the luminosity. The project of the device made compatible a headstock for adaptation in the gas lamp, a hot source for adaptation of the module, an exchanger of to be used heat as cold source and to compose first stage of cogeneration, an exchanger of tubular heat to compose second stage of cogeneration, the elaboration of a converter dc-dc type push pull, adequacy of a system of acquisition of temperature. It was become fullfilled assembly of the prototype in group of benches for tests and assay in the full load condition in order to evaluate its efficiency, had been carried through energy balance of the unit. The prototype presented an electric efficiency of 0,73%, thermal of 56,55%, illumination of 1,35% and global of 58,62%. The developed prototype, as the adopted methodology of assay had also taken care of to the considered objectives, making possible the attainment of conclusive results concerning to the experiment. Optimization in the system of setting of the semicondutor module, improvement in the thermal insulation and design of the prototype and system of protection to the user are suggestions to become it a commercial product

Influência do estresse hídrico e salino na germinação de urochloa decumbens e urochloa ruziziensis

Studies of the germination response of seeds subjected to artificial stresses are provided tools for better understanding of the survivability and adaptation of these species in natural stress conditions such as drought or saline soils, common in agricultural and forest regions, contributing significantly to the development of management strategies. Thus, the purpose of this study was to evaluate the possible effects of water and salt stress on germination of Urochloa decumbens and Urochloa ruziziensis. The test was conducted at the Faculty of Technology of São Paulo, campus of Capon Bonito. The seeds were sown with four replicates of 50 seeds in paper soaked in solutions with the potentials of 0.0, -0.2, -0.4 and -0.8 MPa, induced with polyethylene glycol (PEG 6000) and NaCl. The germination test was conducted at 25 degrees C in the presence of light, evaluating the first test score at seven days after sowing, and weekly germination (normal seedlings) until 35 days. We calculated the index of germination rate. The results allowed the conclusion that water stress causes a greater reduction in force, speed of germination and cumulative germination of seeds of U. decumbens and U. ruziziensis than salt stress. The species U. decumbens showed higher tolerance to water and salt stresses.

Development of mint (Mentha piperita L.) grown on biosolids: evaluation of productivity and essential oil content

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Adaptações morfoanatômicas de Cyperaceae ao ambiente aquático

No ecossistema aquático há uma faixa de umidade gradiente no solo que interfere diretamente na ocupação das espécies à margem da lâmina de água. Essa zonação ecológica reflete os graus de adaptação que as plantas apresentam para tolerar o alagamento ou a dessecação. O presente trabalho visou apresentar a análise morfoanatômica de cinco espécies de Cyperaceae encontradas em diferentes zonas no entorno da represa Alagados, em Ponta Grossa-PR, Brasil: Cyperus giganteus, Rhynchospora corymbosa var. aspérula, Cyperus densicaespitosus, Cyperus rigens e Eleocharis sp. Estruturas caulinares e foliares das cinco espécies de Cyperaceae foram analisadas a partir de cortes histológicos. Concluiu-se que, das cinco plantas analisadas, somente três caracterizam-se como plantas aquáticas, sendo duas classificadas como plantas emergentes e uma como submersa fixa devido às características adaptativas que apresentam para obter sucesso nesse ambiente.

Fertilizer distribution mechanisms and side dress nitrogen fertilization in upland rice under no-tillage system

Algumas culturas têm pouca adaptação ao sistema plantio direto (SPD), em vista da alta compactação da camada superficial do solo. Nesse caso, o mecanismo utilizado na semeadora para a abertura dos sulcos para deposição do fertilizante pode ter grande importância no sentido de facilitar a penetração das raízes. Avaliouse a influência do mecanismo de distribuição de fertilizante e da adubação nitrogenada na cultura do arroz de terras altas (Oryza sativa) no sistema plantio direto. O experimento foi conduzido nos anos agrícolas 2001/2002 e 2002/2003, em Botucatu-SP, Brasil. O delineamento experimental foi em blocos casualizados, com parcelas subdivididas e quatro repetições. As parcelas foram constituídas por dois mecanismos de distribuição de fertilizantes (haste sulcadora e disco duplo). Nas subparcelas, quatro níveis de N foram aplicados em cobertura (0, 40, 80 e 120 kg ha-1). Avaliou-se a profundidade de abertura do sulco e de deposição das sementes, a população de plantas, a altura de plantas, o número de colmos e de panículas m-2, o número total de espiguetas por panícula, a fertilidade das espiguetas, a massa de 1.000 grãos, a matéria seca da parte aérea, a produtividade e o teor de N na folha bandeira. O sucesso no estabelecimento da cultura do arroz de terras altas no SPD nas regiões de inverno seco do Brasil está diretamente ligado ao mecanismo de distribuição das semeadoras-adubadoras. A haste sulcadora promoveu maior profundidade de deposição de sementes, conseqüentemente reduzindo o estande, o número de panículas por área e a produtividade. A aplicação de N em cobertura no arroz de terras altas em SPD proporciona maiores produtividades quando a semeadura é realizada com mecanismo de disco duplo.

Implementação de um modelo computacional para estudo do processo Fischer-Tropsch em reator de leito de lama

This work aims at the implementation and adaptation of a computational model for the study of the Fischer-Tropsch reaction in a slurry bed reactor from synthesis gas (CO+H2) for the selective production of hydrocarbons (CnHm), with emphasis on evaluation of the influence of operating conditions on the distribution of products formed during the reaction.The present model takes into account effects of rigorous phase equilibrium in a reactive flash drum, a detailed kinetic model able of predicting the formation of each chemical species of the reaction system, as well as control loops of the process variables for pressure and level of slurry phase. As a result, a system of Differential Algebraic Equations was solved using the computational code DASSL (Petzold, 1982). The consistent initialization for the problem was based on phase equilibrium formed by the existing components in the reactor. In addition, the index of the system was reduced to 1 by the introduction of control laws that govern the output of the reactor products. The results were compared qualitatively with experimental data collected in the Fischer-Tropsch Synthesis plant installed at Laboratório de Processamento de Gás - CTGÁS-ER-Natal/RN

Boron rates for triticale and wheat crops

No Brasil não existem registros de respostas de adubação com boro para a cultura do triticale, sendo a ação deste nutriente uma incógnita, tanto em relação a deficiência quanto a toxidez, causas que levam a redução de produtividade. O objetivo deste trabalho foi avaliar a resposta do triticale a diferentes níveis de boro em comparação com o trigo (Triticum aestivum). Utilizou-se um Latossolo Vermelho distrófico com teor inicial de boro de 0,08 mg dm-3. O delineamento foi um fatorial 4 ´ 4, distribuído em blocos casualizados, com quatro repetições, quatro níveis de boro: 0; 0,62; 1,24 e 1,86 mg dm-3 de B e três cultivares de triticale, IAC 3, BR 4 e BR 53, mais um cultivar de trigo, IAPAR 38, para comparação. Cada cultivar respondeu de forma diferente com relação às variáveis estudadas em função da aplicação de diferentes níveis de boro. O trigo (IAPAR 38) apresenta maior eficiência na absorção de boro. A cultivar de triticale mais responsiva quanto à absorção foi a IAC 3, que apresentou característica semelhante ao trigo, seguida da cultivar BR 4, demonstrando serem cultivares tolerantes a maiores níveis de boro no solo. Para a BR 53, não ocorreu efeito para absorção, com a cultivar apresentando sensibilidade à toxidez de boro. A eficiência de absorção é diferenciada para cada genótipo possibilitando a escolha e utilização de plantas que possuam maior adaptação ao meio.

Estudo da influência de compostos recalcitrantes na remoção de matéria orgânica biodegradável no tratamento de efluente de refinarias de petróleo

Petroleum Refinery wastewaters (PRW) have hart-to-degrade compounds, such as: phenols, ammonia, cyanides, sulfides, oils and greases and the mono and polynuclear aromatic hydrocarbons: benzene, toluene and xylene (BTX), acenaphthene, nitrobenzene and naphtalene. It is known that the microrganisms activity can be reduced in the presence of certain substances, adversely affecting the biological process of wastewater treatment. This research was instigated due the small number of studies regarding to this specific topic in the avaiable literature. This body of work ims to evaluate the effect of toxic substances on the biodegradability of the organic material found in PRW. Glucose was chosen as the model substrate due to its biodegradable nature. This study was divided into three parts: i) a survey of recalcitants compounds and the removal of phenol by using both biological and photochemical-biological processes; ii) biomass aclimation and iii) evaluation of the inhibitory effect certain compounds have on glucose biodegradation. The phenol degradation experiments were carried out in an activity sludge system and in a photochemical reactor. The results showed the photochemical-biological process to be more effective on phenol degradation, suggesting the superioruty of a combined photochemical-biological treatment when compared with a simple biological process for phenol removal from industry wastewaters. For the acclimation step, was used an activated sludge from industrial wastewaters. A rapid biomass aclimation to a synthetic solution composed of the main inhibitory compouns fpund in a PRW was obtained using the following operation condition: (pH = 7,0; DO ≥ 2,0 mg/L; RS = 20 days e qH = 31,2 and 20,4 hours), The last part was consisted of using respirometry evaluation toxicity effects of selected compounds over oxygen uptake rate to adaptated and non adaptated biomass in the presence of inhibitory compounds. The adaptated sludge showed greater degration capacity, with lower sensibility to toxic effects. The respirometry has proved to be very practical, as the techiniques used were simple and rapid, such as: Chemical Oxygen Demand (COD), Dissolved Oxygen (DO), and Volatile Suspended Solids (VSS). Using the latter it is possible to perform sludge selection to beggingthe process; thus allowing its use for aerobic treatment system`s behacior prediction

O papel das subsidiárias e a internacionalização das atividades tecnológicas pelas Empresas Transnacionais (ETNs)

Este estudo se propõe a analisar os mandatos das subsidiárias de empresas transnacionais (ETNs) no estrangeiro por intermédio dos mecanismos de alocação das atividades de pesquisa e desenvolvimento (P&D) entre os centros descentralizados de pesquisa. Iniciamos o trabalho com a apresentação de uma síntese das diferentes perspectivas encontradas na literatura econômica sobre a subordinação (ou condicionamentos) da autonomia administrativa e tecnológica das filiais. Tal síntese permite estabelecer uma hierarquia entre as subsidiárias e uma tipologia para evolução (retrocesso) de mandatos construída, principalmente, para as ETNs estruturadas em forma de rede corporativa. A seguir, a partir de pesquisas realizadas sobre as atividades dos laboratórios de P&D da indústria de equipamentos de telecomunicações no Brasil, procuramos mostrar que: a) a descentralização das atividades tecnológicas é um fato que não está restrito apenas aos países centrais; b) as tecnologias de informação permitiram que as subsidiárias no país se integrassem aos laboratórios centrais das ETNs, dando-lhes condições de desenvolver e participar de outras atividades tecnológicas, além das tradicionais funções de adaptação de processo e de produtos.

Análise da vulnerabilidade de Natal/RN frente às mudanças climáticas

The interaction between land and water, resulting from dynamic agents, such as wind, waves and tides, characterizes the coastal zone as a dynamic environment that is constantly disturbed and that may alter the balance of natural and man-made environment. Such modifications may be intensified when considering the climate change. This environment is highly attractive for the development of economic activities and urbanization, current scenario of the city of Natal. Weighing the economic importance for the state and the physical environment in which the capital of Rio Grande do Norte is inserted, this study aims to identify and analyze vulnerabilities and impacts caused by the rising sea level in the municipality. To that end, we defined a coastline, delimited areas susceptible to flooding and presented some flood scenarios. This way we could identify and analyze the impacts of each flood scenario in its respective section. Finally, it appears that the coastal zone in which Natal is inserted is a fragile area that requires actions aimed at mitigating vulnerabilities and facing the problem that caused the rise in the mean sea level (MSL), and mitigating the presented vulnerability framework; it is necessary to implement actions that effectively contribute to the protection and adaptation of the most fragile areas

Análise da produtividade científica dos docentes da Universidade Estadual Paulista, campus de Marília/SP

O objetivo do presente trabalho foi analisar/quantificar a produtividade científica dos docentes pertencentes à Universidade de Estadual Paulista (UNESP), campus de Marília/SP. Para cada professor, analisamos o número total de artigos na plataforma Lattes, no ISI Web of Science e no SCOPUS. Além disso, verificamos o total de livros publicados, capítulos de livros publicados e orientações em Programas de Pós-Graduação (PPG). A análise dos nove departamentos da Faculdade de Filosofia e Ciências (FFC) mostrou que o Departamento de Ciências Políticas e Econômicas possui uma média elevada (21,42) de artigos na Plataforma Lattes, quando comparado aos outros departamentos. Entretanto, o Departamento de Fonoaudiologia apresentou médias mais altas em artigos indexados pelo ISI (2,61) e SCOPUS (4,39), bem como o índice-h, nessas plataformas. em relação aos programas de pós-graduação, o Departamento de Administração e Supervisão Escolar foi o que apresentou a maior média de orientações em andamento e/ou concluídas. O desempenho mais baixo, em relação aos artigos publicados pelo ISI e SCOPUS, pelos departamentos na área de Humanas/Humanidades pode estar associado às características do campo da concentração e da cobertura limitada do banco de dados ISI e SCOPUS, indicando que o índice-h é muito sensível ao campo de concentração.

Susceptibility of Saccharomyces cerevisiae and lactic acid bacteria from the alcohol industry to several antimicrobial compounds

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

O internato escolar O Ateneu: produção de subjetividade na instituição total

Dans cet article on cherche à identifier les effets de l'institutionnalisation dans la production de la subjectivité dans un établissement scolaire total. La recherche est basée sur le roman «O Ateneu » de Raul Pompeia, analysé à partir de la théorie de Goffman (1961-1987) relative aux institutions totales. on décrit l itinéraire moral que le personnage Sergio développe, à son entrée à l'internat, évoquant les vicissitudes par lesquelles il passe dans ce contexte institutionnel : période d'adaptation, crises évolutives, initiations sexuelles, problèmes de rivalités, etc. les établissements totaux semblent s'organiser d'une façon caractéristique et fonctionner de manière autonome. on pourra comprendre les problèmes sociaux et les effets sur la subjectivité produite par les institutions totales par l étude des relations de pouvoir subjacentes à ces types d'établissements. Le temps pendant lequel un individu vit comme interné peut laisser des marques profondes dans sa subjectivité et se configure comme un thème personnel approprié.