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Search results for: surface disturbances
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High performance super-twisting sliding mode control for a maritime autonomous surface ship (MASS) using ADP-Based adaptive gains and time delay estimation
PublicationThis research addresses two kinds of problems related to optimal trajectory tracking of a Maritime Autonomous Surface Ship (MASS): those caused by the time-varying external disturbances including winds, waves and ocean currents as well as those resulting from inherent dynamical uncertainties. As the paper shows, an accurate and robust optimal controller can successfully deal with both issues. An improved Optimal Adaptive Super-Twisting...
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Disturbances of magnetic field in surrounding of mobile, metallic plate. Detection of ferromagnetic objects in strong local magnetic anomaly
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Profile irregularities of turned surfaces as a result of machine tool interactions
PublicationThe paper describes the influence of the machining operation on a surface, which disturbs the projection of the tool profile in the form of its relative movements with respect to the object. The elements of the machine tool undergo constant wear during the machining process, it is therefore important to recognize the effects of their influence on the surface's irregularities. Amplitude-frequency analysis of lateral profiles has...
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Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm
PublicationThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control...
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Lamb wave-based monitoring of shear failure of an adhesive lap joint
PublicationThe paper presents a study on the elastic wave propagation in adhesive joints of steel plates subjected to tensile loading. A single lap joint was chosen for analysis because of its simplicity and plurality of applications. Experimental investigations consisted of the uniaxial extension of prepared specimens. Force and displacement values were recorded by a testing machine. Simultaneously, guided Lamb waves were excited and signals...
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Treatment of landfill leachate in a constructed free water surface wetland system over a decade – Identification of disturbance in process behaviour and removal of eutrophying substances and organic material
PublicationAn 8 ha free water surface wetland system in Örebro, Sweden, which has sediment traps followed by 10 ponds for treatment of landfill leachate in the methanogenic stage, was studied from 2003 to 2012. The wetland was irregularly loaded and the leachate characteristics showed high temporal and spatial variability, so Multivariate Statistical Process Control was chosen as the diagnostic tool for detecting anomalies prior to assessing...
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Non-Contact Temperature Measurements Dataset
PublicationThe dataset titled The influence of the distance of the pyrometer from the surface of the radiating object on the accuracy of measurements contains temperature measurements using a selection of four commercially available pyrometers (CHY 314P, TM-F03B, TFA 31.1125 and AB-8855) as a function of the measuring distance. The dataset allows a comparison of the accuracy and measuring precision of the devices, which are very important...
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Corrigendum to “Blood pressure disturbances and endothelial dysfunction markers in children and adolescents with type 1 diabetes” [Atherosclerosis 237 (2014) 129–134]
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Sensorless Control of Induction Motor Based on Super-Twisting Sliding Mode Observer With Speed Convergence Improvement
PublicationThe super twisting sliding-mode observer (ST-SMO) has been proposed to achieve an effective method for alleviating low-order harmonics of measured quantities, issues related to DC drift, and suppression of chattering due to low-frequency sampling. The conventional ST-SMO, on the other hand, suffers from control delay in the convergence trajectory due to the system disturbance, resulting in decreased anti-disturbance capability...
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Degradation of Kinematic PPP of GNSS Stations in Central Europe Caused by Medium-Scale Traveling Ionospheric Disturbances During the St. Patrick’s Day 2015 Geomagnetic Storm
PublicationIn solar cycle 24, the strongest geomagnetic storm took place on March 17, 2015, when the geomagnetic activity index was as high as -223 nT. To verify the impact that the storm had on the Global Navigation Satellite System (GNSS)’s positioning accuracy and precision, we used 30-s observations from 15 reference stations located in Central Europe. For each of them, we applied kinematic precise point positioning (PPP) using gLAB software...
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Large‐Scale Traveling Ionospheric Disturbances Over the European Sector During the Geomagnetic Storm on March 23–24, 2023: Energy Deposition in the Source Regions and the Propagation Characteristics
PublicationMultiple Large-Scale Traveling Ionospheric Disturbances (LSTIDs) are observed in the European sector in both day-time and night-time during the magnetic storm on March 23–24, 2023. The Total Electron Content (TEC) observation from a network of GNSS receivers shows the propagation of LSTIDs with amplitudes between around 0.5 and 1 TECU originating from auroral and polar cusp regions down to southern Europe (35°N) with velocities...
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Control design for slow speed positioning
PublicationThe problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the actuators produce generalized forces...
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Underwater Navigation Ssystem Based on Doppler Shift – Measurements and Error Estimations
PublicationA new acoustic navigation system was developed to determine the position and speed of moving underwater objects such as divers and underwater vehicles. The path of an object and its speed were determined by the Doppler shifts of acoustic signals emitted by a transmitter placed on the object and received by four hydrophones installed at the periphery of the monitored body of water. The position and speed measurements were affected...
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Propagation of Ship-Generated Noise in Shallow Sea
PublicationContamination of sea environment by noise and any energy radiated to water constitutes today a problem to which more and more attention is paid, in view, a.o., of consequences of an impact of these factors onto marine fauna. European Union has introduced a directive by which EU countries are made responsible to undertake efforts aimed at reaching a good envirenmental status of European seas by 2020. A main source of underwater...
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Decisional-DNA Based Smart Production Performance Analysis Model
Publicationn order to allocate resources effectively according to the production plan and to reduce disturbances, a framework for smart production performance analysis is proposed in this article. Decisional DNA based knowledge models of engineering objects, processes and factory are developed within the proposed framework. These models are the virtual representation of manufacturing resources, and with help of Internet of Things, are capable...
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PROJEKTOWANIE WIELOWYMIAROWEGO REGULATORA BACKSTEPPING W UKŁADZIE DYNAMICZNEGO POZYCJONOWANIA STATKU
PublicationW komercyjnych systemach dynamicznego pozycjonowania statku, pomimo znacznego wzrostu poziomu automatyzacji, wykorzystywane jest nadal sterowanie typu PID. Poprawę jakości procesu pozycjonowania może umożliwić wykorzystanie bardziej efektywnych algorytmów, oferujących zaawansowane nieliniowe techniki sterowania. W artykule przedstawiono zagadnienie projektowania regulatora pozycji i kursu dla układu dynamicznego pozycjonowania...
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Theoretical Model of Acoustic Wave Propagation in Shallow Water
PublicationThe work is devoted to the propagation of low frequency waves in a shallow sea. As a source of acoustic waves, underwater disturbances generated by ships were adopted. A specific feature of the propagation of acoustic waves in shallow water is the proximity of boundaries of the limiting media characterised by different impedance properties, which affects the acoustic field coming from a source situated in the water layer “ deformed”...
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SLIDING MODE-PID FUZZY CONTROLLER WITH A NEW REACHING MODE FOR UNDERWATER ROBOTIC MANIPULATORS
PublicationDesign of an accurate and robust controller is a challenging topic in an underwater manipulator control. This is due to hydrodynamic disturbances in underwater environment. In this paper a sliding mode control (SMC) included a PID sliding surface and fuzzy tunable gain is designed. In this proposed controller robustness property of SMC and fast response of PID are incorporated with fuzzy rules to reduce error tracking. In the...
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TIME-AND-SPACE STRUCTURE OF FORCE-DRIVEN RIGID SPHEREWAVEFIELD
PublicationThis paper introduces a time-domain, causality-inspired description of a vector-source acoustic wavefield of arbitrary time evolution, where a sphere is a practical realisation of quasi-point contact surface without which a point force would not be able to exert an impact onto non-viscous fluid. At every space location, the resulting acoustic field is described by a pair of physical variables characterising the time evolution of...
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Hyperbolic heat conduction at a microscopic sliding contact with account of adhesion-deformational heat generation and wear
PublicationDifferent non-Fourier models were proposed to simulate temperatures in materials subjected to extremely fast thermal disturbances, when the speed of heat propagation should be concerned. The present study investigated temperature and heat balance at a microscopic sliding contact during a single frictional interaction based on the Cattaneo-Vernotte hyperbolic heat conduction equation. Two fundamental features of friction, namely,...
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Tracking of the broadband source of the underwater noise in the very shallow water conditions
PublicationThe paper contains the result s, both theoretical and experimental , connected with the tracking of the underwater noise source as small ships, pontoon , diver and so on. The pro blem of security in the shallow water area is the challenge for underwater acousticians. In this paper there is take n into account the detection of the sources that move on the surface of the sea or underwater in shallow...
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Coda wave interferometry in monitoring the fracture process of concrete beams under bending test
PublicationEarly detection of damage is necessary for the safe and reliable use of civil engineering structures made of concrete. Recently, the identification of micro-cracks in concrete has become an area of growing interest, especially using wave-based techniques. In this paper, a non-destructive testing approach for the characterization of the fracture process was presented. Experimental tests were made on concrete beams subjected to mechanical...
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First evaluation of wastewater discharge influence on marine water contamination in the vicinity of Arctowski Station (Maritime Antarctica)
PublicationIn Antarctica,waste is generatedmainly during scientific research programmes and related logistics. In this study, the impact ofwastewater on the western shore of Admiralty Baywas investigated during austral summer in 2017 and 2019. A range of physicochemical parameters and the presence of selected trace metals, formaldehyde and different groups of surfactants were determined in wastewater coming from Arctowski Station and in nearby coastal...
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Synteza układu sterowania statkiem morskim dynamicznie pozycjonowanym w warunkach niepewności
PublicationNiniejsza monografia obejmuje zagadnienia związane z syntezą układu dynamicznego pozycjonowania statku w środowisku morskim z zastosowaniem wybranych nieliniowych metod sterowania. W ramach pracy autorka rozważała struktury sterowania z zastosowaniem wektorowej adaptacyjnej metody backstep oraz metod jej pokrewnych, takich jak regulatory MSS (ang. multiple surface sliding), DSC (ang. dynamic surface control), NB (ang. neural backstepping)....
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MAKING OF FERROMAGNETIC ELLIPTICAL SHELL IN TRANSVERSE MAGNETIC
PublicationA ferromagnetic object, located in the Earth’s magnetic field, changes its distribution. Through measuring such disturbances, one can locate the object and destroy it. To conceal the object, a special winding is placed inside its ferromagnetic shell, and its task is to eliminate the disturbances in the distribution of the Earth’s magnetic field.
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Multifrequency self-optimizing narrowband interference canceller
PublicationThe problem of cancellation of a nonstationary sinusoidal interference, acting at the output of a linear stable plant, is considered. It is assumed that disturbance is a multifrequency narrowband signal, and that system output is contaminated with wideband noise. It is not assumed that the reference signal is available. Two disturbance cancelling schemes are proposed, one for disturbances with unrelated frequency components, and...
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On cooperative image denoising
PublicationIn this paper we suggest how several competing image denoising algorithms, differing in design parameters, or even in design principles, can be combined together to yield a better and more reliable denoising algorithm. The proposed fusion mechanism allows one to combine practically all kinds of noise reduction tools. It also allows one to account for the distribution of measurement noise, and in particular - to cope with heavy-tailed...
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Static Series and Shunt-series PE Voltage-quality Controllers
PublicationAs presented in the Chap. 7 static shunt power electronics (PE) voltage-quality controllers protect the utility electrical system from the unfavorable impact of customer loads. Shunt controllers, as shown in Chap. 6, are recommended mainly for mitigation of the causes of disturbances, and not their effects in distanced nodes of a power-electronics system. In the case when reduction of disturbances effects is required, which leads...
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Easy recipes for cooperative smoothing
PublicationIn this paper we suggest how several competing signal smoothers, differing in design parameters, or even in design principles, can be combined together to yield a better and more reliable smoothing algorithm. The proposed heuristic, but statistically well motivated, fusion mechanism allows one to combine practically all kinds of smoothers, from simple local averaging or order statistic filters, to parametric smoothers designed...
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On noncausal identification of nonstationary stochastic systems
PublicationIn this paper we consider the problem of noncausal identification of nonstationary,linear stochastic systems, i.e., identification based on prerecorded input/output data. We show how several competing weighted least squares parameter smoothers, differing in memory settings, can be combined together to yield a better and more reliable smoothing algorithm. The resulting parallel estimation scheme automatically adjusts its smoothing...
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Rotor-Flux Vector based Observer of Interior Permanent Synchronous Machine
PublicationThe sensorless control system of the interior permanent magnet machine is considered in this paper. The control system is based on classical linear controllers. In the machine, there occurs non-sinusoidal distribution of rotor flux together with the slot harmonics, which are treated as the control system disturbances. In this case, the classical observer structure in the (d-q) is unstable for the low range of rotor speed resulting...
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Efficient Usage of Dense GNSS Networks in Central Europe for the Visualization and Investigation of Ionospheric TEC Variations
PublicationThe technique of the orthogonal projection of ionosphere electronic content variations for mapping total electron content (TEC) allows us to visualize ionospheric irregularities. For the reconstruction of global ionospheric characteristics, numerous global navigation satellite system (GNSS) receivers located in different regions of the Earth are used as sensors. We used dense GNSS networks in central Europe to detect and investigate...
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Multichannel self-optimizing narrowband interference canceller
PublicationThe problem of cancellation of a nonstationary sinusoidal interference, acting at the output of an unknown multivariable linear stable plant, is considered. No reference signal is assumed to be available. The proposed feedback controller is a nontrivial extension of the SONIC (self-optimizing narrowband interference canceller) algorithm, developed earlier for single-input, single-output plants. The algorithm consists of two loops:...
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Multiple-channel frequency-adaptive active vibration control using SONIC
PublicationSONIC (self-optimizing narrowband interference canceller) is an acronym of a new approach to rejection of sinusoidal disturbances acting at the output of a discretetime stable linear plant with unknown and possibly timevarying dynamics. The paper presents two frequency-adaptive extensions of the multivariate SONIC algorithm. The efficacy of the proposed solutions is tested using our laboratory-scale active vibration control plant.
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An improved frequency estimator for an adaptive active noise control scheme
PublicationAn improved frequency tracker is proposed for the recently introduced self optimizing narrowband interference canceller (SONIC). The scheme is designed for disturbances with quasi-linear frequency modulation and, under second-order Gaussian random-walk assumption, can be shown to be statistically efficient. One real-world experiment and several simulations show that a considerable improvement in disturbance rejection may be achieved...
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Wavelet-based denoising method for real phonocardiography signal recorded by mobile devices in noisy environment
PublicationThe main obstacle in development of intelligent autodiagnosis medical systems based on the analysis of phonocardiography (PCG) signals is noise. The noise can be caused by digestive and respiration sounds, movements or even signals from the surrounding environment and it is characterized by wide frequency and intensity spectrum. This spectrum overlaps the heart tones spectrum, which makes the problem of PCG signal filtrating complex....
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A Novel Speed Observer for Doubly-Fed Induction Generator
PublicationThe purpose of this paper is to show a new state observer for doubly-fed generator. A proposed z-type observer algorithm based on mathematical model of doubly fed generator with additional variables treated as a disturbances has been used. A nonlinear multiscalar control method has been used to control active and reactive power of the generator. All analyses were verified by simulations and experiments tests.
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Reception of GNSS Signals Under Jamming Conditions
PublicationThe article focuses on performance of Global Navigation Satellite System receivers in environment where intentional interference is present. First part is a general description of GNSS systems. Secondly, types of positioning service disturbances are specified. In the third part authors present a scheme of measurement stand which is used to evaluate the influence of interference on reception of navigation signals. Next, research...
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Multichannel self-optimizing active noise control scheme
PublicationThe problem of cancellation of a nonstationary sinusoidal interference, acting at the output of an unknown multivariable linear stable plant, is considered. The proposed cancellation scheme is a nontrivial extension of the SONIC (self-optimizing narrowband interference canceller) algorithm, developed earlier for single-input, single-output plants. In the important benchmark case - for disturbances with randomwalk-type amplitude...
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Local dynamics of fluids and dielectrics as the foundation of signal-carrying wave properties
PublicationThis paper develops an original approach to fundamental problems of classical linear acoustics and electromagnetics, proving a crucial role of doubly-dynamic local properties of a propagation medium in supporting wave-like fields able to carry information signals. The proof is composed of two steps concerning, subsequently, fluid acoustics and dielectric electromagnetics. The first step consists in complementing a common, practically...
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Underfrequency Load Shedding: An Innovative Algorithm Based on Fuzzy Logic
PublicationIn contemporary power systems, the load shedding schemes are typically based on disconnecting a pre-specified amount of load after the frequency drops below a predetermined value. The actual conditions at the time of disturbance may largely dier from the assumptions, which can lead to non-optimal or ineective operation of the load shedding scheme. For many years, increasing the eectiveness of the underfrequency load shedding (UFLS)...
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Economic crisis in Croatia
PublicationCroatia is becoming the 28th member of the European Union on July 1st, 2013. Croatia has gone a long way from a socialistic republic to an independent country recognized as one of the economic tigers of the Western Balkans in the first decade of the 21st century. Croatia has been hit by a global crisis which turned out to be a huge external shock for the region of the Western Balkans. Although it does not enter the economy through...
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Dynamic mass measurement in checkweighers using a discrete time-variant low-pass filter
PublicationConveyor belt type checkweighers are complex mechanical systems consisting of a weighing sensor (strain gauge load cell, electrodynamically compensated load cell), packages (of different shapes, made of different materials) and a transport system (motors, gears, rollers). Disturbances generated by the vibrating parts of such a system are reflected in the signal power spectra in a form of strong spectral peaks, located usually in...
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RENOVATION OF ARCHIVE AUDIO RECORDINGS USING SPARSE AUTOREGRESSIVE MODELING AND BIDIRECTIONAL PROCESSING
PublicationThe paper presents a new approach to elimination of broadband noise and impulsive disturbances from archive audio recordings. The proposed adaptive Kalman-like algorithm, based on a sparse autoregressive model of the audio signal, simultaneously detects noise pulses, interpolates the irrevocably distorted samples and performs signal smoothing. It is shown that bidirectional (forward-backward) processing of the archive signal improves...
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A new approach to active noise and vibration control - [Part II: unknown frequency case]
PublicationThis paper presents a new approach to rejection of complex-valued sinusoidal disturbances acting at the output of a discrete-time stable linear plant with unknown and possibly timevarying dynamics. It is assumed that both the instantaneous frequency of the sinusoidal disturbance and its amplitude may be slowly varying with time and that the output signal is contaminated with wideband measurement noise. It is not assumed that a...
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Security Evaluation of IT Systems Underlying Critical Networked Infrastructures
PublicationCritical infrastructures have become highly dependent on information and communication technology (ICT). The drawback of this situation is that the consequences of disturbances of the underlying ICT networks may be serious as cascading effects can occur. This raises a high demand for security assurance, with a high importance assigned to security evaluations. In this paper we present an experiment-centric approach for the characterisation...
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Design of optimal state feedback controller with observer for multidimensional electrical system
PublicationFrom the control point of view, two-input-two-output RC electrical system is a linear and multidimensional system. In this paper, integral control and closed-loop observer are verified whether they can be used and designed. To verify this, Kalman tests are made. These structures are presented and discussed. Integral Control is tested with some base disturbances impact and checked whether it can handle them. The estimated values...
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AC Motor Voltage and Audible Noise Dataset
PublicationThe dataset titled AC motor voltage and audible noise waveforms in ship’s electrical drive systems with frequency converters contains the voltage and sound measurement results recorded in a marine frequency controlled AC drive system. The dataset is part of research focussing on the impact of the ship’s electrical drive systems with frequency converters on vibrations and the level of audible noise on ships. The dataset allows the...
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Research of the changeability of the vessels traffic intensity of inland waterways – case study for Lower Vistula
PublicationThe article presents an analysis of the changeability of traffic intensity of inland waterway vessels in the Vistula Delta. The concept of traffic intensity was defined, traffic flows and disturbances were identified in the studied area. The characteristics of the inland waterway traffic model are presented. The results of the analysis indicate the need to carry out modernization of inland waterways for the needs of inland waterway...
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EXHAUST TEMPERATURE MEASUREMENTS OF THE MARINE TURBOCHARGED DIESEL ENGINES IN OPERATION
PublicationThe article presents the selected metrology issues concerning the exhaust temperature of the turbocharged marine engines during operation. The special concern has been paid on existing disturbances as well as thermodynamical interpretation of the recorded measurement signal. A diagnostic informativeness of the standard exhaust temperature’s measurements has worked out while the engine runs in steady states has been also considered...