Η διπλωματική αυτή εργασία έχει ως αντικείμενο μελέτης εφαρμογές / διεργασίες στα ρομποτικά σμήνη. Οι εφαρμογές / διεργασίες που εξετάζονται είναι η καλυψιμότητα χώρου, η διατήρηση συνδεσιμότητας και τα παιχνίδια κυνηγού - κυνηγούμενου. Συγκεκριμένα, εξετάζονται δύο μέθοδοι καλυψιμότητας χώρου: κίνηση προς το κεντροειδές και κίνηση προς τη βάθμωση. Εισάγονται οι επικοινωνιακοί περιορισμοί και προτείνονται περιορισμοί κίνησης που εξασφαλίζουν διατήρηση N-hop συνδεσιμότητας, οι οποίοι έπειτα προσαρμόζονται στην καλυψιμότητα χώρου. Αναλύονται δύο τακτικές κυνηγού: οι έμμεσοι κυνηγοί και η τακτική περικύκλωσης, και προτείνονται δύο τακτικές για τους κυνηγούμενους. Η πρώτη αποτελεί μία παθητική αποφυγή των κυνηγών, ενώ η δεύτερη μια πιο δυναμική συνεργατική τακτική. Τέλος, προσομοιώσεις συνοδεύουν όλα τα παραπάνω μέρη, που επιβεβαιώνουν την αποτελεσματικότητά τους και προσφέρουν σύγκριση των διάφορων μεθόδων για την κάθε εφαρμογή. / This thesis addresses applications / tasks of robotic swarms. The applications / tasks presented are the area coverage, communication maintenance and pursuer - evasion games. Two methods for area coverage are examined; centroid and gradient movement. Communication constraints are considered and movement constraints are proposed, such that the swarm's N-hop connectivity is retained. Then the contraints are adapted for the area coverage problem. After that, two pursuing tactics are examined; the indirect pursuers and the blanket movement, and two evader tactics are proposed. The first is a passive pursuers avoidance, while the second is a more dynamic collaborative tactic. Finally, simulations accompanying the above sections, confirm the efficiency and offer a comparison between the different methods in each application.

Variscan dike swarms associated with the Central Bohemian Plutonic Complex (CBPC) at the boundary between the Teplá-Barrandian and Moldanubian Units of the Bohemian Massif represent one of the most interesting geological phenomena. Frequency of dykes and their chemical variability do not have any comparable analogy in the whole European Variscides. This work is focused on the study of dyke rocks in the NE periphery of CBPC in geologically very complicated area with intrusions of predominantly deformed granitoids, contact metamorphosed sediments and magmatic rocks of "Islet Zone" with different protolith ages (forming remnants of the original roof of CBPC), deformed basic rocks of uncertain origin and age. The area extends up to the western boundary of the northernmost part of the Moldanubian high-grade metamorphic complex, the boundary itself being also tectonically problematic. Several localities with dyke rocks under study are situated in the area east of Senohraby (SE of Prague), on the northern side (right coast) of the Sázava river, and extend up to the area of Stříbrná Skalice. This area is rich in dykes of gabbro to diorite porphyry accompanied in some places with tonalite (rarely quartz diorite) porphyry and more rarely with amphibole lamprophyres (spessartite). Significantly younger dykes...

Multimodal function optimization generally focuses on algorithms to find either a local optimum or the global optimum while avoiding local optima. However, there is another class of optimization problems which have the objective of finding multiple optima with either equal or unequal function values. The knowledge of multiple local and global optima has several advantages such as obtaining an insight into the function landscape and selecting an alternative solution when dynamic nature of constraints in the search space makes a previous optimum solution infeasible to implement. Applications include identification of multiple signal sources like sound, heat, light and leaks in pressurized systems, hazardous plumes/aerosols resulting from nuclear/ chemical spills, fire-origins in forest fires and hazardous chemical discharge in water bodies, oil spills, deep-sea hydrothermal vent plumes, etc. Signals such as sound, light, and other electromagnetic radiations propagate in the form of a wave. Therefore, the nominal source profile that spreads in the environment can be represented as a multimodal function and hence, the problem of localizing their respective origins can be modeled as optimization of multimodal functions. Multimodality in a search and optimization problem gives rise to several attractors and thereby presents a challenge to any optimization algorithm in terms of finding global optimum solutions. However, the problem is compounded when multiple (global and local) optima are sought. This thesis develops a novel glowworm swarm optimization (GSO) algorithm for simultaneous capture of multiple optima of multimodal functions. The algorithm shares some features with the ant-colony optimization (ACO) and particle swarm optimization (PSO) algorithms, but with several significant differences. The agents in the GSO algorithm are thought of as glowworms that carry a luminescence quantity called luciferin along with them. The glowworms encode the function-profile values at their current locations into a luciferin value and broadcast the same to other agents in their neighborhood. The glowworm depends on a variable local decision domain, which is bounded above by a circular sensor range, to identify its neighbors and compute its movements. Each glowworm selects a neighbor that has a luciferin value more than its own, using a probabilistic mechanism, and moves toward it. That is, they are attracted to neighbors that glow brighter. These movements that are based only on local information enable the swarm of glowworms to partition into disjoint subgroups, exhibit simultaneous taxis-behavior towards, and rendezvous at multiple optima (not necessarily equal) of a given multimodal function. Natural glowworms primarily use the bioluminescent light to signal other individuals of the same species for reproduction and to attract prey. The general idea in the GSO algorithm is similar in these aspects in the sense that glowworm agents are assumed to be attracted to move toward other glowworm agents that have brighter luminescence (higher luciferin value). We present the development of the GSO algorithm in terms of its working principle, various algorithmic phases, and evolution of the algorithm from the first version of the algorithm to its present form. Two major phases ¡ splitting of the agent swarm into disjoint subgroups and local convergence of agents in each subgroup to peak locations ¡ are identified at the group level of the algorithm and theoretical performance results related to the latter phase are obtained for a simplified GSO model. Performance of the GSO algorithm against a large class of benchmark multimodal functions is demonstrated through simulation experiments. We categorize the various constants of the algorithm into algorithmic constants and parameters. We show in simulations that fixed values of the algorithmic constants work well for a large class of problems and only two parameters have some influence on algorithmic performance. We also study the performance of the algorithm in the presence of noise. Simulations show that the algorithm exhibits good performance in the presence of fairly high noise levels. We observe graceful degradation only with significant increase in levels of measurement noise. A comparison with the gradient based algorithm reveals the superiority of the GSO algorithm in coping with uncertainty. We conduct embodied robot simulations, by using a multi-robot-simulator called Player/Stage that provides realistic sensor and actuator models, in order to assess the GSO algorithm's suitability for multiple source localization tasks. Next, we extend this work to collective robotics experiments. For this purpose, we use a set of four wheeled robots that are endowed with the capabilities required to implement the various behavioral primitives of the GSO algorithm. We present an experiment where two robots use the GSO algorithm to localize a light source. We discuss an application of GSO to ubiquitous computing based environments. In particular, we propose a hazard-sensing environment using a heterogeneous swarm that consists of stationary agents and mobile agents. The agents deployed in the environment implement a modification of the GSO algorithm. In a graph of mini mum number of mobile agents required for 100% source-capture as a function of the number of stationary agents, we show that deployment of the stationary agents in a grid configuration leads to multiple phase-transitions in the heterogeneous swarm behavior. Finally, we use the GSO algorithm to address the problem of pursuit of multiple mobile signal sources. For the case where the positions of the pursuers and the moving source are collinear, we present a theoretical result that provides an upper bound on the relative speed of the mobile source below which the agents succeed in pursuing the source. We use several simulation scenarios to demonstrate the ecacy of the algorithm in pursuing mobile signal sources. In the case where the positions of the pursuers and the moving source are non-collinear, we use numerical experiments to determine an upper bound on the relative speed of the mobile source below which the pursuers succeed in pursuing the source.

Made available in DSpace on 2016-03-15T19:37:34Z (GMT). No. of bitstreams: 1 Ana Karina Fontes Prior.pdf: 415415 bytes, checksum: a6ecb97b982ab886cc421abdc943c8ac (MD5) Previous issue date: 2010-12-22 / Fundo Mackenzie de Pesquisa / The large number of data generated by people and organizations has stimulated the research on effective and automatic methods of knowledge extraction from databases. This dissertation proposes two new bioinspired techniques, named cPSC and oPSC, based on the Particle Swarm Optimization Algorithm (PSO) to solve data clustering problems. The proposed algorithms are applied to data and text clustering problems and their performances are compared with a standard algorithm from the literature. The results allow us to conclude that the proposed algorithms are competitive with those already available in literature, but bring benefits such as automatic determination of the number of groups on the dataset and a search for the best partitioning of the dataset considering an explicit cost function. / A grande quantidade de dados gerados por pessoas e organizações tem estimulado a pesquisa sobre métodos efetivos e automáticos de extração de conhecimentos a partir de bases de dados. Essa dissertação propõe duas novas técnicas bioinspiradas, denominadas cPSC e oPSC, baseadas no algoritmo de otimização por enxame de partículas (PSO - Particle Swarm Optimization) para resolver problemas de agrupamento de dados. Os algoritmos propostos são aplicados a problemas de agrupamento de dados e textos, e seus desempenhos são comparados com outros propostos na literatura específica. Os resultados obtidos nos permitem concluir que os algoritmos propostos são competitivos com aqueles já disponíveis na literatura, porém trazem outros benefícios como a determinação automática do número de grupos nas bases e a efetuação de uma busca pelo melhor particionamento possível da base considerando uma função de custo explícita.

The pursuit of precision and flexibility in satellite missions has led to an increased number of formation flying missions being developed. These systems consist of multiple satellites flying at close distances (from a few kilometres to a few meters) to achieve common objectives. This master thesis delves into the domain of the Guidance, Navigation and Control (GNC) for formation flying satellite systems, aiming to propose a novel architecture of different sets of sensors capable of determining absolute and relative positioning of the formation, ensuring mission success. This research begins by providing an overall status of existing and tested in-space systems. It will be complemented with novel and other systems already tested and promising new technologies in development. The thesis then delves into the design of an absolute and a relative Extended Kalman Filter (EKF) for distributed Synthetic Aperture Radar (SAR) systems implemented as part of an in-house simulator. Concluding with the results when using simulated Global Navigation Satellite Systems (GNSS) data as the filter input. Finally, the thesis will be completed with a trade-off analysis of the sensor systems, which could be used in formation-flying satellite systems in the near future. The outcome of this thesis is a novel proposal of a set of sensors to be brought to space navigation, with a corresponding detailed trade-off analysis. Additionally, to validate some of the sensor systems, an EKF is proposed, implemented and tested with the results from an in-house formation flying simulator. This master thesis report is the outcome of the work done during an internship at the Microwave and Radar Institute of the Deutsche Zentrum für Luft- und Raumfahrt e.V. (DLR) – German Aerospace Center – in Oberpfaffenhofen, Bavaria, Germany.

L’objectif de cette thèse est de concevoir et de réaliser un mobile piézoélectrique pour utilisation coopérative. Le terme mobile piézoélectrique est utilisé dans cette thèse pour décrire un robot piézoélectrique miniature. Ce robot miniature mobile est actionné par des matériaux piézoélectriques. L’objectif de la thèse est donc la conception et la réalisation d’un robot pouvant être miniaturisé et qui pourrait donc être utilisé dans le cadre du mimétisme des essaims biologiques (fourmis, abeilles…) pour un fonctionnement coopératif.Le robot réalisé est constitué d'un support mince et de patchs piézoélectriques. Les patchs piézoélectriques sont collés sur le support de façon intelligente afin de déplacer le support en milieu terrestre. Dans ce contexte, la thèse est divisée en trois parties.La première partie est consacrée à la modélisation d’un tel système (support mince avec des patches piézoélectriques sur une seule de ses faces). Une modélisation par la méthode des éléments finis est développée pour ce système en se basant sur le principe variationnel d’Hamilton et en considérant l'hypothèse de Love-Kirchhoff. L’originalité de cette modélisation réside dans l’utilisation de la notion du plan neutre pour modéliser ce système asymétrique. Cela permet de ne modéliser le système étudié que par un modèle éléments finis à deux dimensions (2D) tout en tenant compte de la troisième dimension dans le calcul. La deuxième partie présente le principe de fonctionnement du robot qui est inspiré des moteurs linéaire ultrasoniques à ondes progressive. Cette partie présente toutes les étapes de la conception optimale afin de créer les mouvements nécessaires. La conception optimale est étudiée en utilisant la modélisation par éléments finis obtenue dans la première partie. La troisième partie de cette thèse est dédiée à la réalisation d’un prototype expérimental. Le processus de fabrication ainsi que l’électronique associée au robot sont présentés dans cette partie. Le robot est caractérisé expérimentalement en mesurant la vitesse en fonction de la tension appliquée, la vitesse en fonction de masses embarquées par le robot et la vitesse en fonction de la force fournie par le robot. Ce robot est, par ailleurs, comparé avec d’autres systèmes de même nature. / The objective of this thesis is to design and realize a piezoelectric mobile for cooperative use. The term piezoelectric mobile is used in this thesis to describe a piezoelectric miniature robot. This mobile miniature robot is actuated by piezoelectric materials. The aim of the thesis is the design and the realization of a robot that can be miniaturized and could therefore be used in the context of biological mimicry swarms (ants, bees ...) for a cooperative operation.The realized robot consists of a thin support and piezoelectric patches. Piezoelectric patches are bonded on the support on an intelligent manner in order to move the support on land. In this context, the thesis is divided into three parts.The first part is devoted to the modeling of such a system (thin support with piezoelectric patches on one of its faces). Modeling by the finite element method is developed for this system based on the variational principle of Hamilton and considering the Love-Kirchhoff hypothesis. The originality of this model lies in the use of the concept of the neutral plane to model this asymmetric system. This allows modeling the system studied by a finite element model in two dimensions (2D), taking into account the third dimension in the calculation.The second part presents the operating principle of the robot which is inspired by the linear traveling wave ultrasonic motors. This section presents all the stages of the optimal design to create the necessary movements. The optimal design is investigated using finite element modeling obtained in the first part.The third part of this thesis is devoted to the realization of an experimental prototype. The manufacturing process and the associated electronics for the robot are presented in this section. The robot is characterized experimentally by measuring the speed according to the applied voltage, the speed versus mass loaded by the robot and the speed according to the force provided by the robot. This robot is also compared with other similar systems.

O aprendizado de máquina consiste de conceitos e técnicas que permitem aos computadores melhorar seu desempenho com a experiência, ou, em outras palavras, aprender com dados. Um dos principais tópicos do aprendizado de máquina é o agrupamento de dados que, como o nome sugere, procura agrupar os dados de acordo com sua similaridade. Apesar de sua definição relativamente simples, o agrupamento é uma tarefa computacionalmente complexa, tornando proibitivo o emprego de algoritmos exaustivos, na busca pela solução ótima do problema. A importância do agrupamento de dados, aliada aos seus desafios, faz desse campo um ambiente de intensa pesquisa. Também a classe de fenômenos naturais conhecida como comportamento coletivo tem despertado muito interesse. Isso decorre da observação de um estado organizado e global que surge espontaneamente das interações locais presentes em grandes grupos de indivíduos, caracterizando, pois, o que se chama auto-organização ou emergência, para ser mais preciso. Os desafios intrínsecos e a relevância do tema vêm motivando sua pesquisa em diversos ramos da ciência e da engenharia. Ao mesmo tempo, técnicas baseadas em comportamento coletivo vêm sendo empregadas em tarefas de aprendizado de máquina, mostrando-se promissoras e ganhando bastante atenção. No presente trabalho, objetivou-se o desenvolvimento de técnicas de agrupamento baseadas em comportamento coletivo. Faz-se cada item do conjunto de dados corresponder a um indivíduo, definem-se as leis de interação local, e então os indivíduos são colocados a interagir entre si, de modo que os padrões que surgem reflitam os padrões originalmente presentes no conjunto de dados. Abordagens baseadas em dinâmica de troca de energia foram propostas. Os dados permanecem fixos em seu espaço de atributos, mas carregam certa informação a energia , a qual é progressivamente trocada entre eles. Os grupos são estabelecidos entre dados que tomam estados de energia semelhantes. Este trabalho abordou também o aprendizado semissupervisionado, cuja tarefa é rotular dados em bases parcialmente rotuladas. Nesse caso, foi adotada uma abordagem baseada na movimentação dos próprios dados pelo espaço de atributos. Procurou-se, durante todo este trabalho, não apenas propor novas técnicas de aprendizado, mas principalmente, por meio de muitas simulações e ilustrações, mostrar como elas se comportam em diferentes cenários, num esforço em mostrar onde reside a vantagem de se utilizar a dinâmica coletiva na concepção dessas técnicas / Machine learning consists of concepts and techniques that enable computers to improve their performance with experience, i.e., enable computers to learn from data. Data clustering (or just clustering) is one of its main topics, which aims to group data according to their similarities. Regardless of its simple definition, clustering is a complex computational task. Its relevance and challenges make this field an environment of intense research. The class of natural phenomena known as collective behavior has also attracted much interest. This is due to the observation that global patterns may spontaneously arise from local interactions among large groups of individuals, what is know as self-organization (or emergence). The challenges and relevance of the subject are encouraging its research in many branches of science and engineering. At the same time, techniques based on collective behavior are being employed in machine learning tasks, showing to be promising. The objective of the present work was to develop clustering techniques based on collective behavior. Each dataset item corresponds to an individual. Once the local interactions are defined, the individuals begin to interact with each other. It is expected that the patterns arising from these interactions match the patterns originally present in the dataset. Approaches based on dynamics of energy exchange have been proposed. The data are kept fixed in their feature space, but they carry some sort of information (the energy), which is progressively exchanged among them. The groups are established among data that take similar energy states. This work has also addressed the semi-supervised learning task, which aims to label data in partially labeled datasets. In this case, it has been proposed an approach based on the motion of the data themselves around the feature space. More than just providing new machine learning techniques, this research has tried to show how the techniques behave in different scenarios, in an effort to show where lies the advantage of using collective dynamics in the design of such techniques

Os diques da Região dos Lagos, localizados entre os municípios de Arraial do Cabo, Cabo Frio e Armação dos Búzios (RJ), integram o Enxame de Diques da Serra do Mar (ESM) e apresentam particularidades geoquímicas e geocronológicas que fazem com que seu papel na abertura do Atlântico Sul ainda seja pouco compreendido. Este estudo apresenta os resultados da investigação detalhada sobre a gênese e a idade dessas intrusões, através novas análises de elementos maiores, menores, traços, razões isotópicas (Sr, Nd e Pb) e datações 40Ar/39Ar. Os diques são quimicamente representados por basaltos toleíticos, andesibasaltos toleíticos e basaltos transicionais, com teores de TiO2, em sua maioria, inferiores a 2% (BTi). Os dados de geoquímica elemental permitem identificar dois grupos, um mais primitivo e empobrecido em elementos incompatíveis (grupo A), e outro mais evoluído e enriquecido nesses elementos (grupo B). Os dados sugerem pouca ou nenhuma influência de contaminação crustal durante a evolução e apontam semelhanças do grupo A com os basaltos BTi (Esmeralda) da Província Magmática do Paraná (PMP). O grupo B, por sua vez, apresenta características distintas dos derrames BTi da PMP. O grupo A possui composições isotópicas pouco radiogênicas em Sr e mais radiogênicas em Pb que o grupo B, assemelhando-se àquelas dos diques Horingbaai da Namíbia. As razões isotópicas de Pb sugerem que os dois grupos foram originados por fontes mantélicas distintas, as quais são também menos radiogênicas que os derrames BTi da PMP. Os dados não se adequam à diferenciação por cristalização fracionada com assimilação concomitante ou por mistura envolvendo os reservatórios mantélicos clássicos. Este comportamento pode estar relacionado a heterogeneidades do manto litosférico, causadas por longos processos de subducção durante a amalgamação do Gondwana ocidental. As análises 40Ar/39Ar mostram que a presença de sericitização e albitização nos plagioclásios pode imprimir as idades desses processos nos espectros. Plagioclásios sericitizados do grupo A forneceram idades de 106-108 Ma, e também um provável evento de albitização em 96 Ma. Tais idades discordam tanto das de plagioclásios frescos (idades máximas de 125-140 Ma), afetados por excesso de Ar em decorrência de inclusões de piroxênio e apatita, como daquelas de 132 Ma obtidas em anfibólio-biotita. Estas últimas devem marcar a intrusão dos diques do grupo A, confirmando sua associação com a PMP. A análise em rocha total de um dique do grupo B apresentou idade máxima de cerca de 108 Ma, sugerindo que a intrusão dos grupos A e B podem não ser contemporâneas. A similaridade entre a idade do grupo B e aquela de soerguimento da costa sudeste sugere que estes diques possam ter sido originados durante esse evento, que também teria causado a alteração (sericitização) dos plagioclásios do grupo A. / The Região dos Lagos tholeiitic dykes, located in Rio de Janeiro State, encompass the Arraial do Cabo, Cabo Frio and Armação de Búzios towns and integrate the Serra do Mar Dyke Swarm. Their role in the South Atlantic opening processes is still poorly defined because of their peculiar geochemical and geochronological features. In this work, the petrogenesis and the geochronology of these intrusions were investigated in detail based on new data of elemental (major, minor and trace elements) and isotope (Sr, Nd and Pb) geochemistry along with a careful 40Ar/39Ar dating. The dykes are chemically represented by tholeiitic basalts, andesi tholeiitic basalts and transitional basalts, usually presenting TiO2 contents lower than 2% (LTi). The elemental geochemistry allows the recognition of two magmatic groups; one of them is more primitive and depleted in incompatible elements (group A), whereas the other one is more evolved and enriched in these elements (group B). The data also indicate that crustal assimilation, if existed, had a small role in the magmatic evolution of both groups, and point out similarities between group A and the LTi flows (Esmeralda) from the Paraná Magmatic Province (PMP). Group B, in turn, displays geochemical features very different from those of the LTi basalts from PMP. The Sr isotope compositions of group A are less radiogenic than those of the B one, but the opposite occurs with Pb, which makes the first group similar to the Horingbaai dykes from Namibia. The Pb isotope ratios indicate that A and B were originated from distinct mantle sources, which also differ from those related to PMP LTi flows. The isotope data are not compatible with assimilation-fractional crystallization processes or simple mixtures involving the classic mantle reservoirs. This behavior suggests origin in heterogeneous lithospheric subcontinental mantle, probably affected by long subduction periods during Western Gondwana amalgamation. The 40Ar/39Ar geochronological data point out that the presence of plagioclase sericitization and albitization in their rims may imprint the age of these events in the age spectra. Sericitized plagioclase grains of group A displayed ages of 106-108 Ma, while the albitized fractions provided ages of 96 Ma. Such results disagree with both the fresh plagioclase grains (maximum ages of 125-140 Ma), very affected by excess Ar due to pyroxene and apatite inclusions, and the 132 Ma age of the amphibole-biotite aliquots. This last result very probably corresponds to the dyke emplacement event, confirming the genetic relationship between group A and the PMP. Whole rock dating in a sericite-free group B dyke provided maximum age of 108 Ma, which would imply that A and B groups are not coeval. The similarity between the last age and the uplifting event of Southwestern Brazilian coast suggests that the dykes of group B could have been generated during such process, which also altered (sericitized) the plagioclases of the group A dykes.

O aprendizado de máquina consiste de conceitos e técnicas que permitem aos computadores melhorar seu desempenho com a experiência, ou, em outras palavras, aprender com dados. Um dos principais tópicos do aprendizado de máquina é o agrupamento de dados que, como o nome sugere, procura agrupar os dados de acordo com sua similaridade. Apesar de sua definição relativamente simples, o agrupamento é uma tarefa computacionalmente complexa, tornando proibitivo o emprego de algoritmos exaustivos, na busca pela solução ótima do problema. A importância do agrupamento de dados, aliada aos seus desafios, faz desse campo um ambiente de intensa pesquisa. Também a classe de fenômenos naturais conhecida como comportamento coletivo tem despertado muito interesse. Isso decorre da observação de um estado organizado e global que surge espontaneamente das interações locais presentes em grandes grupos de indivíduos, caracterizando, pois, o que se chama auto-organização ou emergência, para ser mais preciso. Os desafios intrínsecos e a relevância do tema vêm motivando sua pesquisa em diversos ramos da ciência e da engenharia. Ao mesmo tempo, técnicas baseadas em comportamento coletivo vêm sendo empregadas em tarefas de aprendizado de máquina, mostrando-se promissoras e ganhando bastante atenção. No presente trabalho, objetivou-se o desenvolvimento de técnicas de agrupamento baseadas em comportamento coletivo. Faz-se cada item do conjunto de dados corresponder a um indivíduo, definem-se as leis de interação local, e então os indivíduos são colocados a interagir entre si, de modo que os padrões que surgem reflitam os padrões originalmente presentes no conjunto de dados. Abordagens baseadas em dinâmica de troca de energia foram propostas. Os dados permanecem fixos em seu espaço de atributos, mas carregam certa informação a energia , a qual é progressivamente trocada entre eles. Os grupos são estabelecidos entre dados que tomam estados de energia semelhantes. Este trabalho abordou também o aprendizado semissupervisionado, cuja tarefa é rotular dados em bases parcialmente rotuladas. Nesse caso, foi adotada uma abordagem baseada na movimentação dos próprios dados pelo espaço de atributos. Procurou-se, durante todo este trabalho, não apenas propor novas técnicas de aprendizado, mas principalmente, por meio de muitas simulações e ilustrações, mostrar como elas se comportam em diferentes cenários, num esforço em mostrar onde reside a vantagem de se utilizar a dinâmica coletiva na concepção dessas técnicas / Machine learning consists of concepts and techniques that enable computers to improve their performance with experience, i.e., enable computers to learn from data. Data clustering (or just clustering) is one of its main topics, which aims to group data according to their similarities. Regardless of its simple definition, clustering is a complex computational task. Its relevance and challenges make this field an environment of intense research. The class of natural phenomena known as collective behavior has also attracted much interest. This is due to the observation that global patterns may spontaneously arise from local interactions among large groups of individuals, what is know as self-organization (or emergence). The challenges and relevance of the subject are encouraging its research in many branches of science and engineering. At the same time, techniques based on collective behavior are being employed in machine learning tasks, showing to be promising. The objective of the present work was to develop clustering techniques based on collective behavior. Each dataset item corresponds to an individual. Once the local interactions are defined, the individuals begin to interact with each other. It is expected that the patterns arising from these interactions match the patterns originally present in the dataset. Approaches based on dynamics of energy exchange have been proposed. The data are kept fixed in their feature space, but they carry some sort of information (the energy), which is progressively exchanged among them. The groups are established among data that take similar energy states. This work has also addressed the semi-supervised learning task, which aims to label data in partially labeled datasets. In this case, it has been proposed an approach based on the motion of the data themselves around the feature space. More than just providing new machine learning techniques, this research has tried to show how the techniques behave in different scenarios, in an effort to show where lies the advantage of using collective dynamics in the design of such techniques

Os diques da Região dos Lagos, localizados entre os municípios de Arraial do Cabo, Cabo Frio e Armação dos Búzios (RJ), integram o Enxame de Diques da Serra do Mar (ESM) e apresentam particularidades geoquímicas e geocronológicas que fazem com que seu papel na abertura do Atlântico Sul ainda seja pouco compreendido. Este estudo apresenta os resultados da investigação detalhada sobre a gênese e a idade dessas intrusões, através novas análises de elementos maiores, menores, traços, razões isotópicas (Sr, Nd e Pb) e datações 40Ar/39Ar. Os diques são quimicamente representados por basaltos toleíticos, andesibasaltos toleíticos e basaltos transicionais, com teores de TiO2, em sua maioria, inferiores a 2% (BTi). Os dados de geoquímica elemental permitem identificar dois grupos, um mais primitivo e empobrecido em elementos incompatíveis (grupo A), e outro mais evoluído e enriquecido nesses elementos (grupo B). Os dados sugerem pouca ou nenhuma influência de contaminação crustal durante a evolução e apontam semelhanças do grupo A com os basaltos BTi (Esmeralda) da Província Magmática do Paraná (PMP). O grupo B, por sua vez, apresenta características distintas dos derrames BTi da PMP. O grupo A possui composições isotópicas pouco radiogênicas em Sr e mais radiogênicas em Pb que o grupo B, assemelhando-se àquelas dos diques Horingbaai da Namíbia. As razões isotópicas de Pb sugerem que os dois grupos foram originados por fontes mantélicas distintas, as quais são também menos radiogênicas que os derrames BTi da PMP. Os dados não se adequam à diferenciação por cristalização fracionada com assimilação concomitante ou por mistura envolvendo os reservatórios mantélicos clássicos. Este comportamento pode estar relacionado a heterogeneidades do manto litosférico, causadas por longos processos de subducção durante a amalgamação do Gondwana ocidental. As análises 40Ar/39Ar mostram que a presença de sericitização e albitização nos plagioclásios pode imprimir as idades desses processos nos espectros. Plagioclásios sericitizados do grupo A forneceram idades de 106-108 Ma, e também um provável evento de albitização em 96 Ma. Tais idades discordam tanto das de plagioclásios frescos (idades máximas de 125-140 Ma), afetados por excesso de Ar em decorrência de inclusões de piroxênio e apatita, como daquelas de 132 Ma obtidas em anfibólio-biotita. Estas últimas devem marcar a intrusão dos diques do grupo A, confirmando sua associação com a PMP. A análise em rocha total de um dique do grupo B apresentou idade máxima de cerca de 108 Ma, sugerindo que a intrusão dos grupos A e B podem não ser contemporâneas. A similaridade entre a idade do grupo B e aquela de soerguimento da costa sudeste sugere que estes diques possam ter sido originados durante esse evento, que também teria causado a alteração (sericitização) dos plagioclásios do grupo A. / The Região dos Lagos tholeiitic dykes, located in Rio de Janeiro State, encompass the Arraial do Cabo, Cabo Frio and Armação de Búzios towns and integrate the Serra do Mar Dyke Swarm. Their role in the South Atlantic opening processes is still poorly defined because of their peculiar geochemical and geochronological features. In this work, the petrogenesis and the geochronology of these intrusions were investigated in detail based on new data of elemental (major, minor and trace elements) and isotope (Sr, Nd and Pb) geochemistry along with a careful 40Ar/39Ar dating. The dykes are chemically represented by tholeiitic basalts, andesi tholeiitic basalts and transitional basalts, usually presenting TiO2 contents lower than 2% (LTi). The elemental geochemistry allows the recognition of two magmatic groups; one of them is more primitive and depleted in incompatible elements (group A), whereas the other one is more evolved and enriched in these elements (group B). The data also indicate that crustal assimilation, if existed, had a small role in the magmatic evolution of both groups, and point out similarities between group A and the LTi flows (Esmeralda) from the Paraná Magmatic Province (PMP). Group B, in turn, displays geochemical features very different from those of the LTi basalts from PMP. The Sr isotope compositions of group A are less radiogenic than those of the B one, but the opposite occurs with Pb, which makes the first group similar to the Horingbaai dykes from Namibia. The Pb isotope ratios indicate that A and B were originated from distinct mantle sources, which also differ from those related to PMP LTi flows. The isotope data are not compatible with assimilation-fractional crystallization processes or simple mixtures involving the classic mantle reservoirs. This behavior suggests origin in heterogeneous lithospheric subcontinental mantle, probably affected by long subduction periods during Western Gondwana amalgamation. The 40Ar/39Ar geochronological data point out that the presence of plagioclase sericitization and albitization in their rims may imprint the age of these events in the age spectra. Sericitized plagioclase grains of group A displayed ages of 106-108 Ma, while the albitized fractions provided ages of 96 Ma. Such results disagree with both the fresh plagioclase grains (maximum ages of 125-140 Ma), very affected by excess Ar due to pyroxene and apatite inclusions, and the 132 Ma age of the amphibole-biotite aliquots. This last result very probably corresponds to the dyke emplacement event, confirming the genetic relationship between group A and the PMP. Whole rock dating in a sericite-free group B dyke provided maximum age of 108 Ma, which would imply that A and B groups are not coeval. The similarity between the last age and the uplifting event of Southwestern Brazilian coast suggests that the dykes of group B could have been generated during such process, which also altered (sericitized) the plagioclases of the group A dykes.