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Search results for: SONAR EQUIPMENT , NAVIGATION , MATHEMATICAL MODEL , ACOUSTIC WAVES , UNDERWATER VEHICLES , DOPPLER SHIFT
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3D Object Shape Reconstruction from Underwater Multibeam Data and Over Ground Lidar Scanning
PublicationThe technologies of sonar and laser scanning are an efficient and widely used source of spatial information with regards to underwater and over ground environment respectively. The measurement data are usually available in the form of groups of separate points located irregularly in three-dimensional space, known as point clouds. This data model has known disadvantages, therefore in many applications a different form of representation,...
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Mariusz Figurski prof. dr hab. inż.
PeopleMariusz Józef Figurski (born 27 April 1964 in Łasinie, Poland) - Polish geodesist, professor of technical sciences, professor at the Gdańsk University of Technology. Early life and education He passed the matriculation examination in 1983 after he had finished Jan III Sobieski High school in Grudziądz. He graduated the Military University of Technology on an individual mode at the Faculty of Electromechanics and Civil Engineering...
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Influence of selected additives and admixtures on underwater concrete and the environment
PublicationThe intensive civilization development has an influence on searching for new possibilities connected with extension of city agglomerations, both the areas of flat building and the industrial areas. One of the most interesting solution is to use water reservoirs, rivers and sea areas. The extension of buildings has an influence on building materials, especially hydrotechnical, which means development of production of hydrotechnical...
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Thermo-Mechanical Simulation of Underwater Friction Stir Welding of Low Carbon Steel
PublicationThis article investigates the flow of materials and weld formation during underwater friction stir welding (UFSW) of low carbon steel. A thermo-mechanical model is used to understand the relation between frictional heat phenomena during the welding and weld properties. To better understand the effects of the water environment, the simulation and experimental results were compared with the sample prepared by the traditional friction...
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Detection and segmentation of moving vehicles and trains using Gaussian mixtures, shadow detection and morphological processing
PublicationSolution presented in this paper combines background modelling, shadow detection and morphological and temporal processing into one system responsible for detection and segmentation of moving objects recorded with a static camera. Vehicles and trains are detected based on their pixellevel difference from the continually updated background model utilizing a Gaussian mixture calculated separately for every pixel. The shadow detection...
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Accuracy of a low-cost autonomous hexacopter platforms navigation module for a photogrammetric and environmental measurements
PublicationA photogrammetry and environmental measurements from an unmanned aerial vehicle (UAV) are a low-cost alternative for a traditional aerial photogrammetry. A commercial off-the-shelf products (COTS) offers a variety of cheap components that a suitable to be used on board a UAV. In this paper a low-cost navigation module based on Ublox NEO-M8N GPS and Pixhawk flight controller have been described, as a main extrinsic parameters source...
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Hyperbolic Asynchronous Method of a Radio Navigation Technique
PublicationHumans have always wanted to determine position in an unknown environment. At the beginning methods were simple. They were based on the observation of characteristic points, in the case of shipping additional observations of the coastline. Then came navigation based on astronomical methods (astronavigation). At the beginning of the XX-century a new way of determining the current location was developed. It has used radiowave signals....
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Identification of acoustic event of selected noise sources in a long-term environmental monitoring systems
PublicationABSTRACT Undertaking long-term acoustic measurements on sites located near an airport is related to a problem of large quantities of recorded data, which very often represents information not related to flight operations. In such areas, usually defined as zone of limited use, often other sources of noise exist, such as roads or railway lines treated is such context as acoustic background. Manual verification of such recorded data...
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Analysis of effect of overloaded vehicles on fatigue life of flexible pavements based on weigh in motion (WIM) data
PublicationOverloaded vehicles have a significant impact on pavement fatigue life and distress. As the studies show, the phenomena intensify when the control of traffic is poor. The paper presents the results of the research including analysis of weigh in motion data from eight stations and analysis of asphalt pavement fatigue caused by mixed traffic. Distributions of vehicles axles load including the multiple axles effects are presented....
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Standing Waves in a Rectangular Resonator Containing Acoustically Active Gases
PublicationThe distribution of perturbations of pressure and velocity in a rectangular resonator is considered. A resonator contains a gas where thermodynamic processes take place, such as exothermic chemical reaction or excitation of vibrational degrees of a molecule’s freedom. These processes make the gas acoustically active under some conditions. We conclude that the incident and reflected compounds of a sound beam do not interact in the...
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High-precision bearing estimation for active sonar with cylindrical array performed by interpolated array transformation
PublicationThe article presents a method for improving the accuracy of bearing in multibeam sonar with a cylindrical array. The antenna’s non-linear shape and the resulting non-uniform sampling of the signal in space, mean that known methods of high-resolution spectral analysis cannot be used. In order to apply an algorithm from this group, a linear virtual antenna must be produced. The paper presents a technique of mapping a cylindrical...
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Silo music: Experimental investigations and a mechanical model
PublicationW artykule opisano zagadnienie zjawisk akustycznych oraz drgań występujących w silosach podczas przepływu materiałów granulowanych.
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seafloor characterisation combined approach using multibeam sonar echo signal processing and image analysis
PublicationThe authors propose the approach to seafloor characterisation which relies on the combined, concurrent use of two different techniques: (i) multibeam sonar image analysis and (ii) multibeam seabed echoes processing. The first technique is based on constructing the grey-level sonar images of the seabed extracted from the echoes received in the consecutive soundings. Then, the set of parameters describing the local region of sonar...
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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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Underwater Local Cavity Welding of S460N Steel
PublicationIn this paper, a comparison of the mechanical properties of high-strength low-alloy S460Nsteel welded joints is presented. The welded joints were made by the gas metal arc welding (GMAW)process in the air environment and water, by the local cavity welding method. Welded joints were testedfollowing the EN ISO 15614-1:2017 standard. After welding, the non-destructive—visual, penetrant,radiographic, and ultrasonic (phased array) tests...
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A risk comparison framework for autonomous ships navigation
PublicationMaritime autonomous surface ships (MASS) may operate in three predefined operational modes (OM): manual, remote, or autonomous control. Determining the appropriate OM for MASS is important for operators and competent authorities that monitor and regulate maritime traffic in given areas. However, a science-based approach to this respect is currently unavailable. To assist the selection of the proper OM, this study presents a risk-based...
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Reliability model of two-shaft turbine combustion engine with heat regenerator
PublicationW artykule przedstawiono możliwość zastosowania teorii procesów semimarkowskich do opisu niezawodności turbinowego silnika spalinowego. Opracowano model niezawodnościowy w formie siedmiostanowego procesu semimarkowskiego, umożliwiający określenie prawdopodobieństw przebywania silnika w stanie zdatności oraz wyróżnionych stanach niezdatności.
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Underwater Wet Repair Welding of API 5L X65M Pipeline Steel
PublicationThis paper presents results of the research of effect of polymer insulation of pipeline made of API 5L X65M steel as well as underwater wet welding parameters on properties of joints made by covered electrodes. Effect of heat input on structure and hardness of joints during repair of underwater pipeline was analyzed. Welding defects like microcracks, micro-lacks of fusion, slag inclusions, as well as HAZ hardness increase over...
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On the acoustic backscattering by Baltic herring and sprat
PublicationAccurate abundance estimate of Baltic clupeids, herring and sprat, is required for theirsustainable exploitation. The understanding the sound backscattering of individual fish isimportant for employing the acoustical techniques, which are widely used in the estimation.The previous studies demonstrated that the improvement of the understanding is critical forthe Baltic herring and sprat. It was the main...
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Failure Monitoring and Condition Assessment of Steel-Concrete Adhesive Connection Using Ultrasonic Waves
PublicationAdhesive bonding is increasingly being incorporated into civil engineering applications. Recently, the use of structural adhesives in steel-concrete composite systems is of particular interest. The aim of the study is an experimental investigation of the damage assessment of the connection between steel and concrete during mechanical degradation. Nine specimens consisted of a concrete cube and two adhesively bonded steel plates...
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Acoustic journal bearing - A search for adequate configuration
PublicationClassical non-contact bearings are already used in a number of specialist applications but there are somespecialist areas where they cannot be used for variety of reasons and acoustic sliding bearings could be an alternative. The paper presents the quest for a configuration of an acoustic journal bearing and shows that the overall shape of the bearing and its geometry are of a vital importance for the load capacity oft he bearing....
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Standing Waves in One-Dimensional Resonator Contaning an Ideal Isothermal Gas Affected by the Constant Mass Force
PublicationThe study is devoted to standing acoustic waves in one-dimensional planar resonator which containing an ideal gas. A gas is affected by the constant mass force. Two types of physically justified boundary conditions are considered: zero velocity or zero excess pressure at both boundaries. The variety of nodal and antinodal points is determined. The conclusion is that the nodes of pressure and antinodes of velocity do not longer...
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Localization of sound sources with dual acoustic vector sensor
PublicationThe aim of the work is to estimate the position of sound sources. The proposed method uses a setup of two acoustic vector sensors (AVS). The intersection of azimuth rays from each AVS should indicate the position of a source. In practice, the result of position estimation using this method is an area rather than a point. This is a result of inaccuracy of the individual sensors, but more importantly, of the influence of a source...
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Duhem and Natanson: Two Mathematical Approaches to Thermodynamics
PublicationIn this article, the previously unrecognized contributions of Pierre Duhem and Ladislavus Natanson in thermodynamics are shown. The mathematical remodelling of a few of their principal ideas is taken into consideration, despite being neglected in the literature. To emphasize these ideas in an appropriate epistemological order, it would be crucial to first revalue and reconstruct some underrepresented parts of the proceedings process...
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Simplified Method of Modelling Behaviour of Ship in Waves with Partially Flooded Compartments
PublicationThis paper contains a description of a numerical model for calculating behaviour of ships in waves. There are many models available, but the one described here can be characterised with a set of parameters that have a decisive impact on the final values of roll motion amplitude and frequency. In this paper, it is shown how a fitting of a standard-shape hull characterised by certain readily available parameters affects...
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Comparison between measured and calculated underwater pressure of merchant ship
PublicationFrom 2012 The Polish Naval Academy take part in an international research project SIRAMIS, carried out in the framework of the European Defence Agency. The objective of this project is to improve the understanding of ship signature interaction with multi influence sensors in relevant and realistic scenario's. This paper describes selected results of the comparison results of sea trials and model calculations of the hydrodynamic...
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Determination of t8/5 cooling times for underwater local dry welding of steel
PublicationKnowledge of thermal history is the basic condition for studying the structure - properties of welded joints. The determinant of thermal history is the thermal cycle, whose in-situ measurements are still a big challenge. Water as the welding environment complicates this issue even more. The article presents a method to determine an equation for calculating t8/5 cooling times for underwater gas metal arc welding of unalloyed steels...
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Magnetism and charge density waves in RNiC2(R=Ce,Pr,Nd)
PublicationWe have compared the magnetic, transport, galvanomagnetic, and specific-heat properties of CeNiC2, PrNiC2, and NdNiC2 to study the interplay between charge density waves (CDW) and magnetism in these compounds. The negative magnetoresistance in NdNiC2 is discussed in terms of the partial destruction of charge density waves and an irreversible phase transition stabilized by the field-induced ferromagnetic transformation is reported....
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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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Assessment of Odour Impact Range of Selected Waste Management Plant with the Use of Mathematical Tools (Model Tools)
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Improving the accuracy of bearing in active sonar with cylindrical array using spectrum estimation.
PublicationThe articles presents a method for improving the accuracy of bearing in multibeam sonar with a cylindrical array. Based on a known spatial spectrum estimation technique, the method has been successfully used in linear array systems. Its accuracy of bearing is satisfactory and ensures a relatively low computational effort. The article discusses certain simplifications and assumptions to adapt the spatial spectrum estimation technique...
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The Analysis of Container Vessel Service Efficiency in the Aspect of Berth and Handling Equipment Usage in Polish Ports
PublicationThe paper analyses the efficiency of container vessel service in Polish container terminals taking under considerations different berth layouts and handling equipment.
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Diver Observations by Means of Acoustic Methods
PublicationSearching for objects, especially small ones, moving under water near its the free surface, is always not an easy task. Designing tools for the detection of such targets is a real challenge when the possibility of a terrorist attack is a real threat. This paper presents some aspects of diver detection by means of acoustics methods, both active (side scan sonar) and passive ones (linear receiving antenna). This approach is quite...
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Guided waves for nondestructive diagnostics of embedded waveguides
PublicationThe thesis concentrates on comprehensive theoretical, numerical and experimental analysis of guided wave propagation in bars embedded in concrete or mortar. The investigations are focused on a particular type of objects representing a laboratory model of a ground anchor. Complex description of wave propagation phenomena in partially embedded bars is given and its application in...
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Application of unmanned USV surface and AUV underwater maritime platforms for the monitoring of offshore structures at sea
PublicationThe operation of offshore structures at sea requires the implementation of advanced systems for their permanent monitoring. There is a set of novel technologies that could be implemented to deliver a higher level of effective and safe operation of these systems. A possible novel solution may be the application of a new maritime unmanned (USV) surface and underwater vehicles/platforms (AUV). Application of such vehicles/platforms...
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Energy Demand of Short-Range Inland Ferry with Series Hybrid Propulsion Depending on the Navigation Strategy
PublicationInterest in hybrid propulsion systems that can be used on small vessels has increased significantly in recent years. They can replace inefficient and environmentally burdensome conventional systems based on diesel engines. Hybrid propulsion has many advantages such as high energy efficiency and virtually noiseless operation, and therefore it fits well with the current trends of “green shipping” and “zero emission”. The aim of the...
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Thermal Imaging Aided Assessment of a State of Equipment Under Test and its Protecting Elements
PublicationIn the paper the investigation results using thermal imaging methods are presented. The examined is a state of equipment under test and its protecting components. The estimations are done for the chosen protecting elements during surge immunity testing. The results show that the thermal imaging methods are useful for early detection of possible damage of a device being tested
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Underwater wet welding of S1300 ultra-high strength steel
PublicationMarine Structures Volume 81, January 2022, 103120 Underwater wet welding of S1300 ultra-high strength steel Author links open overlay panelJacekTomkówGrzegorzRogalski https://doi.org/10.1016/j.marstruc.2021.103120 Get rights and content Under a Creative Commons licenseopen access Highlights • Technological method of S1300 steel underwater weldability improving was proposed. • Number of cracks and hardness of welded joints was...
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On the theory and numerical simulation of acoustic and heat modes interaction in a liquid with bubbles: acoustic quasi-solitons
PublicationTeoria rzutowania zaburzenia ogólnego na mody. Zastosowanie metody do badań układu równań typu Korteweg`a-de Vries`a. Rozwiązania analityczne i simulacje numeryczne.
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Electrical equipment and installations [2023/2024]
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Damage detection in a bolted lap joint using guided waves
PublicationThe paper presents the experimental investigation of guided waves application to the condition assessment of prestressed bolted connections and a concept of new quantitative indicator. The main goal of the research was the analysis of the influence of the contact conditions changes to the characteristics of a propagating disturbance. The experimental tests were carried out for a single bolted lap joint. The excitation and acquisition...
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Reconstruction Methods for 3D Underwater Objects Using Point Cloud Data
PublicationExisting methods for visualizing underwater objects in three dimensions are usually based on displaying the imaged objects either as unorganised point sets or in the form of edges connecting the points in a trivial way. To allow the researcher to recognise more details and characteristic features of an investigated object, the visualization quality may be improved by transforming the unordered point clouds into higher order structures....
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Modeling of Electrified Transportation Systems Featuring Multiple Vehicles and Complex Power Supply Layout
PublicationThe paper proposes a novel approach to modeling electrified transportation systems. The proposed solution reflects the mechanical dynamics of vehicles as well as the distribution and losses of electric supply. Moreover, energy conversion losses between the mechanical and electrical subsystems and their bilateral influences are included. Such a complete model makes it possible to replicate, e.g., the impact of voltage drops on vehicle...
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Analysis of hull, propeller and engine interactions in regular waves by a combination of experiment and simulation
PublicationAnalysis of hull, propeller and engine interactions in regular waves by a combination of experiment and simulation
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Integration of Production Steps on a Single Equipment
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Wireless Local Area Network Technologies as Communication Solutions for Unmanned Surface Vehicles
PublicationAs the number of research activities and practical deployments of unmanned vehicles has shown a rapid growth, topics related to their communication with operator and external infrastructure became of high importance. As a result a trend of employing IP communication for this purpose is emerging and can be expected to bring significant advantages. However, its employment can be expected to be most effective using broadband communication...
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Voltage and Current Unbalance Reduction in Power Networks with Distributed Generation and Electric Vehicles
PublicationThe current development of prosumer microsources and the expected spread of electric vehicles may cause the appearance of significant current and voltage unbalance in low-voltage (LV) networks. This unbalance, which is an unfavorable phenomenon, may occur when using single-phase photovoltaic (PV) microsources and single-phase home chargers for electric vehicles. This paper presents a proposal for the symmetrization of the LV network...
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Analysis of Reasons of Accidents Between Cyclists and Public Transport Vehicles in Cities
PublicationIn European cities, a bicycle is now or is systematically becoming an equal means of transport. Unfortunately, the growth of bicycle traffic is associated with an increase in the number of accidents involving cyclists. Some of these accidents, are events with cyclists and public transport vehicles - and therefore means of transport, which together are to constitute a serious alternative to a car. Although the share of these kind...
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Integration of inertial sensors and GPS system data for the personal navigation in urban area
PublicationGPS and Inertial Navigation Systems (INS) have complementary properties and they are therefore well suited for integration. The integrated solution offers better long-term accuracy than a stand-alone INS and better integrity, availability and continuity or a stand-alone GPS receiver, making it suitable for demanding applications. The complementary features of INS and GPS are the main reasons why integrated GPS/INS systems are becoming...
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A model of occurrence of the situations endangering inland waterways passanger ships and the environment
PublicationZaproponowano czterostanowy semimarkowski model pojawiania się sytuacji zagrażających pasażerskim statkom śródlądowym. Model ten został opracowany w formie semimarkowskiego procesu dyskretnego w stanach i ciągłego w czasie, którego wartościami są rodzaje stanów, interpretowanych jako sytuacje: normalna, skomplikowana, niebezpieczna oraz awaryjna. Zobrazowano przykładową realizację procesu zmian sytuacji, jakie mogą pojawić się...