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Search results for: WHEELED ROBOTS NONLINEAR SYSTEMS DYNAMICS MOTION CONTROL
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Comparison of tuning procedures based on evolutionary algorithm for multi-region fuzzy-logic PID controller for non-linear plant
PublicationThe paper presents a comparison of tuning procedures for a multi-region fuzzy-logic controller used for nonlinear process control. This controller is composed of local PID controllers and fuzzy-logic mechanism that aggregates local control signals. Three off-line tuning procedures are presented. The first one focuses on separate tuning of local PID controllers gains in the case when the parameters of membership functions of fuzzy-logic...
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Data on solutions of Hes1 system
Open Research DataHes1 protein (hairy and enhancer of split 1) belongs to the helix-loop-helix (bHLH) family of transcription proteins, i.e. DNA-binding proteins in the promoter region or in another region where regulation of transcription processes occurs. The database collects data on solutions of the Hes1 systems with multiple binding sites and the dimer formation...
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Brownian Motion in Optical Tweezers, a Comparison between MD Simulations and Experimental Data in the Ballistic Regime
PublicationThe four most popular water models in molecular dynamics were studied in large-scale simulations of Brownian motion of colloidal particles in optical tweezers and then compared with experimental measurements in the same time scale. We present the most direct comparison of colloidal polystyrene particle diffusion in molecular dynamics simulations and experimental data on the same time scales in the ballistic regime. The four most...
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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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Multiscalar Control Based Airgap Flux Optimization of Induction Motor for Loss Minimization
PublicationBased on the induction motor model, considering the core loss resistance that accounts for magnetic characteristic saturation, a speed control approach is devised with an adaptive full-order (AFO) speed observer. The induction motor model analysis is done sincerely in a stationary reference frame. The control approach incorporates a flux reference generator designed to meet optimal operational circumstances and a nonlinear speed...
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Influence and development of new kinematic systems in flat surface lapping
PublicationThe face grinding and lapping technology is widely used in the field of the precise and ultraprecise manufacturing. It has become an indispensable technology in the manufacture of many parts. An absence of material restrictions allows machining both metal and non-metallic materials, including technical ceramics [1]. Nowadays there are mainly two kinematic systems in lapping machines [2]. The machining plane-parallel surfaces is...
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A Review of Hyperelastic Constitutive Models for Dielectric Elastomers
PublicationDielectric elastomers are smart materials that are essential components in soft systems and structures. The core element of a dielectric elastomer is soft matter, which is mainly rubber-like and elastomeric. These soft materials show a nonlinear behaviour and have a nonlinear strain-stress curve. The best candidates for modelling the nonlinear behaviour of such materials are hyperelastic strain energy functions. Hyperelastic functions...
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SVC and power transformers controllers coordination
PublicationThe use of shunt compensators such as FACTS (for example SVC) in power systems gives possibility of fast and flexible control of voltage or reactive power. An efficient cooperation between a transformer and compensator connected to busbars, or transformer’s tertiary winding, requires a proper coordination of controls. The article contains theoretical considerations and simulation results which indicate that such co-ordination is...
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Key activities to improve energy management in DC microgrids connected by urban traction
PublicationDC MicroGrids must have Energy Management Systems to guarantee efficient, dependable, and environmentally friendly electricity. The application of Model Predictive Control, proved to be helpful due to its adaptability and capacity to use non-linear models. This paper, based on an extensive literature review, identifies and discusses the three key activities to improve the characteristics of DC MicroGrids, i.e.: the use of Energy...
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Numerical modelling and experimental verification of compressible squeeze film pressure
PublicationThe validity of using the Reynolds equation for compressible squeeze film pressure was tested with computational fluid dynamics (CFD). A squeeze film air bearing was instrumented with pressure sensors and non-contacting displacement probes to provide transient measurements of film thickness and pressure. The film thickness measurements also provided input parameters to the numerical prediction. However, numerical results showed...
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Standing Waves and Acoustic Heating (or Cooling) in Resonators Filled with Chemically Reacting Gas
PublicationStanding waves and acoustic heating in a one-dimensional resonator filled with chemically reacting gas, is the subject of investigation. The chemical reaction of A ! B type, which takes place in a gas, may be reversible or not. Governing equations for the sound and entropy mode which is generated in the field of sound are derived by use of a special mathematical method. Under some conditions, sound waves propagating in opposite...
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Comparative in vitro research of the Human Aortic Bioprosthesis
PublicationE valuate of the usefulness and reliability of structures based on the analysis of recorded parameters determining the flow through the Human Aortic Bioprosthesis (HAB) have been dealt with. By flow parameters changes determining the performance environment of prosthesis analyzed change of the motion dynamics of the valve leaflets as a function of pressure, thereby determining the degree of alignment of the prosthesis to the performance...
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On thermal stability of topological qubit in Kitaev's 4D model
PublicationWe analyse stability of the four-dimensional Kitaev model-a candidate for scalable quantum memory - in finite temperature within the weak coupling Markovian limit. It is shown that, below a critical temperature, certain topological qubit observables X and Z possess relaxation times exponentially long in the size of the system. Their construction involves polynomial in system size algorithm which uses as an input the results of...
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Decoherence-free communication over multiaccess quantum channels
PublicationIn this paper we consider decoherence-free communication over multiple access and k-user quantum channels. First, we concentrate on a hermitian unitary noise model U for a two-access bi-unitary channel and show that in this case a decoherence-free code exists if the space of Schmidt matrices of an eigensubspace of U exhibits certain properties of decomposability. Then, we show that our technique is also applicable for generic random unitary...
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Vacuum Rabi oscillation in nonzero-temperature open cavity
PublicationPorównania teorii oscylacji Rabiego z eksperymentem [M. Wilczewski, M. Czachor, Phys. Rev. A 79, 0333836 (2009)] sugerują, że parametry wnęki doświadczeniu z dużą ilością fotonów mogą być znacznie mniejsze niż te otrzymane dla stanów prawie próżniowych. W tym kontekście pokazujemy, że wniosek pozostaje bez zmian, nawet jeśli do opisu stanu początkowego wnęki zastosuje się bardziej realistyczny opis.
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Novel adaptive flux observer for wide speed range sensorless control of induction motor
PublicationA new adaptive flux observer of induction motor is presented in the paper. The Lyapunov theory is utilized for derivation of the adaptation law of rotor flux angular speed, which acts as unknown parameter in an augmented induction motor model. In the field weakening region, where stray fluxes are comparable with rotor flux magnitude, the air-gap flux stabilization is proposed. An air-gap flux multiscalar model is derived for stator...
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Half-Order Modeling of Saturated Synchronous Machine
PublicationNoninteger order systems are used to model diffusion in conductive parts of electrical machines as they lead to more compact and knowledge models but also to improve their precision. In this paper a linear half-order impedance model of a ferromagnetic sheet deduced from the diffusion of magnetic field is briefly introduced. Then, from physical considerations and finite elements simulation, the nonlinear half-order impedance model...
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Real-time simulator of agricultural biogas plant
PublicationThis article presents a real-time simulator of an agricultural biogas plant. The project contains biogas and biomass circuits simulation, as well as heating circuit simulation with a complete control system and visualization interface of the whole process. The software tool used to simulate the plant work is CFD (Computational Fluid Dynamics), which enables a user to create and test simulation objects based on fundamental physical...
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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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Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes
PublicationThe subject of human-hand versatility has been intensively investigated for many years. Emerging robotic constructions change continuously in order to mimic natural mechanisms as accurately as possible. Such an attitude is motivated by the demand for humanoid robots with sophisticated end effectors and highly biomimic prostheses. This paper provides wide analysis of more than 80 devices that have been created over the last 40 years....
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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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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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Factors determining selection of production planning and control system
PublicationThe article contains a comparative characteristics of selected systems of production planning and control, such as: MRP, kanban/JiT, DBR/TOC. The results of the performed analyses served as a basis for determining key market factors related to production planning and control functions, which determine the choice of an appropriate system.
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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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Modelling of wastewater treatment plant for monitoring and control purposes by state - space wavelet networks
PublicationMost of industrial processes are nonlinear, not stationary, and dynamical with at least few different time scales in their internal dynamics and hardly measured states. A biological wastewater treatment plant falls into this category. The paper considers modelling such processes for monitorning and control purposes by using State - Space Wavelet Neural Networks (SSWN). The modelling method is illustrated based on bioreactors of...
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Noncentrosymmetric Triangular Magnet CaMnTeO6: Strong Quantum Fluctuations and Role of s0 versus s2 Electronic States in Competing Exchange Interactions
PublicationNoncentrosymmetric triangular magnets offer a unique platform for realizing strong quantum fluctuations. However, designing these quantum materials remains an open challenge attributable to a knowledge gap in the tunability of competing exchange interactions at the atomic level. Here, a new noncentrosymmetric triangular S = 3/2 magnet CaMnTeO6 is created based on careful chemical and physical considerations. The model material...
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Validation of lumbar spine finite element model
Open Research DataThe functional biomechanics of the lumbar spine have been better understood by finite element method (FEM) simulations. However, there are still areas where the behavior of soft tissues can be better modeled or described in a different way. The purpose of this research is to develop and validate a lumbar spine section intended for biomechanical research....
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Periodic and chaotic dynamics in a map‐based neuron model
PublicationMap-based neuron models are an important tool in modeling neural dynamics and sometimes can be considered as an alternative to usually computationally costlier models based on continuous or hybrid dynamical systems. However, due to their discrete nature, rigorous mathematical analysis might be challenging. We study a discrete model of neuronal dynamics introduced by Chialvo in 1995. In particular, we show that its reduced one-dimensional...
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Vident-synth: a synthetic intra-oral video dataset for optical flow estimation
Open Research DataWe introduce Vident-synth, a large dataset of synthetic dental videos with corresponding ground truth forward and backward optical flows and occlusion masks. It can be used for:
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Two-Step Model Based Adaptive Controller for Dissolved Oxygen Control in Sequencing Wastewater Batch Reactor
PublicationDissolved Oxygen (DO) concentration is a crucial parameter for efficient operation of biological processes taking place in the activated sludge Wastewater Treatment Plant (WWTP). High-quality DO control is difficult to achieve because of complex nonlinear behavior of the plant and substantial influent disturbances. A method to improve the Direct Model Reference Adaptive Control (DMRAC) technology in application to DO tracking for...
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Stochastic intervals for the family of quadratic maps
Open Research DataNumerical analysis of chaotic dynamics is a challenging task. The one-parameter families of logistic maps and closely related quadratic maps f_a(x)=a-x^2 are well-known examples of such dynamical systems. Determining parameter values that yield stochastic-like dynamics is especially difficult, because although this set has positive Lebesgue measure,...
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Analysis of positioning methods using Global Navigation Satellite Systems (GNSS) in Polish State Railways (PKP)
PublicationEach year, global navigation satellite systems (GNSS) improve their accuracy, availability, continuity, integrity, and reliability. Due to these continual improvements, the systems are increasingly used in various modes of transport, including rail transport, the subject of this publication. GNSS are used for rail passenger information, rail traffic management, and rail traffic control. These applications differ in the positioning...
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Designing control strategies of aeration system in biological WWTP
PublicationThe paper presents the complete design processes of a novel aeration control systems in the SBR (Sequencing Batch Reactor) wastewater treatment plant (WWTP). Due to large energy expense and high influence on biological processes, the aeration system plays a key role in WWTP operation. The paper considers the aeration system for a biological WWTP located in the northeast of Poland. This system consists of blowers, the main collector...
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Simulation of Life Raft Motions on Irregular Wave - An Analysis of Situations Leading to Raft Capsizing
PublicationSuccessful rescue action at sea is based on a. o. a correct choice of rescue means and their reliability. Operational characteristics of life-saving appliances determine their performance in a given water area. Therefore they affect duration time of rescue action and decide this way on survival time of shipwrecked persons. This paper presents impact of characteristics of circular inflatable life rafts on their dynamics in a...
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Software tool for modelling of mechatronic systems with elastic continua
PublicationThe paper presents a systematic computational package for modelling and analysis of complex systems composed of multiple lumped and distributed parameter subsystems. The constructed computer program enables the frequency domain analysis of a class of linear systems and to obtain reduced order model in the form of bond graph. Obtained modal bond graph can be directly exported into 20-Sim package to further processing including nonlinear...
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Hyperelastic Microcantilever AFM: Efficient Detection Mechanism Based on Principal Parametric Resonance
PublicationThe impetus of writing this paper is to propose an efficient detection mechanism to scan the surface profile of a micro-sample using cantilever-based atomic force microscopy (AFM), operating in non-contact mode. In order to implement this scheme, the principal parametric resonance characteristics of the resonator are employed, benefiting from the bifurcation-based sensing mechanism. It is assumed that the microcantilever is made...
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Manufacturing Data Analysis in Internet of Things/Internet of Data (IoT/IoD) Scenario
PublicationComputer integrated manufacturing (CIM) has enormous benefits as it increases the rate of production, reduces errors and production waste, and streamlines manufacturing sub-systems. However, there are some new challenges related to CIM operating in the Internet of Things/Internet of Data (IoT/IoD) scenarios associated with Industry 4.0 and cyber-physical systems. The main challenge is to deal with the massive volume of data flowing...
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Feature extraction in detection and recognition of graphical objects
PublicationDetection and recognition of graphic objects in images are of great and growing importance in many areas, such as medical and industrial diagnostics, control systems in automation and robotics, or various types of security systems, including biometric security systems related to the recognition of the face or iris of the eye. In addition, there are all systems that facilitate the personal life of the blind people, visually impaired...
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Difference functional inequalities and applications.
PublicationThe paper deals with the difference inequalities generated by initial boundary value problems for hyperbolic nonlinear differential functional systems. We apply this result to investigate the stability of constructed difference schemes. The proof of the convergence of the difference method is based on the comparison technique, and the result for difference functional inequalities is used. Numerical examples are presented.
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Rotational state-changing collisions of C2H− and C2N− anions with He under interstellar and cold ion trap conditions: A computational comparison
PublicationWe present an extensive range of quantum calculations for the state-changing rotational dynamics involving two simple molecular anions that are expected to play some role in the evolutionary analysis of chemical networks in the interstellar environments, C2H− (X1Σ+) and C2N− (X3Σ−), but for which inelastic rates are only known for C2H−. The same systems are also of direct interest in modeling selective photo-detachment experiments...
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Trustworthiness and Subversion in Large Service- Oriented Multi-Agent Systems under Virtual Anonymity and Blind Provider Selection
PublicationTo promote honest service provision in multi-agent systems, a Computational Trustworthiness and Rating scheme collects service ratings and computes agents' trustworthiness levels (TLs). Studies of existing schemes fail to reflect closed-loop dynamics of TLs arising from the mutual influence of agents' behavior and TLs, and to capture relevant properties. Recent simulative and analytical models produce results tied to a particular...
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State Observer for Doubly-fed Induction Generator
PublicationIn the paper a new state observer for doubly-fed generator has been proposed. In the new approach an extended mathematical model of the doubly fed generator is used to form equations of the introduced z type observer. Stability of the observer has been verified through poles placement analyses. The active and reactive powers of the generator are controlled by a nonlinear multiscalar control method. Simulation and experimental results...
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A New Fuzzy Sliding Mode Controller with PID Sliding Surface for Underwater Manipulators
PublicationDesign of an accurate and robust controller is challenging topic in 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 control...
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Modern control strategy of bidirectional DAB converter with consideration of control nonlinearity
PublicationThis paper focuses on the control strategy for modern universal bidirectional Dual Active Bridge (DAB) converters for microgrid systems. An analysis of the converter equations was carried out, and typical problems related to the influence of dead time on the system operation were discussed. A closed control loop was developed, then tested by simulation and on a laboratory stand.
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Variable Speed AC Drives with Inverter Output Filters
PublicationThe advance of variable speed drives systems (VSDs) engineering highlights the need of specific technical guidance provision by electrical machines and drives manufacturers, so that such applications can be properly designed to present advantages in terms of both energy efficiency and expenditure. This book presents problems and solutions related to inverter-fed electrical motors. Practically orientated, the book describes the...
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Appendix E
PublicationThe advance of variable speed drives systems (VSDs) engineering highlights the need of specific technical guidance provision by electrical machines and drives manufacturers, so that such applications can be properly designed to present advantages in terms of both energy efficiency and expenditure. This book presents problems and solutions related to inverter-fed electrical motors. Practically orientated, the book describes the...
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Możliwości redukcji przebiegowego zużycia paliwa przy zastosowaniu elektronicznych systemów wspomagających kierowców
PublicationElektroniczne systemy wspomagające kierowcę pomagają kierującym kontrolować sytuację na drodze, przekazują sygnały do układu hamulcowego i napędowego, rozpoznają znaki drogowe, pozwalają utrzymać odpowiedni dystans w czasie jazdy w kolumnie, a także kontrolują położenie pojazdu na pasie ruchu. Elek-troniczne systemy wspomagające kierowcę pomagają również zmniejszyć przebiegowe zużycie paliwa, poprzez odpowiednie sterowanie układem...
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Reliability data safety instrumented systems SIS from the functional safety analysis example critical instalation
Open Research DataThe dataset represents the results of an example of functional safety analysis systems is presented below. It is based on a control system, which consists of some basic components like sensors, programmable logic controllers and valves. It is a part of petrochemical critical installations. The communication between sensor logic controllers and actuators...
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Wybrane problemy zastosowań układów sterowania i nadzoru sieci ciepłowniczych
PublicationW artykule przedstawiono główne problemy zastosowania układów sterowania i nadzoru sieci ciepłowniczych. Scharakteryzowano najczęściej spotykane układy sterowania i nadzoru. Przedstawiono techniczne i ekonomiczne uwarunkowania wdrożenia układów sterowania i nadzoru w ciepłownictwie.
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Roadmap on dynamics of molecules and clusters in the gas phase
PublicationThis roadmap article highlights recent advances, challenges and future prospects in studies of the dynamics of molecules and clusters in the gas phase. It comprises nineteen contributions by scientists with leading expertise in complementary experimental and theoretical techniques to probe the dynamics on timescales spanning twenty orders of magnitudes, from attoseconds to minutes and beyond, and for systems ranging in complexity...