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.

Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Otimização Topológica com Termo-elasticidade Utilizando Elementos Tri3

This work proposes a formulation for optimization of 2D-structure layouts submitted to mechanic and thermal shipments and applied an h-adaptive filter process which conduced to computational low spend and high definition structural layouts. The main goal of the formulation is to minimize the structure mass submitted to an effective state of stress of von Mises, with stability and lateral restriction variants. A criterion of global measurement was used for intents a parametric condition of stress fields. To avoid singularity problems was considerate a release on the stress restriction. On the optimization was used a material approach where the homogenized constructive equation was function of the material relative density. The intermediary density effective properties were represented for a SIMP-type artificial model. The problem was simplified by use of the method of finite elements of Galerkin using triangles with linear Lagrangian basis. On the solution of the optimization problem, was applied the augmented Lagrangian Method, that consists on minimum problem sequence solution with box-type restrictions, resolved by a 2nd orderprojection method which uses the method of the quasi-Newton without memory, during the problem process solution. This process reduces computational expends showing be more effective and solid. The results materialize more refined layouts with accurate topologic and shape of structure definitions. On the other hand formulation of mass minimization with global stress criterion provides to modeling ready structural layouts, with violation of the criterion of homogeneous distributed stress

Os argumentos transcendentais: kant e o problema de hume

This work whose title is "The transcendental arguments: Kant Andy Hume's problem" has as its main objective to interpret Kant's answer to Hume's problem in the light of the conjunction of the causality and induction themes which is equivalent to skeptical- naturalist reading of the latter. In this sense, this initiative complements the previous treatment seen in our dissertation, where the same issue had been discussed from a merely skeptical reading that Kant got from Hume thought and was only examined causality. Among the specific objectives, we list the following: a) critical philosophy fulfills three basic functions, a founding, one negative and one would argue that the practical use of reason, here named as defensive b) the Kantian solution of Hume's problem in the first critisism would fulfill its founding and negative functions of critique of reason; c) the Kantian treatment of the theme of induction in other criticisms would will fulfill the defense function of critique of reason; d) that the evidence of Kant's answer to Hume's problem are more consistent when will be satisfied these three functions or moments of criticism. The basic structure of the work consists of three parts: the first the genesis of Hume's problem - our intention is to reconstruct Hume's problem, analyzing it from the perspective of two definitions of cause, where the dilution of the first definition in the second match the reduction of psychological knowledge to the probability of following the called naturalization of causal relations; whereas in the second - Legality and Causality - it is stated that when considering Hume in the skeptic-naturalist option, Kant is not entitled to respond by transcendental argument A􀁴B; A⊢B from the second Analogy, evidence that is rooted in the position of contemporary thinkers, such as Strawson and Allison; in third part - Purpose and Induction - admits that Kant responds to Hume on the level of regulative reason use, although the development of this test exceeds the limits of the founding function of criticism. And this is articulated in both the Introduction and Concluding Remarks by meeting the defensive [and negative] function of criticism. In this context, based on the use of so-called transcendental arguments that project throughout the critical trilogy, we provide solution to a recurring issue that recurs at several points in our submission and concerning to the "existence and / or the necessity of empirical causal laws. In this light, our thesis is that transcendental arguments are only an apodictic solution to the Hume s skeptical-naturalist problem when is at stake a practical project in which the interest of reason is ensured, as will, in short, proved in our final considerations

Interpretação e análise do problema da indução sob uma visão fundamentada em teorias de conjuntos e teoria de probabilidades

The following work is to interpret and analyze the problem of induction under a vision founded on set theory and probability theory as a basis for solution of its negative philosophical implications related to the systems of inductive logic in general. Due to the importance of the problem and the relatively recent developments in these fields of knowledge (early 20th century), as well as the visible relations between them and the process of inductive inference, it has been opened a field of relatively unexplored and promising possibilities. The key point of the study consists in modeling the information acquisition process using concepts of set theory, followed by a treatment using probability theory. Throughout the study it was identified as a major obstacle to the probabilistic justification, both: the problem of defining the concept of probability and that of rationality, as well as the subtle connection between the two. This finding called for a greater care in choosing the criterion of rationality to be considered in order to facilitate the treatment of the problem through such specific situations, but without losing their original characteristics so that the conclusions can be extended to classic cases such as the question about the continuity of the sunrise

O enigmático problema das gigantes ricas em Lítio e as perspectivas com o satélite Kepler

Lithium (Li) is a chemical element with atomic number 3 and it is among the lightest known elements in the universe. In general, the Lithium is found in the nature under the form of two stable isotopes, the 6Li and 7Li. This last one is the most dominant and responds for about 93% of the Li found in the Universe. Due to its fragileness this element is largely used in the astrophysics, especially in what refers to the understanding of the physical process that has occurred since the Big Bang going through the evolution of the galaxies and stars. In the primordial nucleosynthesis in the Big Bang moment (BBN), the theoretical calculation forecasts a Li production along with all the light elements such as Deuterium and Beryllium. To the Li the BNB theory reviews a primordial abundance of Log log ǫ(Li) =2.72 dex in a logarithmic scale related to the H. The abundance of Li found on the poor metal stars, or pop II stars type, is called as being the abundance of Li primordial and is the measure as being log ǫ(Li) =2.27 dex. In the ISM (Interstellar medium), that reflects the current value, the abundance of Lithium is log ǫ(Li) = 3.2 dex. This value has great importance for our comprehension on the chemical evolution of the galaxy. The process responsible for the increasing of the primordial value present in the Li is not clearly understood until nowadays. In fact there is a real contribution of Li from the giant stars of little mass and this contribution needs to be well streamed if we want to understand our galaxy. The main objection in this logical sequence is the appearing of some giant stars with little mass of G and K spectral types which atmosphere is highly enriched with Li. Such elevated values are exactly the opposite of what could happen with the typical abundance of giant low mass stars, where convective envelops pass through a mass deepening in which all the Li should be diluted and present abundances around log ǫ(Li) ∼1.4 dex following the model of stellar evolution. In the Literature three suggestions are found that try to reconcile the values of the abundance of Li theoretical and observed in these rich in Li giants, but any of them bring conclusive answers. In the present work, we propose a qualitative study of the evolutionary state of the rich in Li stars in the literature along with the recent discovery of the first star rich in Li observed by the Kepler Satellite. The main objective of this work is to promote a solid discussion about the evolutionary state based on the characteristic obtained from the seismic analysis of the object observed by Kepler. We used evolutionary traces and simulation done with the population synthesis code TRILEGAL intending to evaluate as precisely as possible the evolutionary state of the internal structure of these groups of stars. The results indicate a very short characteristic time when compared to the evolutionary scale related to the enrichment of these stars

A Dança na Escola: um sério problema a ser resolvido

Pretendemos abordar os aspectos relacionados à Dança na Escola e pensarmos sobre uma formação continuada, a fim de discutir e refletir a elaboração de propostas de capacitação em Dança voltadas aos professores de Educação Física, principalmente no interior do Estado de São Paulo. Analisaremos a formação inicial dos professores, objetivos, conteúdos e possibilidades de aplicação da Dança no contexto educacional. Apesar do aumento das pesquisas em relação ao ensino da Dança na Escola, falta um espaço adequado e professores comprometidos com um trabalho sério, consciente e crítico, pois a hegemonia do esporte se encontra muito arraigada na cultura escolar. Uma forma de amenizar esse problema seriam cursos de capacitação, de forma permanente, voltados aos conteúdos de Dança, a fim de que esses professores possam ter vivências em práticas dançantes embasadas em uma fundamentação teórica para, assim, discutir, analisar e refletir a melhor maneira de trabalhar esta arte no âmbito escolar.

Um método primal-dual aplicado na resolução do problema de fluxo de potência ótimo

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

Determinação da solução ótima do problema de fluxo de potência ótimo via análise de sensibilidade

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

Um método eficiente para resolução do problema de Despacho Ótimo de Reativos com controle discreto do TAP dos transformadores

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

Aplicaçaõ das técnicas Path-relinking e Vocabulary buiding na melhoria de performance do algoritmo memético para o problema do caixeiro viajante assimétrico

The present essay shows strategies of improvement in a well succeded evolutionary metaheuristic to solve the Asymmetric Traveling Salesman Problem. Such steps consist in a Memetic Algorithm projected mainly to this problem. Basically this improvement applied optimizing techniques known as Path-Relinking and Vocabulary Building. Furthermore, this last one has being used in two different ways, in order to evaluate the effects of the improvement on the evolutionary metaheuristic. These methods were implemented in C++ code and the experiments were done under instances at TSPLIB library, being possible to observe that the procedures purposed reached success on the tests done

Aprendizado espacial-temporal em um ambiente complexo sem restrição alimentar em ratos

Timeplace learning is the capacity of organisms to associate both space and time with a biological relevant stimulus such as food. Experiments are usually done with food restricted animals due to the belief that food system activation is necessary for timeplace learning. Another line of thought suggest that, in addition to food system activation, response cost should be increased to effectively allow timeplace discrimination. The purpose of this experiment was to test whether a complex environment, which presumably implied in a heightened response cost, would facilitate timeplace association in satiated rats using a highly palatable food as reward. Nine rats were trained in a timeplace task for 30 nonconsecutive days. A large experimental box (1x1m) divided in four compartments was used. To access each compartment the animal had to overcome a series of obstacles such as ramps, staircases and mazes. Two feeders localized in opposite compartments were rewarded with sunflower seeds in two daily sessions. One feeder offered the reward during the morning sessions while the second feeder in afternoon sessions. After the 15th day of training, the animals began to show a preference for the correct feeder during the correct time of day expressed by increased frequency of visits as well as lower latency to access the feeders. These results suggest that satiated animals are also capable of learning a timespace task as far as the experimental context is complex enough to result in a higher response cost

Controle ótimo H2 e H¥ com modificação de zeros para o problema de rastreamento usando LMI

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

Violência sob o olhar do adolescente autor de Ato Infracional: reflexões fenomenologicas

O envolvimento de jovens com a violência nos últimos anos, no Brasil, tem aumentado significativamente, bem como o número de adolescentes cumprindo medidas socioeducativas com restrição de liberdade. Entretanto, a literatura mostra a produção incipiente de estudos que abordam o jovem infrator a partir da sua própria experiência. Com base nessas evidências, esta pesquisa teve como objetivo compreender como adolescentes autores de atos infracionais experienciam a violência, sejam como agentes, espectadores ou vítimas, sob a ótica da Analítica Existencial, de Martin Heidegger. Trata-se de uma pesquisa qualitativa, de inspiração fenomenológico-hermenêutica, tendo sido utilizada a narrativa como recurso metodológico. Foram realizadas entrevistas semiestruturadas, com dois adolescentes de 16 e 17 anos, egressos de medida socioeducativa de restrição de liberdade. A interpretação das narrativas foi feita a partir dos sentidos que emergiram na experiência relatada e do diálogo entre algumas noções heideggerianas como ser-no-mundo, cuidado e impessoalidade. Os relatos mostraram que a violência está presente desde a infância desses adolescentes, tendo sido presenciada na própria família. Para eles, o comportamento violento representa uma forma de impor respeito e admiração. As experiências podem ser interpretadas como uma expressão das relações entre o ser adolescente e o mundo que caracteriza o seu contexto de vida. Assim, as noções de cuidado, no modo de ocupação, e impessoalidade, são vistas como presentes nas experiências narradas. Por hora, o que apresentamos foi nossa compreensão dessas experiências únicas de ser adolescentes num contexto de violência, mostrando peculiaridades de duas crianças que não queriam ser um problema social, mas lançados num mundo inóspito e cruel, na qual nos absorve para as tramas mais sutis de ser, misturando significações e sentidos num espectro fluido que é o viver. Por fim, esperamos que esta pesquisa possa acrescentar não só aos estudos sobre a violência de jovens, mas também ressaltar a importância de se compreender a violência pelo olhar daqueles que a vivenciam