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Search results for: autonomous underwater robots
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MARITIME LASER SCANNING AS THE SOURCE FOR SPATIAL DATA
PublicationThe rapid development of scanning technology, especially mobile scanning, gives the possibility to collect spatial data coming from maritime measurement platforms and autonomous manned or unmanned vehicles. Presented solution is derived from the mobile scanning. However we should keep in mind that the specificity of laser scanning at sea and processing collected data should be in the form acceptable in Geographical Information...
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Estimating Traffic Intensity Employing Passive Acoustic Radar and Enhanced Microwave Doppler Radar Sensor
PublicationInnovative road signs that can autonomously display the speed limit in cases where the trac situation requires it are under development. The autonomous road sign contains many types of sensors, of which the subject of interest in this article is the Doppler sensor that we have improved and the constructed and calibrated acoustic probe. An algorithm for performing vehicle detection and tracking, as well as vehicle speed measurement,...
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Multibeam Echosounder and LiDAR in Process of 360-Degree Numerical Map Production for Restricted Waters with HydroDron
PublicationIn order to increase the safety of inland navigation and facilitate the monitoring of the coastal zone of restricted waters, a model of multi-sensory fusion of data from hydroacoustic and optoelectronic systems mounted on the autonomous survey vessel HydroDron will be developed. In the research will be used the LiDAR laser scanner and multibeam echosounder. To increase the visual quality and map accuracy, additionally side scan...
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Intelligent Audio Signal Processing − Do We Still Need Annotated Datasets?
PublicationIn this paper, intelligent audio signal processing examples are shortly described. The focus is, however, on the machine learning approach and datasets needed, especially for deep learning models. Years of intense research produced many important results in this area; however, the goal of fully intelligent signal processing, characterized by its autonomous acting, is not yet achieved. Therefore, a review of state-of-the-art concerning...
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Service-based Resilience for Embedded IoT Networks
PublicationEmbedded IoT networks are the backbone of safety-critical systems like smart factories, autonomous vehicles, and airplanes. Therefore, resilience against failures and attacks should be a prior concern already in their design stage. In this study, we introduce a service-based network model as an MILP optimization problem for the efficient deployment of a service overlay to the embedded network by meeting QoS and resilience requirements....
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Mathemathical model of radial passive magnetic bearing
PublicationIn the article mathematical radial model of passive magnetic bearings to ocean engineering units has been presented. The units application in underwater thrusters should increase propulsion systems durability and gives lower maintenance costs. The rotor of electric motor is hanging in magnetic field taken from radial passive magnetic bearings. However axial direction maintenance must be controlled with electromagnets and their...
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Web-based 3D processing and dissemination of multibeam sonar data
PublicationThe continuous detailed surveys of the various water bodies over time produce a large and ever-increasing volume and density of underwater sounding data. Three-dimensional data, such as those obtained by multibeam sonar systems, are quite complex to manage, and thus their growing numbers increase the pressure on development of new solutions dedicated to processing them. This paper presents a concept system for web-based dissemination...
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Influence of Natural Conditions on the Imaging of the Bottom of the Gdańsk Bay by Means of the Side Scan Sonar
PublicationThe interest in underwater resources is the reason for the development of modern hydroacoustic systems, including side sonars, which find numerous applications such as: research of seabed morphology and sediment characteristics, preparation of sea sediment maps, and even in special cases of biocenoses such as sea grass meadows, detection of specific targets at the bottom such as shipwrecks, mines, identification of suitable sites...
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Możliwości zastosowania zasobnikowych jednostek trakcyjnych na liniach kolejowych na przykładzie Pomorskiej Kolei Metropolitalnej
PublicationW artykule zwrócono uwagę, że zasobniki stosowane głównie do rekuperacji energii, mogą być również wykorzystane do zasilania pociągów na niezelektryfikowanych i zelektryfikowanych odcinkach linii kolejowych. Innowacyjność tego rozwiązania wykazano na podstawie dwóch aplikacji kolejowych elektrycznych zasobnikowych jednostek trakcyjnych: pierwszej funkcjonującej od 2014 roku na linii Utsunomiya – Karasuyama w Japonii oraz drugiej,...
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Is DAO Governance Fostering Democracy? Reviewing Decision-Making in Decentraland
PublicationThis study analyzes voting dynamics and proposal outcomes within Decentraland, a prominent Decentralized Autonomous Organization (DAO), by examining its voting behaviors and decision outcomes. We offer insights into how a DAO is employed to facilitate decision-making and discern the nature of the issues about which decisions are made. DAOs promise horizontal and democratic decision-making. However, our research reveals...
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Design and Performance Evaluation of the Energy Subsystem of a Hybrid Light andWave Energy Harvester
PublicationThe paper presents the design and performance of an energy subsystem (ES) dedicated to hybrid energy harvesters (HEHs): wave energy converters (WECs) combined with photovoltaic panels (PVPs). The considered ES is intended for compact HEHs powering autonomous end-node devices in distributed IoT networks. The designed ES was tested experimentally and evaluated in relation to the mobile and wireless distributed communication use case....
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Supporting development of the smart ship technology by CFD simulation of ship behavior in close to real operational conditions
PublicationThe shipping industry is at the milestone of technological development – autonomous ships. Involving smart technologies accelerates development of green and safe shipping. Also IMO regulations, especially EEDI en-hanced application of new technologies. Meeting economic and ecological requirements future ships need to be designed with respect to increased reliability and operational performance. Design process of ships may be improved...
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Synchronous generator model taking into account the non-uniform saturation of the pole shoes
PublicationFor the evaluation of modern electric power systems with regard to their behavior, weight, and reliability a novel modeling and simulation tools have been developed. The paper presents circuit model of synchronous generator taking into account both the non-sinusoidal distribution of the stator and rotor winding, and non-uniform saturation of the pole shoes. This model is suitable for simulation of both salient and no-salient pole...
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Positive Management of Universities: A Model of Motivation to Strive for Scientific Excellence
PublicationObjective: The aim of the article is to conceptualise a model of work motivation in the management of universities striving for scientific excellence. Research Design & Methods: The most relevant for our aim is the self-determina tion theory that is applied to the work and organisational domain. We used a nar rative literature review. Findings: The proposed model is derived from the self-determination theory. It includes three...
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Vehicle detector training with labels derived from background subtraction algorithms in video surveillance
PublicationVehicle detection in video from a miniature station- ary closed-circuit television (CCTV) camera is discussed in the paper. The camera provides one of components of the intelligent road sign developed in the project concerning the traffic control with the use of autonomous devices being developed. Modern Convolutional Neural Network (CNN) based detectors need big data input, usually demanding their manual labeling. In the presented...
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Shallow-Water Acoustic Communications in Strong Multipath Propagation Conditions
PublicationA phenomenon that has a strong impact on signal transmission conditions in Underwater Acoustic Communication (UAC) systems is multipath propagation. As a result of multipath propagation, the transmitted signal undergoes time dispersion which results in inter-symbol interference observed on the receiving side. Time dispersion is large, especially in horizontal channels in shallow waters which significantly limits the transmission...
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Shipping Low Frequency Noise and Its Propagation in Shallow Water
PublicationOne of the most significant factor influencing acoustical climate of the sea is underwater noise generated by moving ships. If the considered sea area has features of the shallow water, namely the wave frequency fulfils relation f < 10c/h, where c denotes phase speed of sound, and h is depths of the sea, then in certain distance from the wave source specific image of sound pressure distribution in the mean of wave modes appears....
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Effect of coarse grain aggregate on strength parameters of two-stage concrete
Publication. Two-stage concrete (TSC) is a special type of concrete that the method of its construction and implementation is different from conventional one. In TSC, coarse aggregate particles are first placed in the formwork and voids between them are subsequently injected with a special cementations mixture. TSC has been successfully used in many applications, such as underwater construction, casting concrete sections congested with reinforcement...
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Emerging strategies for enhancing detection of explosives by artificial olfaction
PublicationExplosives detection systems need to be able to reliably detect a wide range of explosive materials and their vapours. The continued development and improvement of artificial olfaction techniques, including electronic nose (EN), remains important to overcome existing challenges and meet requirements posed by new improvements in the field of explosives. There is an increasingly popular trend aimed at improvement of fundamental metrological...
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Smart Embedded Systems with Decisional DNA Knowledge Representation
PublicationEmbedded systems have been in use since the 1970s. For most of their history embedded systems were seen simply as small computers designed to accomplish one or a few dedicated functions; and they were usually working under limited resources i.e. limited computing power, limited memories, and limited energy sources. As such, embedded systems have not drawn much attention from researchers, especially from those in the artificial...
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Rola przekształceń styku lądu i wody w procesach rewitalizacji
PublicationArtykuł poświęcony jest zweryfikowaniu roli, jaką pełnią przekształcenia granic miedzy lądem i wodą w procesach rewitalizacji. Analizując szereg tego typu działań, w szczególności dotyczących transformacji obszarów poprzemysłowych, można zauważyć, że w ostatnim czasie charakterystyczne dla nich stają się modyfikacje planów obszarów wodnych i form ich granic. Jak okazuje się, działania takie mają nie tylko znaczenie kompozycyjne...
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Trust-Based Model for the Assessment of the Uncertainty of Measurements in Hybrid IoT Networks
PublicationThe aim of this paper is to introduce a NUT model (NUT: network-uncertainty-trust) that aids the decrease of the uncertainty of measurements in autonomous hybrid Internet of Things sensor networks. The problem of uncertainty in such networks is a consequence of various operating conditions and varied quality of measurement nodes, making statistical approach less successful. This paper presents a model for decreasing the uncertainty...
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Service-based Resilience via Shared Protection in Mission-critical Embedded Networks
PublicationMission-critical networks, which for example can be found in autonomous cars and avionics, are complex systems with a multitude of interconnected embedded nodes and various service demands. Their resilience against failures and attacks is a crucial property and has to be already considered in their design phase. In this paper, we introduce a novel approach for optimal joint service allocation and routing, leveraging virtualized...
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Decoding soundscape stimuli and their impact on ASMR studies
PublicationThis paper focuses on extracting and understanding the acoustical features embedded in the soundscape used in ASMR (Autonomous Sensory Meridian Response) studies. To this aim, a dataset of the most common sound effects employed in ASMR studies is gathered, containing whispering stimuli but also sound effects such as tapping and scratching. Further, a comparative analytical survey is performed based on various acoustical features...
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FPGA-Based Implementation of Real Time Optical Flow Algorithm and Its Applications for Digital Image Stabilization
PublicationAn efficient simplification procedure of the optical flow (OF) algorithm as well as its hardware implementation using the field programmable gate array (FPGA) technology is presented. The modified algorithm is based on block matching of subsets of successive frames, and exploits one-dimensional representation of subsets as well as the adaptive adjustments of their sizes. Also, an l1-norm-based correlation function requiring no...
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JamesBot - an intelligent agent playing StarCraft II
PublicationThe most popular method for optimizing a certain strategy based on a reward is Reinforcement Learning (RL). Lately, a big challenge for this technique are computer games such as StarCraft II which is a real-time strategy game, created by Blizzard. The main idea of this game is to fight between agents and control objects on the battlefield in order to defeat the enemy. This work concerns creating an autonomous bot using reinforced...
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Hydrodron — New Step for Professional Hydrography for Restricted Waters
PublicationHydrographic surveys in restricted areas are becoming increasingly important, but often impossible to carry out with conventional hydrographic vessels. Presumably in this case an employment of unmanned vehicles is the only reasonable solution. As restricted water areas include, among others: harbours, roadsteads, rivers or lakes. The HydroDron platform, due to its mobility, can operate in the above-mentioned areas. It is adapted...
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Review of Shoreline Extraction Methods from Aerial Laser Scanning
PublicationAutonomous technologies are increasingly used in various areas of science. The use of unmanned vehicles for hydrographic surveys in shallow coastal areas requires accurate estimation of shoreline position. This is a nontrivial task, which can be performed using a wide range of sensors and methods. The aim of the publication is to review shoreline extraction methods based solely on data from aerial laser scanning (ALS). This narrative...
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Comparison of Doppler Effect Estimation Methods for MFSK Transmission in Multipath Hydroacoustic Channel
PublicationUnderwater wireless communication remains a challenging topic, particularly for applications such as wreck penetration where multipath and Doppler effects are very intense. These effects are becoming even more difficult to mitigate for fast data transmission systems that utilize wideband signals. Due to the low propagation speed of acoustic wave in the water, there is a significant difference between the Doppler shift for lower...
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Using angular dependence of multibeam echo features in seabed classification
PublicationThe new approach to seabed classification based on processing multibeam sonar echoes is presented. The multibeam sonars, besides their well verified and widely used applications like high resolution bathymetry measurements or underwater object imaging, are also the promising tool in seafloor identification and classification, having several advantages over conventional single beam echosounders. The proposed seabed classification...
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Application of Shape From Shading Technique for Side Scan Sonar Images
PublicationSide scan sonar (SSS) is one of the most widely used imaging systems in the underwater environment. It is relatively cheap and easy to deploy in comparison with more powerful sensors like multibeam echosounder or synthetic aperture sonar. Although, the SSS does not provide directly the seafloor bathymetry measurements. Its outputs are usually in a form of grey level acoustic images of seafloor. However, the analysis of such images...
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A framework for risk matrix design: A case of MASS navigation risk
PublicationRisk matrix, a tool for visualizing risk assessment results, is essential to facilitate the risk communication and risk management in risk-based decision-making processes related to new and unexplored socio-technical systems. The use of an appropriate risk matrix is discussed in the literature, but it is overlooked for emerging technologies such as Maritime Autonomous Surface Ships (MASS). In this study, a comprehensive framework...
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Long-term comparative evaluation of an acoustic climate in selected schools before and after the acoustic treatment
PublicationThe results of long-term continuous noise measurements in two selected schools are presented in the paper. Noise characteristics were measured continuously there for approximately 16 months. Measurements started eight months prior to the acoustic treatment of the school corridors of both schools. An evaluation of the acoustic climates in both schools, before and after the acoustic treatment, was performed based on comparison of...
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Heat recovery from the hybrid photovoltaic tile – experimental studies with the solar light simulator
PublicationConsidering the current development of micro-cogeneration energy sources, supported by the national prosumer policy and the act on the renewable energy sources, there is a great demand for the effective solar technologies. In this area, the photovoltaic cells with a combined conversion of the solar radiation energy into the electrical and thermal energy (PV/T cells) seem to be attractive. They are already widely available and treated...
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Closed Form Constraint Equations Used to Express Frictionless Slip of Multibody Systems Attached to Finite Elements—Application to a Contact between a Double Pendulum and a Beam
PublicationThis paper focuses on the numerical modeling of the dynamics of mechanical systems. Robots that can inspect high-voltage lines inspired this research. Their control systems must anticipate potential grab positions appropriately. We intend to formulate equations dedicated to the numerical description of the robot/cable contact. The investigated problem is not straightforward, since parts of the modeled systems are numerically inhomogeneous....
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Instrument detection and pose estimation with rigid part mixtures model in video-assisted surgeries
PublicationLocalizing instrument parts in video-assisted surgeries is an attractive and open computer vision problem. A working algorithm would immediately find applications in computer-aided interventions in the operating theater. Knowing the location of tool parts could help virtually augment visual faculty of surgeons, assess skills of novice surgeons, and increase autonomy of surgical robots. A surgical tool varies in appearance due to...
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Advantages of the Application of the Temper Bead Welding Technique During Wet Welding
PublicationThermo-mechanically rolled S460ML steel was chosen for welding in underwater wet welding conditions by covered electrodes. The main aim of this study was to check the weldability for fillet welds in a water environment by controlled thermal severity (CTS) tests and to check the influence of temper bead welding (TBW) on the weldability of the investigated steel. Non-destructive and destructive tests showed that S460ML steel has...
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Comparing traffic intensity estimates employing passive acoustic radar and microwave Doppler radar sensor
PublicationThe purpose of our applied research project is to develop an autonomous road sign with built-in radar devices of our design. In this paper, we show that it is possible to calibrate the acoustic vector sensor so that it can be used to measure traffic volume and count the vehicles involved in the traffic through the analysis of the noise emitted by them. Signals obtained from a Doppler radar are used as a reference source. Although...
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CONTEMPORARY APPROACH TOWARDS RESPONSIVE ARCHITECTURE
PublicationConstantly changing environment pressures every living for a change, and response becomes a basic reaction of any living form. Change is a natural reaction that enables survivor of all the species. However, in architecture, the responsive structure did not take important role until the twentieth century. During that time many concepts and building introduced kinematics into the discipline. In the late 50 and 60 of XX century, visionary...
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Robustness in Compressed Neural Networks for Object Detection
PublicationModel compression techniques allow to significantly reduce the computational cost associated with data processing by deep neural networks with only a minor decrease in average accuracy. Simultaneously, reducing the model size may have a large effect on noisy cases or objects belonging to less frequent classes. It is a crucial problem from the perspective of the models' safety, especially for object detection in the autonomous driving...
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How high-tech solutions support the fight against IUU and ghost fishing: a review of innovative approaches, methods, and trends
PublicationIllegal, Unreported, and Unregulated fishing is a major threat to human food supply and marine ecosystem health. Not only is it a cause of significant economic loss but also its effects have serious long-term environmental implications, such as overfishing and ocean pollution. The beginning of the fight against this problem dates since the early 2000s. From that time, a number of approaches and methods have been developed and reported....
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ECHOES REDUCTION DURING DIGITAL DATA TRANSMISSION IN HYDROACOUSTIC CHANNEL – LABORATORY EXPERIMENT
PublicationThe possibility of using a hydroacoustic channel for digital data transmission is very limited. This is due to the effect of multipath propagation of the emitted acoustic wave and the damping of the mechanical wave in this medium, which increase with frequency. The first of these phenomena results in inter-symbol interference disturbances in data transmission systems, including even hundreds of symbols. Due to the number of reflections...
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Offshore benthic habitat mapping based on object-based image analysis and geomorphometric approach. A case study from the Slupsk Bank, Southern Baltic Sea
PublicationBenthic habitat mapping is a rapidly growing field of underwater remote sensing studies. This study provides the first insight for high-resolution hydroacoustic surveys in the Slupsk Bank Natura 2000 site, one of the most valuable sites in the Polish Exclusive Zone of the Southern Baltic. This study developed a quick and transparent, automatic classification workflow based on multibeam echosounder and side-scan sonar surveys to...
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A multiparameter simulation-driven analysis of ship turning trajectory concerning a required number of irregular wave realizations
PublicationIn times of progressive automation of the marine industry, accurate modeling of ship maneuvers is of utmost importance to all parties involved in maritime transportation. Despite the existence of modern collisionavoidance algorithms using 6DOF motion models to predict ship trajectories in waves, the impact of stochastic realization of irregular waves is usually neglected and remains under-investigated. Therefore, herein, this phenomenon...
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Comparative Analysis of Unmanned Aerial Vehicles Used in Photogrammetric Surveys
PublicationThere are many manufacturers on the market offering various types of Unmanned Aerial Vehicles (UAV). The multitude of drones available on the market means that the choice of a UAV for a specific application appears to be a decision problem to be solved. The aim of this article is a comparative analysis of drones used in photogrammetric surveys. The criteria for evaluating the UAVs were: availability and product support, payload...
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Analiza pokrycia powierzchni terenu przez działanie robota mobilnego w otoczeniu przeszkód ruchomych
PublicationW artykule została opisana metodyka rozwiązania problemu całkowitego pokrycia nieznanej powierzchni przez autonomicznego robota mobilnego podczas jednoczesnego unikania kolizji z przeszkodami ruchomymi. Przedstawiono sformułowanie oraz dokonano szczegółowej analizy obu problemów, ze zwróceniem szczególnej uwagi na występujące ograniczenia. Zaprezentowano behawioralne podejście do sterowania robotem mobilnym wzorowane na reakcjach...
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Urban scene semantic segmentation using the U-Net model
PublicationVision-based semantic segmentation of complex urban street scenes is a very important function during autonomous driving (AD), which will become an important technology in industrialized countries in the near future. Today, advanced driver assistance systems (ADAS) improve traffic safety thanks to the application of solutions that enable detecting objects, recognising road signs, segmenting the road, etc. The basis for these functionalities...
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Self-assembly of vertically oriented graphene nanostructures: multivariate characterisation by Minkowski functionals and fractal geometry
PublicationThe enormous self-assembly potential that graphene and its derived layered materials offer for responding to the contemporary environmental challenges has made it one of the most investigated materials. Hence, tuning its extraordinary properties and understanding the effect at all scales is crucial to tailoring highly customised electrodes. Vertically oriented graphene nanostructures, also known as carbon nanowalls (CNWs), due...
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Raman investigation of the patina layers on Hungarian copper ingots from a fifteenth century shipwreck
PublicationWe report results of the patina study of underwater archeological finding ofmedieval copper objects performed by means of the Raman and complementary spectroscopic techniques. The objects were found submerged in the sea as cargo part of the ship which sunk in the Gulf of Gdańsk in 1408. The excavated collection consists of 230 oval ingots of the size and mass up to about 60 cm and 18 kg (total of 2 tons), respectively. In the Raman...
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3D seafloor reconstruction using data from side scan and synthetic aperture sonar
PublicationSide scan and synthetic aperture sonars are widely used imaging systems in the underwater environment. They are relatively cheap and easy to deploy, in comparison with more powerful sensors, like multibeam echosounders. Although side scan and synthetic aperture sonars does not provide seafloor bathymetry directly, their records are finally related to seafloor images. Moreover, the analysis of such images performed by human eye...