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Search results for: DELIVERY MOBILE ROBOTS
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Collaborative Delivery by Energy-Sharing Low-Power Mobile Robots
PublicationWe study two variants of delivery problems for mobile robots sharing energy. Each mobile robot can store at any given moment at most two units of energy, and whenever two robots are at the same location, they can transfer energy between each other, respecting the maximum capacity. The robots operate in a simple graph and initially each robot has two units of energy. A single edge traversal by an robot reduces its energy by one...
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Collaborative Exploration of Trees by Energy-Constrained Mobile Robots
PublicationWe study the problem of exploration of a tree by mobile agents (robots) that have limited energy. The energy constraint bounds the number of edges that can be traversed by a single agent. We use a team of agents to collectively explore the tree and the objective is to minimize the size of this team. The agents start at a single node, the designated root of the tree and the height of the tree is assumed to be less than the energy...
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A Point Set Connection Problem for Autonomous Mobile Robots in a Grid
PublicationConsider an orthogonal grid of streets and avenues in a Manhattan-like city populated by stationary sensor modules at some intersections and mobile robots that can serve as relays of information that the modules exchange, where both module-module and module-robot communication is limited to a straight line of sight within the grid. The robots are oblivious and move asynchronously. We present a distributed algorithm that, given...
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Design of control algorithms for mobile robots in an environment with static and dynamic obstacles
PublicationThis article proposes the construction of autonomous mobile robots and designing of obstacle avoidance algorithms for them. Nowadays, mobile robots are gaining more and more popularity on the customer as well as industrial market, for example as automatic vacuum cleaners or lawnmowers. Obstacle avoidance algorithms play an important role in performance of this types of robots. The proposed algorithms were designed for builds with...
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Optimal control at energy performance index of the mobile robots following dynamically created trajectories
PublicationIn practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system’s performance. In case of autonomous application of the mobile robots all parts of its control...
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Taking advantage of symmetries: Gathering of many asynchronous oblivious robots on a ring
PublicationOne of the recently considered models of robot-based computing makes use of identical, memoryless mobile units placed in nodes of an anonymous graph. The robots operate in Look-Compute-Move cycles; in one cycle, a robot takes a snapshot of the current configuration (Look), takes a decision whether to stay idle or to move to one of the nodes adjacent to its current position (Compute), and in the latter case makes an instantaneous...
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Optimal control of 2-wheeled mobile robot at energy performance index
PublicationThe paper presents the application of the optimal control method at the energy perfor- mance index towards motion control of the 2-wheeled mobile robot. With the use of the proposed method of control the 2-wheeled mobile robot can realise effectively the desired trajectory. The problem of motion control of mobile robots is usually neglected and thus performance of the realisation of the high level control tasks is limited.
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Deterministic Rendezvous in Restricted Graphs
PublicationIn this paper we consider the problem of synchronous rendezvous in which two anonymous mobile entities (robots) A and B are expected to meet at the same time and point in a graph G = (V;E). Most of the work devoted to rendezvous in graphs assumes that robots have access to the same sets of nodes and edges, where the topology of connections may be initially known or unknown. In our work we assume the movement of robots is restricted...
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A Simple Neural Network for Collision Detection of Collaborative Robots
PublicationDue to the epidemic threat, more and more companies decide to automate their production lines. Given the lack of adequate security or space, in most cases, such companies cannot use classic production robots. The solution to this problem is the use of collaborative robots (cobots). However, the required equipment (force sensors) or alternative methods of detecting a threat to humans are usually quite expensive. The article presents...
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Intelligent Autonomous Vehicles
PublicationAdvanced mobile vehicles and robots have long been one of the main issues in engineering. They have various applications in emergency, lifeguarding and entertainment as well as in various industrial, civil and military systems. Among them, you can distinguish robots that can move in an open environment or operate only in predetermined confined spaces. Open world robots are very demanding because they have...
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Decontaminating Arbitrary Graphs by Mobile Agents: a Survey
PublicationA team of mobile agents starting from homebases need to visit and clean all nodes of the network. The goal is to find a strategy, which would be optimal in the sense of the number of needed entities, the number of moves performed by them or the completion time of the strategy. Currently, the field of distributed graph searching by a team of mobile agents is rapidly expanding and many new approaches and models are being presented...
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Behavior Based Complete Coverage Task of Unknown Area by an Autonomous Mobile Robot SCORPION with Static Obstacles in Environment
PublicationIn the paper the behavior based control system of an autonomous mobile robot SCORPION is presented to execute the one of the most difficult navigation task, which is the complete coverage task of unknown area with static obstacles in the environment. The main principle assumed to design control system was that the robot should cover all area only once, if it possible, to optimize the length of path and energy consumption. All commercial...
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Stereo image visualization for a VISROBOT system
PublicationThe article describes a novel approach to robotic vision in mobile robot systems. The system implements a Visrobot system which implements a generic idea of using mobile robots for exploring an indoor environment. The task of such a robot is to visualize a stereo image properly for an operator. The system uses different stereo baseline values. Variable baseline can result in increasing depth resolution for distant objects. We assume...
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Towards Digital Anti-Corruption Typology for Public Service Delivery
PublicationDigital anti-corruption refers to a family of digital technology tools that are used to fight corruption. Many such tools have not performed well in practice due to their non-alignment with forms of corruption they are supposed to fight against and persistence of corruption-enabling conditions. The aim of this paper is to contribute to filling this gap by offering a typology of digital anti-corruption in public service delivery...
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Estimation of DC motor parameters using a simple CMOS camera
PublicationDifferent components of control systems for mobile robots are based on dynamic models. In low-cost solutions such a robot is wheeled and equipped with DC motors, which have to be included in the model of the robot. The model is fairly simple but determination of its parameters needs not to be easy. For instance, DC motor parameters are typically identified indirectly using suitable measurements, concerning engine voltage, current,...
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Computational Approaches to Modeling Artificial Emotion – An Overview of the Proposed Solutions
PublicationCybernetic approach to modeling artificial emotion through the use of different theories of psychology is considered in this paper, presenting a review of twelve proposed solutions: ActAffAct, FLAME, EMA, ParleE, FearNot!, FAtiMA, WASABI, Cathexis, KARO, MAMID, FCM, and xEmotion. The main motivation for this study is founded on the hypothesis that emotions can play a definite utility role of scheduling variables in the construction...
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Three-dimensional mapping for data collected using variable stereo baseline
PublicationThe paper describes a system of 3D mapping of data collected with due regard for variable baseline. This solution constitute an extension to a VisRobot sub-system developed as a subsystem, necessary for implementing the generic idea of using mobile robots to explore an indoor static environment. This subsystem is to acquire stereo images, calculate the depth in the images and construct the sought 3D map. Stereo images are obtained...
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Blockchain based Secure Data Exchange between Cloud Networks and Smart Hand-held Devices for use in Smart Cities
PublicationIn relation to smart city planning and management, processing huge amounts of generated data and execution of non-lightweight cryptographic algorithms on resource constraint devices at disposal, is the primary focus of researchers today. To enable secure exchange of data between cloud networks and mobile devices, in particular smart hand held devices, this paper presents Blockchain based approach that disperses a public/free key...
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Mobile Security: Threats and Best Practices
PublicationCommunicating mobile security threats and best practices has become a central objective due to the ongoing discovery of new vulnerabilities of mobile devices. To cope with this overarching issue, the goal of this paper is to identify and analyze existing threats and best practices in the domain of mobile security. To this extent, we conducted a literature review based on a set of keywords. The obtained results concern recognizable...
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Biopolymers and Their Composites for Drug Delivery: A Brief Review
PublicationIn recent years, excipient development has become a core area of research in pharmaceutical drug delivery because it influences the formulation development and drug delivery process in various ways. Polymeric drug delivery systems have been of great interest for controlled delivery as they show the great advantage in drug delivery systems because of optimized drug loading and releasing property. Then, the side effects of synthetic...
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Customizing nano-chitosan for sustainable drug delivery
PublicationChitosan is a natural polymer with acceptable biocompatibility, biodegradability, and mechanical stability; hence, it has been widely appraised for drug and gene delivery applications. However, there has been no comprehensive assessment to tailor-make chitosan cross-linkers of various types and functionalities as well as complex chitosan-based semi- and full-interpenetrating networks for drug delivery systems (DDSs). Herein, various...
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Multi-agent graph searching and exploration algorithms
PublicationA team of mobile entities, which we refer to as agents or searchers interchangeably, starting from homebases needs to complete a given task in a graph.The goal is to build a strategy, which allows agents to accomplish their task. We analyze strategies for their effectiveness (e.g., the number of used agents, the total number of performed moves by the agents or the completion time).Currently, the fields of on-line (i.e., agents...
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Biopolymer based nanomaterials in drug delivery systems: A review
PublicationDrug delivery systems (DDS) are used to achieve a higher therapeutic effects of a pharmaceutical drug or natural compound in a specific diseased site with minimal toxicological effect and these systems consists of liposomes, microspheres, gels, prodrugs and many. Nanotechnology is a rapidly developing multi-disciplinary science that ensures the fabrication of the polymers to nanometer scale for various medical applications. Uses...
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Mobile Offloading Framework: Solution for Optimizing Mobile Applications Using Cloud Computing
PublicationNumber of mobile devices and applications is growing rapidly in recent years. Capabilities and performance of these devices can be tremendously extended with the integration of cloud computing. However, multiple challenges regarding implementation of these type of mobile applications are known, like differences in architecture, optimization and operating system support. This paper summarizes issues with mobile cloud computing and...
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Quality Expectations of Mobile Subscribers
PublicationMobile systems, by nature, have finite resources. Radio spectrum is limited, expensive and shared between many users and services. Mobile broadband networks must support multiple applications of voice, video and data on a single IP-based infrastructure. These converged services each have unique traffic holding and quality requirements. A positive user experience must be obtained through efficient partitioning of the available wireless...
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Acceptance Testing of Software Products for Cloud-Based On-Line Delivery
PublicationSoftware products intended for on-line delivery by distributors serving an open community of subscribers are developed in a specific life-cycle model, in which roles of the major stakeholders are strongly separated, unlike in any other software development model known in software engineering. Its specificity underlines the fact that a distributor of the final product, responsible for its acceptance for publication and delivery...
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Natural carbon-based quantum dots and their applications in drug delivery: A review
PublicationNatural carbon based quantum dots (NCDs) are an emerging class of nanomaterials in the carbon family. NCDs have gained immense acclamation among researchers because of their abundance, eco-friendly nature, aqueous solubility, the diverse functionality and biocompatibility when compared to other conventional carbon quantum dots (CDs).The presence of different functional groups on the surface of NCDs such as thiol, carboxyl, hydroxyl,...
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Education biases perception of social robots
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Delivery of Ancillary Services in Distribution Power Systems
PublicationOne of the technical and organizational challenges the power system faces in deregulated market conditions is to organize an ancillary services market. The growing share of distributed generation of variable (intermittent) energy sources and a change in the market position of consumers, causes the demand for distributed delivery of ancillary services. For this purpose, it is sought to use the ability of the regulatory measures:...
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MAlSim - Mobile Agent Malware Simulator
PublicationOne of the problems related to the simulation of attacks against critical infrastructures is the lack of adequate tools for the simulation of malicious software (malware). Malware attacks are the most frequent in the Internet and they pose a serious threat against critical networked infrastructures. To address this issue we developed Mobile Agent Malware Simulator (MAISim). The framework uses the technology of mobile agents and...
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Model of human psychology for controlling autonomous robots
PublicationReferat przedstawia model umysłu, uzyskany w oparciu o wiedzę na temat ludzkiej psychologii, służący do sterowania systemami autonomicznych robotów. Systemy poznawczy i motywacyjny (emocje i potrzeby) stanowią jego główne części. System motywacyjny kontroluje reakcje robota w oparciu o zmienne stanu potrzeb. Z drugiej strony, emocje nadzorują i zmieniają/modyfikują zachowanie robota poprzez zmianę pewnych parametrów uwzględnianych...
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Intelligent decision-making system for autonomous robots
PublicationAdaptacja może być oparta na różnych koncepcjach cybernetycznych (takich jak algorytmy genetyczne, rojowe, sieci neuronowe, itp.). Główna myśl opisywanej pracy opiera się na wykorzystaniu modeli psychologii żywych istot (człowieka) w konstrukcji systemów sterowania jednostek autonomicznych w celu adaptacji jednostki do zmiennego środowiska (kluczowe dla projektu jest traktowanie elementów motywacyjnych jako problemu osobowości)....
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Neural nets application in diagnostics of industrial robots
PublicationPrzedstawiono wyniki wstępnych badań nad możliwością zastosowania sztucznych sieci neuronowych w procesie diagnozowania stanu technicznego robotów przemysłowych z napędem elektrycznym. Omówiono proces projektowania sieci neuronowych, za pomocą których realizowano liniową predykcję zmian dokładności pozycjonowania jednokierunkowego robota IRB 6 powstających przy różnych obciążeniach i prędkościach manipulatora podczas pracy z celowo...
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Usability of Mobile Applications: A Consolidated Model
PublicationMobile devices have become an integral part of the digital ecosystem, connecting people, businesses, and information around the world in ways never before possible. In particular, smartphones, tablets and other handheld devices equipped with mobile applications have changed every aspect of our lives. Today, a user can choose from nearly five million applications available for both Android and iOS operating systems. However, only...
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Investigating Analytics Dashboards’ Support for the Value-based Healthcare Delivery Model
PublicationImproving the value of care is one of the essential aspects of Value-Based Healthcare (VBHC) model today. VBHC is a new HC delivery model which is centered on patient health outcomes and improvements. There is anecdotal evidence that the use of decision aid tools like dashboards can play a significant role in the successful implementation of VBHC models. However, there has been little or no systematic studies and reviews to establish...
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Usability Testing of Mobile Applications: A Methodological Framework
PublicationLess than five percent of all mobile applications have become successful throughout 2023. The success of a new mobile application depends on a variety of factors ranging from business understanding, customer value, and perceived quality of use. In this sense, the topic of usability testing of mobile applications is relevant from the point of view of user satisfaction and acceptance. However, the current knowledge seems to be fragmented,...
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Mobile application technology in levelling
PublicationThe topic of this article is the use of mobile application technology in geodetic measurements with an emphasis on levelling. Reference points were registered as data from levelling benchmarks, performed with a traditional dumpy level. The created application allowed the recording of measurements on location, sending them to a remote server for processing and preparing a report to be saved in a database. The project was to decrease...
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Mobile Laser Scanning Calibration on a Marine Platform
PublicationThe article describes the method of calibration of the Riegl VMZ-400 mobile scanning system on a floating platform and an experiment aimed at conducting measurements from a previously calibrated instrument. The issue of factors affecting the quality of measurements was discussed. Mobile laser scanning is an increasingly popular measurement solution, but it is still innovative on a European scale. The use of a floating platform...
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Interpretation and modeling of emotions in the management of autonomous robots using a control paradigm based on a scheduling variable
PublicationThe paper presents a technical introduction to psychological theories of emotions. It highlights a usable ideaimplemented in a number of recently developed computational systems of emotions, and the hypothesis thatemotion can play the role of a scheduling variable in controlling autonomous robots. In the main part ofthis study, we outline our own computational system of emotion – xEmotion – designed as a key structuralelement in...
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A mobile hospital – its advantages and functional limitations
PublicationThe idea of a mobile hospital is not entirely new – the need for their use, ranging from military field hospitals to the charity or mass disaster tent cities, shows how much they are needed. While these cases can be reduced to a portable ambulatory unit with a limited scope of outpatient medical activities, a fully functional hospital is a system with a high degree of complexity far exceeding a regime of compact objects. Solutions...
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An adaptation of modal control to vibration control of industrial robots
PublicationRozważania dotyczą drgań niestacjonarnego układu nośnego manipulatora IRb-6. Do nadzorowania drgań zastosowano algorytm sterowania modalnego przy energetycznym wskaźniku jakości. Celem proponowanego algorytmu jest minimalizacja poziomu drgań końcówki manipulatora, co spowoduje zwiększenie obciążeń dopuszczalnych współczesnych linii zrobotyzowanych, jak również poprawę dokładności oraz powtarzalności pozycjonowania robota.
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A mechatronic approach towards vibration surveillance of manipulator robots
PublicationW pracy przedstawiono nadzorowanie drgań niestacjonarnego układu nośnego manipulatora IRb-6 z wykorzystaniem sterowania modalnego przy energetycznym wskaźniku jakości. Celem proponowanego algorytmu jest minimalizacja poziomu drgań końcówki manipulatora, co prowadzi do zwiększenia dopuszczalnych obciążeń współczesnych linii zrobotyzowanych oraz do poprawy dokładności i powtarzalności pozycjonowania robota. Rozważania dotyczą zadanej...
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Disturbances of magnetic field in surrounding of mobile, metalic plate
PublicationThe uniform magnetic field of the Earth in the surrounding of a mobile, metalic object undergoes deformation by eddy currents. The influence of the moving conducting object on total magnetic field of the Earth depends on the object's shape, position and speed of the changes relative to the magnetic field's vector of the Earth as well as the electric conductivity and the relative magnetic permeability of the material. The disturbances...
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Adaptive Personal Tuning of Sound in Mobile Computers
PublicationAn integrated methodology for enhancing audio quality in mobile computers is presented. The key features are adaptation of the characteristics of their acoustic track to changing acoustic conditions of the environment and to users’ individual preferences. Signal processing algorithms are introduced that concern: linearization of frequency response, dialogue intelligibility enhancement, and dynamics processing tuned up to the users’...
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Measurements of acoustic crosstalk cancellation efficiency in mobile listening conditions
PublicationThe cancellation of acoustic crosstalk is employed to enhance the stereo image in mobile listening conditions. The implementation of the crosstalk cancellation algorithm in Matlab is introduced. The measurement signals and equipment are described. A practical setup employing a mobile computer and a head and torso simulator is employed. The results of the measurements provided conclusions regarding the employment of acoustic crosstalk...
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Quality of Satellite Communication in Selected Mobile Android Smartphones
PublicationToday, thanks to mobile devices, satellite communication is available to anyone and everywhere. Gaining information on one’s position using GNSS (Global Navigation Satellite Systems), particularly in unknown urban environments, had become an everyday activity. With the widespread of mobile devices, particularly smartphones, each person can obtain information considering his or her location anytime and everywhere. This paper is...
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Application development for Android, iOS and BlackBerry mobile platforms
PublicationMobile devices, along with dedicated operating systems, have become a substantial and rising trend in software development. Computer industry has significantly changed in order to fulfil the needs of this new segment of the market. Authors have participated in projects, which involved programming on Android, iOS and BlackBerry operating systems. In this paper the most popular mobile platforms (and multiplatform Unity3D environment)...
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Microemulsion Delivery Systems with Low Surfactant Concentrations: Optimization of Structure and Properties by Glycol Cosurfactants
PublicationExtensive use of microemulsions as delivery systems raises interest in the safe ingredients that can form such systems. Here, we assessed the use of two glycols, i.e., propylene glycol and pentylene glycol, and their mixtures to manipulate the properties and structure of microemulsions. Obtained systems with glycols were extensively characterized in terms of capacity to incorporate water phase, droplet size, polydispersity, structure...
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Bovine Serum Albumin – Hydroxyapatite Nanoflowers as Potential Local Drug Delivery System of Ciprofloxacin
PublicationIntroduction: Hybrid nanoflowers are structures consisting of organic (enzymes, proteins, nucleic acids) and inorganic components (mostly metal phosphates) with a flower-like hierarchical structure. Novel hybrid nanoflowers based on bovine serum albumin (BSA) and hydroxyapatite (HA) were obtained and characterized. Study on BSA-HA nanoflowers as potential drug delivery system is reported for the first time. Methods: Embedding ciprofloxacin...
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Adaptive acoustic crosstalk cancellation in mobile computer device
PublicationThe cancellation of acoustic crosstalk is employed to enhance the stereo image in mobile listening conditions. A practical setup employing a mobile computer is employed. The adaptation of the crosstalk cancellation filter to the position of the listener's head is featured. The measurement evaluating the possibility of practical application of the method are described. The head and torso simulator was used for measurements. The...