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ADAPTIVE BACKSTEPPING TRACKING CONTROL FOR OVER-ACTUATED DP MARINE VESSEL WITH INERTIA UNCERTAINTIES
PublicationDesigning a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel...
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A universal method for the identification of genes encoding amatoxins and phallotoxins in poisonous mushrooms
PublicationABSTRACT Background. As the currently known diagnostic DNA targets amplified in the PCR assays for detection of poisonous mushrooms have their counterparts in edible species, there is a need to design PCR primers specific to the genes encoding amanitins and phallotoxins, which occur only in poisonous mushrooms. Objective. The aim of the study was testing of PCR-based method for detection of all genes encoding hepatotoxic cyclic...
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Właściwości i sterowanie próżniowego kolektora słonecznego do grzania poowietrza
PublicationZastąpienie w kolektorze słonecznym medium ogrzewanego z wody na powietrze pozwala na uzyskanie wysokiej temperatury powietrza wewnątrz kolektora oraz poprzez pominięcie czynnika pośredniego na zwiększenie wydajności kolektora. Dzięki temu możliwy jest ciągły obieg powietrza bez konieczności oczekiwania na podgrzanie, co ma miejsce przy podgrzewaniu wody. Rozwiązanie takie może być stosowane do grzania pomieszczeń w miesiącach...
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Improvement of Fingerprinting Method based on Hill Cipher by using Frequency Domain
PublicationThe main goal of this paper is to present the advantages of a digital fingerprinting in a frequency domain over a pixel domain, in case of VoD services (Video on Demand). The paper presents basic issues of a multimedia data protection by digital fingerprinting. It also describes threats to embedded fingerprints from both collusion attacks and from a transmission itself. Possible solution was presented on the example of the DCT...
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A New Quaternion Encryption Scheme for Image Transmission
PublicationQuaternions are hypercomplex number of rank 4. They are often applied to mechanics in three-dimensional space and considered as one of the best ways to represent rotations. In this paper a new encryption scheme, based on the rotation of data vector in three-dimensional space around another quaternion (key) is proposed. A computer-based simulation was created to analyze the potential of the proposed encryption technique.
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Adaptacyjny regulator kursu statku z zastosowaniem metody backstepping
PublicationW układach morskich aplikacja nieliniowych technik adaptacyjnych do sterowania ruchem statku jest obecnie niezbędna aby uwzględnić występujące niepewności strukturalne i parametryczne. Jest to szczególnie istotne, ponieważ dynamika statku zależy od dużej masy i wpływu zakłóceń środowiskowych zarówno addytywnych jak i multiplikatywnych, wywołanych przez fale, wiatry i prądy oceaniczne. Artykuł obejmuje zagadnienie projektowania...
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Ship course control system taking into account the steering gear dynamic properties
PublicationW artykule zostały przedstawione różne konfiguracje regulatorów nieliniowych do sterowania kursem statku. Zaprojektowane regulatory oparto na metodzie backstepping, regulatorze PD oraz sterowaniu ślizgowym. Algorytmy uwzględniają na etapie projektowania liniowe własności dynamiczne urządzenia wykonawczo - sterującego maszyny sterowej. Dokonano analizy porównawczej jakości pracy rozpatrywanych struktur sterowania podczas badań symulacyjnych...
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A Clustering-Based Methodology for Selection of Fault Tolerance Techniques
PublicationDevelopment of dependable applications requires selection of appropriate fault tolerance techniques that balance efficiency in fault handling and resulting consequences, such as increased development cost or performance degradation. This paper describes an advisory system that recommends fault tolerance techniques considering specified development and runtime application attributes. In the selection process, we use the K-means...
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Designing a ship course controller by applying the adaptivebackstepping method
PublicationThe article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoingship based on the adaptive backstepping method. The proposed controller in the design stage takes into account thedynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parametersof the achieved nonlinear control structure were tuned up by using the...
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Układ sterowania pracą próżniowego kolektora słonecznego do grzania powietrza
PublicationZastąpienie w kolektorze słonecznym medium ogrzewanego z wody na powietrze pozwala na uzyskanie wysokiej temperatury powietrza wewnątrz kolektora oraz poprzez pominięcie czynnika pośredniego na zwiększenie wydajności kolektora. Dzięki temu możliwy jest ciągły obieg powietrza bez konieczności oczekiwania na podgrzanie, co ma miejsce przy podgrzewaniu wody. Rozwiązanie takie może być stosowane do grzania pomieszczeń w miesiącach...
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Distance measurement errors in silent FM-CW sonar with matched filtering
PublicationThe secretiveness of sonar operation can be achieved by using continuous frequency-modulated sounding signalswith reduced power and significantly prolonged repeat time. The application of matched filtration in the sonarreceiver provides optimal conditions for detection against the background of white noise and reverberation, and avery good resolution of distance measurements of motionless targets. The article shows that target...
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Advanced Ship Control Methods
PublicationThe chapter presents two main streams of research in vessel control at sea: dynamic positioning (DP) of the vessel and decision support in case of collision at sea. The control structure and basic requirements for the DP system are defined. Selected issues of automatic control of a dynamically positioned vessel are discussed. A review of advanced methods of controlling a DP ship is carried out, taking into account the tasks of...
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Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle
PublicationThe article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with a stationary obstacle. The control of the collision avoidance process is presented as a synthesis of fuzzy proportional-differential controllers for the control of distance and orientation concerning the detected stationary obstacle. The control of the submergence...
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Reversible Data Hiding in Encrypted DICOM Images Using Cyclic Binary Golay (23, 12) Code
PublicationIn this paper, a novel reversible data hiding method for encrypted images (RDHEI) is proposed. An efficient coding scheme based on cyclic binary Golay (23, 12) code is designed to embed additional data into the least significant bits (LSBs) of the encrypted image. The most significant bits (MSBs) are used to ensure the reversibility of the embedding process. The proposed scheme is lossless, and based on the receiver’s privileges,...
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Wybrane metody sterowania statkiem
PublicationW rozdziale przedstawiono dwa główne nurty badań w zakresie sterowania stat-kiem na morzu: dynamiczne pozycjonowanie (DP) statku i wspomaganie decyzji w sytuacji kolizyjnej na morzu. Dla systemu DP określono strukturę sterowania i podstawowe wymagania. Omówiono wybrane problemy sterowania automatycz-nego statkiem dynamicznie pozycjonowanym. Dokonano przeglądu zaawanso-wanych metod sterowania statkiem DP z uwzględnieniem zadań poszczególnych...
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Selection Pressure in the Evolutionary Path Planning Problem
PublicationThis article compares an impact of using various post-selection methods on the selection pressure and the quality of the solution for the problem of planning the path for a moving object using the evolutionary method. The concept of selection pressure and different methods of post-selection are presented. Article analyses behaviour of post-selection for four options of evolutionary algorithms. Based on the results achieved, waveform...
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Quaternion Encryption Method for Image and Video Transmission
PublicationQuaternions are hyper-complex numbers of rank 4. They are often applied to mechanics in 3D space and are considered to be one of the best ways of representing rotations. In this paper a quaternion encryption method, based on algorithm by Nagase et al. (2004) has been proposed. According to a computer-based simulation the results of the performed research yield a high level of security, which is additionally strengthened by the...
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Zmodyfikowana metoda monopulsowa w wielowiązkowych filtrach przestrzennych sonarów pasywnycj
PublicationZwiększenie dokładności określania namiaru celu można uzyskać w sonarach stosując metodę monopulsową. W konwencjonalnych sonarach polega ona na wyrównywaniu sygnałów w dwóch sąsiednich wiązkach poprzez obrót anteny. W cyfrowych sonarach wielowiązkowych obrót anteny można zastąpić obliczeniami, które przedstawiono w referacie. Opracowaną metodę poprawy dokładności namiaru pokazano na przykładzie szerokopasmowego sonaru wielowiązkowego...
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Immunizing the Hillcast Method against the Known-Plaintext Attack using Periodic Key Exchange
PublicationThis paper considers a Joint Fingerprinting and Decryption method, called Hillcast, for the copyright protection and traitor tracing in case of Video on Demand services. Because the method is based on the Hill cipher, it is vulnerable to a known-plaintext attack. The goal of this paper is to present an efficient periodic key exchange mechanism to make this method secure without compromising its scalability, imperceptibility or...
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KOMPOZYTOWY MOST DLA PIESZYCH OD KONCEPCJI DO WDROŻENIA
PublicationW pracy przedstawiono historię powstania pierwszej zaprojektowanej i wykonanej przez polski zespół jednoelementowej kładki wytworzonej w całości z kompozytów polimerowych FRP. Konsorcjum realizujące projekt tworzyli: Politechnika Gdańska (lider), Wojskowa Akademia Techniczna i firma Roma Sp. z o.o. Przedsięwzięcie, któremu nadano akronim FOBRIDGE, zostało zrealizowane dzięki dofinansowaniu Narodowego Centrum Badań i Rozwoju o numerze:...
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IN VITRO PROPAGATION OF RHODODENDRON TOMENTOSUM - AN ENDANGERED ESSENTIAL OIL BEARING PLANT FROM PEATLAND
PublicationRhododendron tomentosum Harmaja (formerly Ledum palustre L.) is a medicinal peat bog plant native to northern Europe, Asia and North America. This plant has a distinctive aroma thanks to the presence of essential oil, to which it also owes its anti-inflammatory, analgesic, antimicrobial and insecticidal properties. However, in Europe R. tomentosum is classified as an endangered species, mainly due to degradation of peatlands. In...
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Fast GC as a useful tool for authenticity assessment of kiwifruit
PublicationKiwifruit is one of the healthiest fruits due to its high content of biologically active substances and nutrients. The most popular species of Actinidia (kiwifruit) are the Actinidia deliciosa fruits called kiwi and Actinidia chinensis commonly called golden kiwi, while the lesser known species is Actinidia arguta known as mini kiwi. Bioactivities and nutrients of Actinidia are influenced by species and cultivars. It is very important...
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Preparation and evaluation of 1,3-alternate 25,27-bis-(pentafluorobenzyloxy)-26,28-bis-(3-propyloxy)-calix[4]arene-bonded silics gel high performance liquid chromatography stationary phase
PublicationA 1,3-alternate 25,27-bis-(pentafluorobenzyloxy)-26,28-bis-(3-propyloxy)-calix[4]arene-bonded silica gel stationary phase (CalixBzF10) was synthesized, structurally characterized, and used as a selector in liquid chromatography. The selectivity study of this phase was done by using fluorine-containing compounds (fluorobenzenes, fluoro-pyrimidine bases), as well as non-fluorinated analytes (non-steroidal anti-inflammatory drugs,...
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The usefulness of birch saps from the area of Podkarpacie to produce birch syrup
PublicationIn northern European countries, as well as in North America tree saps of maples and birches are used for the production of syrups. Birch syrups are characterized by a specific aromatic taste and can be used as an addition to sweets, desserts, salads and meats. Attention is paid to the health benefits of birch syrups, mainly for high mineral content. The aim of this study was to evaluate the usefulness of birch saps obtained from...
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A new diagnostic IR-thermal imaging method for evaluation of cardiosurgery procedures
PublicationTwo methods for monitoring the state of the myocardium during cardiosurgical interventions based on thermal IR imaging are presented below. These methods, called static thermography and active dynamic thermography (ADT), use information about the distribution of temperature on the surface, and an external excitation source to induce thermal transient processes in a tested object. Recording the time series of thermograms allows...
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IR-THERMAL IMAGING IN CARDIOSURGERY
PublicationA method for monitoring the state of the myocardium during cardiosurgical interventions based on thermal IR imaging is presented. These methods called Static Thermography and Active Dynamic Thermography (ADT) uses information about distribution of temperature on the surface and an external excitation source to induce thermal transient processes in a tested object. Recording time series of thermograms allows to calculate parametric...
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Comparison of PCBs and PAHs levels in European coastal waters using mussels from the Mytilus edulis complex as biomonitors
PublicationMussels from the Mytilus edulis complex were used as biomonitors for two groups of organic pollutants: polychlorinated biphenyls (PCBs, congeners: 28, 52, 101, 118, 138, 153 and 180) and polycyclic aromatic hydrocarbons (PAHs, naphthalene, acenaphthylene, acenaphthene, fluorene, phenanthrene, anthracene, fluoranthene, pyrene, benz(a)anthracene, chrysene, benzo(b)fluoranthene, benzo(k)fluoranthene, benzo(a)pyrene, indeno(1,2,3-cd)pyrene,...
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Tuning a Hybrid GPU-CPU V-Cycle Multilevel Preconditioner for Solving Large Real and Complex Systems of FEM Equations
PublicationThis letter presents techniques for tuning an accelerated preconditioned conjugate gradient solver with a multilevel preconditioner. The solver is optimized for a fast solution of sparse systems of equations arising in computational electromagnetics in a finite element method using higher-order elements. The goal of the tuning is to increase the throughput while at the same time reducing the memory requirements in order to allow...
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Bees Detection on Images: Study of Different Color Models for Neural Networks
PublicationThis paper presents an approach to bee detection in video streams using a neural network classifier. We describe the motivation for our research and the methodology of data acquisition. The main contribution to this work is a comparison of different color models used as an input format for a feedforward convolutional architecture applied to bee detection. The detection process has is based on a neural binary classifier that classifies...
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Size effect in concrete beams under bending – influence of the boundary layer and the numerical description of cracks
PublicationIn the paper the size effect phenomenon in concrete is analysed. The results of numerical simulations of using FEM on geometrically similar un-notched and notched concrete beams under bending are presented. Concrete beams of four different sizes and five different notch heights under three-point bending test were simulated. In total 18 beams were analysed. Two approaches were used to describe cracks in concrete. First, eXtended...
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Determination of Selected Organic Acids in Animal Farm Water Samples by Ion Chromatography
PublicationLow molecular mass carboxylic acids (LCAs) occur in many environmental compartments due to natural processes and human activity. They are an important group of organic pollutants of waste water that mainly includes, volatile fatty acids, and also dicarboxylic, aromatic, hydroxy- and ketoacids. LCAs are present in the environment at concentrations between 1 to 5000 ppm and different methods have been reported for their determination...
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Performance Analysis of the OpenCL Environment on Mobile Platforms
PublicationToday’s smartphones have more and more features that so far were only assigned to personal computers. Every year these devices are composed of better and more efficient components. Everything indicates that modern smartphones are replacing ordinary computers in various activities. High computing power is required for tasks such as image processing, speech recognition and object detection. This paper analyses the performance of...
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Anticarcinogenic and antioxidant activities of leaves and flowers hydroalcoholic extracts of Nerium oleander L.: PCA analysis and phytochemical content by FTIR spectroscopy
PublicationAims: The aim of this work is the evaluation the anticarcinogenic effect on HT29 cancer cells lines and antioxidant effect of three extracts from different morphological parts (leaves (LE), pink flowers (PFE) and white flowers (WFE)) of Nerium oleander lin. Methods: This research provides the anticarcinogenic activity of extracts from N. oleander white flowers. Principal Component Analysis (PCA) was applied to estimate the relationship...
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Bounding approach to parameter estimation without prior knowledge on modeling error and application to quality modeling in drinking water distribution systems
PublicationW artykule rozważana jest estymacja parametrów modelu autoregresji z ruchoma średnią i sygnałem wejściowym (ARMAX) z wykorzystaniem przedziałowego modelu błędu. Zakłada się, że granice błędu struktury modelu są nieznane, bądź znane, ale bardzo konserwatywne. Dla zmniejszenia tego konserwatyzmu proponowane jest idea modeli punktowo-parametrycznych, w której występują zbiory parametrów i błędu modelu odpowiadające wszystkim wejściom....
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Verification of the exponential model of body temperature decrease after death in pigs
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Pharmacokinetics and pharmacodynamics of propofol in patients undergoing abdominal aortic surgery
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Innowacyjność rozwiązań technologicznych w planowanym do wdrożenia zrobotyzowanym procesie spawania
PublicationW opinii przedstawiono ocenę innowacyjności zrobotyzowanego spawania na stanowisku wyposażonym w antropomorficzny robot typu FANUC model ArcMate 100iB o 6+3 osiach z kontrolerem programującym R-J3iC w trybie pracy PTP, w pozycjoner tokarski typu TCM 1630250 oraz w układ jezdny VDC-6000. Duża precyzja i powtarzalność pozycjonowania jak i wysoki poziom niezawodności określony indeksem (MTBF) tworzą wraz z oprogramowaniem do śledzenia...
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Opis rysunków wektorowych.
PublicationNa stronach Web projektowanych w HTML ilustracje wyraża się przez odwołanie do pliku graficznego w formacie GIF, JPG czy też PNG. Nawet prosty rysunek wymaga zakodowania w obrazie rastrowym.Powoduje to nie tylko konieczność przesyłania dużej liczby danych, ale również uniemożliwia interpretację takiego rysunku przez aplikację kliencką.Zastosowanie XML umożliwia rozwiązanie tego problemu poprzez zapisanie rysunku składająccego się...
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Removal of persistant organic pollutants from landfill leachates treated in three constructed wetland systems
PublicationThe objective of the study was assessment of occurrence and removal of two groups of persistent organic pollutants: polycyclic aromatic hydrocarbons (PAHs) and polychlorinated biphenyls (PCBs) in landfill leachate (LL) treated in three constructed wetland systems (CWs) of different construction and flow regime. Two subsurface flow systems (SSF) were analyzed: one with horizontal flow and the second one consisting of two vertical...
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The influence of pre- and postharvest treatments on selected biological and epigenetic activities of Brassica sprouts
PublicationIntroduction The Brassica vegetables are rich in glucosinolates (GLs), which are enzymatically hydrolysed to bioactive isothiocynates (ITC) and indoles, regarded as the most promising chemopreventing agents. However, in the majority of brassica sprouts the GL conversion into these beneficial derivatives occurs at the level of about 1 %, while in cabbage leaves exceeds 70%. Since sprouts represent plant material, which is frequently...
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Assessment of student language skills in an e-learning environment
PublicationThis article presents the role of various assessment structures that can be used in a VLE. e-Learning language courses offer tutors a wide range of traditional and computer-generated formative and summative assessment procedures and tools. They help to evaluate each student’s progress, monitor their activities and provide varied support, which comes from the tutor, the course structure and materials as well as other participants....
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Deep eutectic solvents based highly efficient extractive desulfurization of fuels – Eco-friendly approach
PublicationThe developed process is based on alternative, green and cheap solvents for efficient desulfurization of fuels. Several deep eutectic solvents (DESs) were successfully synthesized and studied as extraction solvents for desulfurization of model fuel containing thiophene (T), benzothiophene (BT) and dibenzothiophene (DBT). The most important extraction parameters (i.e. kind of DES, DES: fuel volume ratio, hydrogen bond acceptor:...
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New Polymeric Materials for Solid Phase Extraction
PublicationSolid phase extraction (SPE) is a popular sample preparation technique, which can be applied directly in gas–solid phase and liquid–solid phase, or indirectly to solid samples by using, e.g., thermodesorption with subsequent chromatographic analysis. Although SPE can be described as a physical extraction process involving a liquid phase and a solid phase, the increased use of packed sorbent formats seems to have led to a bias toward...
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Point cloud in archaeological and historical survey
PublicationIn the last decade the potential of using the point clouds in archaeological research has been noted. Therefore, a number of guidelines concerning aspects of data acquisition (resolution and format) were developed. They also included the way of searching the imaged area to identify archaeological and historical cultural heritage sites. The purpose of this research was to analyze the point cloud for selected woodland survey. Forest...
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Landscape of Automated Log Analysis: A Systematic Literature Review and Mapping Study
PublicationLogging is a common practice in software engineering to provide insights into working systems. The main uses of log files have always been failure identification and root cause analysis. In recent years, novel applications of logging have emerged that benefit from automated analysis of log files, for example, real-time monitoring of system health, understanding users’ behavior, and extracting domain knowledge. Although nearly every...
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A coupled constitutive model for fracture in plain concrete based on continuum theory with non-local softening and eXtended Finite Element Method
PublicationThe paper presents a constitutive model for concrete which combines a continuous and discontinuous fracture description. In a continuum regime, two different constitutive laws were used. First, a plasticity model with a Rankine failure criterion and an associated fl ow rule was used. Second, a constitutive law based on isotropic damage mechanics was formulated. In order to capture the width of a localized zone and to obtain mesh-independent...
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The site at the cape Zidine in Lopar in the context of coastal residential and commercial complexes of Rab Island
PublicationSince 2013, the “Archaeological topography of the island of Rab” project has approached the island’s archaeology holistically and interdisciplinary, tackling all periods and archaeological evidence present on the island. Nevertheless, mostly due to a large amount of new data, a significant segment of research is devoted to Roman residential and production complexes, located either in the island’s fields or along the coast. Thus,...
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An Island of Connectedness: Intra-Insular and Inter-Regional Communications of Rab Island (North-East Adriatic, Kvarner Gulf), Croatia
PublicationDrawing from archaeological data on Prehistoric and Roman settlement patterns, and respective sepulchral features, just as on later historic and cartographic sources, in this contribution it will be shown how movement along with mobility influenced on and were an integral part of settlement dynamics on the island of Rab (NE Adriatic, Croatia). The employed approach sees the practice of movement as dependent on specific social...
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Long-term changes in sewage sludge stored in a reed bed
PublicationProwadzono badania zmian następujących w osadach składowanych na obszarze porośniętym trzciną. Pomiary wykonywano w próbach osadów stratyfikowanych przechowywanych w okresie od kilku do kilkudziesięciu lat. Analizowano wilgotność, zawartość materii organicznej, azot ogólny i fosfor ogólny. Wiele osadów określono przy pomocy metody ołowiowej. M. in. wykazano, że największa dynamika zmian ma miejsce w okresie pierwszych kilkunastu...
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Identification of evolutionary conserved DNA sequence and corresponding S21 ribosomal protein region for diagnostic purposes of all Borrelia spirochetes
PublicationIt is still under investigation, whether all Borrelia sp. causing Lyme borreliosis and other diseases are already identified and properly classified as human pathogens. For this reason, it is of great importance to develop a diagnostic ELISA test that detects all Borrelia sp. The aim of this study was to identify conserved DNA and protein regions present in all currently known Borrelia sp. In experimental studies 31 available Borrelia...