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Search results for: Pose estimation
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Shape-Based Pose Estimation of Robotic Surgical Instruments
PublicationWe describe a detector of robotic instrument parts in image-guided surgery. The detector consists of a huge ensemble of scale-variant and pose-dedicated, rigid appearance templates. The templates, which are equipped with pose-related keypoints and segmentation masks, allow for explicit pose estimation and segmentation of multiple end-effectors as well as fine-grained non-maximum suppression. We train the templates by grouping examples...
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ANN for human pose estimation in low resolution depth images
PublicationThe paper presents an approach to localize human body joints in 3D coordinates based on a single low resolution depth image. First a framework to generate a database of 80k realistic depth images from a 3D body model is described. Then data preprocessing and normalization procedure, and DNN and MLP artificial neural networks architectures and training are presented. The robustness against camera distance and image noise is analysed....
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Genetic programming extension to APF-based monocular human body pose estimation
PublicationNew method of the human body pose estimation based on a single camera 2D observation is presented, aimed at smart surveillance related video analysis and action recognition. It employs 3D model of the human body, and genetic algorithm combined with annealed particle filter for searching the global optimum of model state, best matching the object's 2D observation. Additionally, new motion cost metric is employed, considering current...
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CNN Architectures for Human Pose Estimation from a Very Low Resolution Depth Image
PublicationThe paper is dedicated to proposing and evaluating a number of convolutional neural network architectures for calculating a multiple regression on 3D coordinates of human body joints tracked in a single low resolution depth image. The main challenge was to obtain a high precision in case of a noisy and coarse scan of the body, as observed by a depth sensor from a large distance. The regression network was expected to reason about...
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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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Deep neural networks for human pose estimation from a very low resolution depth image
PublicationThe work presented in the paper is dedicated to determining and evaluating the most efficient neural network architecture applied as a multiple regression network localizing human body joints in 3D space based on a single low resolution depth image. The main challenge was to deal with a noisy and coarse representation of the human body, as observed by a depth sensor from a large distance, and to achieve high localization precision....
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Hierarchical Estimation of Human Upper Body Based on 2D Observation Utilizing Evolutionary Programming and 'Genetic Memory'
PublicationNew method of the human body pose estimation based on single camera 2D observation is presented. It employs 3D model of the human body, and genetic algorithm combined with annealed particle filter for searching the global optimum of model state, best matching the object's 2D observation. Additionally, motion cost metric is employed, considering current pose and history of the body movement, favouring the estimates with the lowest...
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NUMERICAL ESTIMATION OF HULL HYDRODYNAMIC DERIVATIVES IN SHIP MANOUVERING PREDICTION
PublicationOperating in crowded waterways pose a risk of accidents and disasters due to maneuvering limitations of the ship. In order to predict ship’s maneuvering characteristics at the design stage, model tests are often executed as the most accurate prediction tool. Two approaches can be distinguished here: free running model tests and numerical simulations based on planar motion model with the use of hydrodynamic derivatives obtained...
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Compact global association based adaptive routing framework for personnel behavior understanding
PublicationPersonnel behavior understanding under complex scenarios is a challenging task for computer vision. This paper proposes a novel Compact model, which we refer to as CGARPN that incorporates with Global Association relevance and Adaptive Routing Pose estimation Network. Our framework firstly introduces CGAN backbone to facilitate the feature representation by compressing the kernel parameter space compared with typical algorithms,...
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Facial feature extraction from a monochromatic picture.
PublicationFace pose determination represents an important area of research in Human Machine Interaction. In this paper, I describe a new method of extracting facial feature locations from a single monochromatic monocular camera for the purpose of estimating and tracking the three dimensional pose of human face and eye-gaze direction.
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Facial Feature extraction from a monochromatic picture
PublicationFace pose determination represents an important area of research in Human Machine Interaction. In this paper, I describe a new method of extracting facial feature locations from a single monochromatic monocular camera for the purpose of estimating and tracking the three dimensional pose of human face and eye-gaze direction.
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Photolytic and Photocatalytic Recreational Water Treatment
PublicationDisinfection is one of the most important steps during recreational water treatment. Nevertheless, disinfection by-products are formed by conventional disinfectants, which pose several health threats. The concentration of disinfection by-products can be decreased by photolytic and photocatalytic treatment. Medium-pressure mercury lamp, UV-LEDs and solar irradiation were investigated and evaluated considering emitted wavelength,...
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MAlSim - Mobile Agent Malware Simulator
PublicationOne of the problems related to the simulation of attacks against critical infrastructures is the lack of adequate tools for the simulation of malicious software (malware). Malware attacks are the most frequent in the Internet and they pose a serious threat against critical networked infrastructures. To address this issue we developed Mobile Agent Malware Simulator (MAISim). The framework uses the technology of mobile agents and...
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Pose-Configurable Generic Tracking of Elongated Objects
PublicationElongated objects have various shapes and can shift, rotate, change scale, and be rigid or deform by flexing, articulating, and vibrating, with examples as varied as a glass bottle, a robotic arm, a surgical suture, a finger pair, a tram, and a guitar string. This generally makes tracking of poses of elongated objects very challenging. We describe a unified, configurable framework for tracking the pose of elongated objects, which...
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Environmental consequences of emulsifying properties of biosurfactant produced by Pseudomonas sp.
PublicationBiosurfactants are natural surfactants produced by variety of microorganisms. They are very prospective product due to good biodegradability, low toxicity, good physicochemical properties and high efficiency in many applications. Moreover, they are efficient in wide range of pH, temperatures and salinity. Thus, they have potential to be used in many applications. However, their later presence in municipal and industrial wastewater...
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Simplified AutoDock force field for hydrated binding sites
Publicationhas been extracted from the Protein Data Bank and used to test and recalibrate AutoDock force field. Since for some binding sites water molecules are crucial for bridging the receptor-ligand interactions, they have to be included in the analysis. To simplify the process of incorporating water molecules into the binding sites and make it less ambiguous, new simple water model was created. After recalibration of the force field on...
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Challenges in preparing honey samples for chromatographic determination of contaminants and trace residues
PublicationThe determination of contaminations and residues in honey is of growing concern over past few years, especially that these compounds can not only diminish beneficial properties of honey but more importantly, if present in significant amounts, can pose serious threat to human health. Since honey is characterized by complex composition of the matrix sample, it is often necessary to apply clean-up step, in order to eliminate interfering...
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Immunogenic and protective activity of recombinant chimeric Toxoplasma gondii proteins
PublicationToxoplasmosis, one of the most common parasitic invasions worldwide, may pose a great threat for individuals with weakened immune system. The parasite also causes considerable economic losses due to infection of livestock. To date there is no efficient immunoprophylaxis for humans and animals, which would provide long-lasting protection against T. gondii invasion. Chimeric proteins, containing several selected fragments of parasite...
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Determination of impurities in pharmaceutical products using LC-MS
PublicationPharmaceutical products can be contaminated by residues of solvents, reagents (used for the synthesis) or degradation products. Impurities in drug may pose a risk to human health and life, therefore analysis and identification of impurities in pharmaceutical products is veryimportant and inevitable.High performance liquid chromatography coupled with mass spectrometry (MS) is very useful technique for identification impurities in...
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Hydro Lubricants: Water-based lubricants for hydropower applications
PublicationSeveral different base oil types exist in the market including mineral and synthetic oils (e.g. polyalphaolefins, ester, polyglycol, etc.) and are currently widely in use. Although synthetic oils have drawn great attention over the past few decades in terms of their tribological benefits, mineral oils are still widely used in hydropower applications due primarily to their low cost and easy miscibility with other oils. However,...
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Revitalisation Living Lab as a Format to Accelerate an Energy Transition in Polish Rural Areas: The Case Studies of Metropolitan Outskirts Gdańsk-Orunia and Lubań
PublicationThe paper deals with the issue of energy transition in the revitalization process dedicated to the rural and semi-rural areas of the Pomerania Region (PR). Two distinct areas, located in sub- and ex-urban zones of the Gdańsk-Gdynia-Sopot Metropolitan Area (OMGGS), in which bottom-up community initiatives have been playing a key role in the transformation, have been focused on. The village of Lubań (Municipality of Nowa Karczma)...
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Surgical tool tracking by on-line selection of structural correlation filters
PublicationIn visual tracking of surgical instruments, correlation filtering finds the best candidate with maximal correlation peak. However, most trackers only consider capturing target appearance but not target structure. In this paper we propose surgical instrument tracking approach that integrates prior knowledge related to rotation of both shaft and tool tips. To this end, we employ rigid parts mixtures model of an instrument. The rigidly...
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An extension to the FEEDB Multimodal Database of Facial Expressions and Emotions
PublicationFEEDB is a multimodal database that contains recordings of people expressing different emotions, captured by using a Microsoft Kinect sensor. Data were originally provided in the device’s proprietary format (XED), requiring both the Microsoft Kinect Studio application and a Kinect sensor attached to the system to use the files. In this paper, we present an extension of the database. For a selection of recordings, we also provide...
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Fibrillar aggregates in powdered milk
PublicationThis research paper addresses the hypothesis that powdered milk may contain amyloid fibrils. Amyloids are fibrillar aggregates of proteins. Up to this time, research on the presence of amyloids in food products are scarce. To check the hypothesis we performed thioflavin T fluorescence assay, X-ray powder diffraction, atomic force microscopy and fluorescence microscopy imaging. Our preliminary results show that commercially available...
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From Linear Classifier to Convolutional Neural Network for Hand Pose Recognition
PublicationRecently gathered image datasets and the new capabilities of high-performance computing systems have allowed developing new artificial neural network models and training algorithms. Using the new machine learning models, computer vision tasks can be accomplished based on the raw values of image pixels instead of specific features. The principle of operation of deep neural networks resembles more and more what we believe to be happening...
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Analytical procedures for quality control of pharmaceuticals in terms of residual solvents content: Challenges and recent developments
PublicationResidual solvents play an important role in the synthesis of drugs and in product formulations. In addition, they pose a serious problem, that is toxicity, as many of them exhibit toxic or environmentally hazardous properties. Therefore, constant monitoring of quality control is needed. In this study, we present an overview of regulatory and general methods described by various pharmacopoeias. Then, the most commonly used methodologies...
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Mercury in the Polish part of the Baltic Sea: A response to decreased atmospheric deposition and changing environment
PublicationOur review of the literature showed that since the beginning of the socio-economic transformation in Poland in the 1990s, the downward trend in Hg emissions and its deposition in the southern Baltic Sea was followed by a simultaneous decrease in Hg levels in water and marine plants and animals. Hg concentrations in the biota lowered to values that pose no or low risk to wildlife and seafood consumers. However, in the first decade...
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Playback Attack Detection: The Search for the Ultimate Set of Antispoof Features
PublicationAutomatic speaker verification systems are vulnerable to several kinds of spoofing attacks. Some of them can be quite simple – for example, the playback of an eavesdropped recording does not require any specialized equipment nor knowledge, but still may pose a serious threat for a biometric identification module built into an e-banking application. In this paper we follow the recent approach and convert recordings to images, assuming...
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Three-dimensional mapping for data collected using variable stereo baseline
PublicationThe paper describes a system of 3D mapping of data collected with due regard for variable baseline. This solution constitute an extension to a VisRobot sub-system developed as a subsystem, necessary for implementing the generic idea of using mobile robots to explore an indoor static environment. This subsystem is to acquire stereo images, calculate the depth in the images and construct the sought 3D map. Stereo images are obtained...
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Surface sediments pollution due to shipwreck s/s “Stuttgart”: a multidisciplinary approach
PublicationShipwrecks may pose a serious source of pollution for marine ecosystems. For this reason, it is of great importance to perform a marine ecosystem risk assessment due to plausible wreck presence. One of elements of such an assessment is determining the state of the environment in the vicinity of the wreck. In the work presented, the results of studies on surface sediments samples collected around the s/s Stuttgart ship sunk during...
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Entanglement-swapping boxes and their communication properties
PublicationWe pose the fundamental question of communication properties of primitives irrespectively of their implementation. To illustrate the idea we introduce the concept of entanglement-swapping boxes, i.e., we consider any quantum operations which perform entanglement swapping, not necessarily via simple quantum teleportation. We ask a question about the properties of such boxes, i.e., what local operations and how much classical communication...
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Ultimate biodegradability and ecotoxicity of orally administered antidiabetic drugs
PublicationHypoglycaemic pharmaceuticals are recently more and more frequently detected in the environment. In our previous study, we have shown that even though many of them undergo significant primary degradation some are transformed to stable products or undergo such transformation that a large part of the structure is still preserved. One of the main routes of elimination from wastewaters or surface waters is biodegradation and a lack...
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Sustainable urban planning in the context of studentification of the inner city areas
PublicationThe social dimension of urban planning as well as the importance of local communities and civic participation are often underlined in contemporary urban renewal and revitalisation programmes based on the principles of sustainable development. British Urban Renaissance is one the most far-reaching and widely discussed urban regeneration strategies which aims at repopulation and social diversification of inner city areas and land...
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Interdisciplinary Design Teams in Poland - Architecture as a Tool for Preventing Hospital-Acquired Infections
PublicationHospital-acquired infections pose a problem, which directly affects the safe usage of healthcare facilities. On a global scale, the level of hospital-acquired infections (HAI) is estimated to affect 5–15% of those hospitalised. The World Health Organization (WHO) estimates that, on an annual basis, procedures preventing hospital-acquired infections consume 80 billion dollars [1]. In this context, it becomes important to create...
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Determination of heavy metals in eyeshadows from China
PublicationPersonal care products and cosmetics are used daily by many people, causing local exposure to certain chemical substances through the application directly inside the oral cavity, on the skin, lips, eyes, and mucosa. Eyeshadows are among the most commonly used types of cosmetics. According to scientifc reports, they may contain heavy metals, especially in non-original products. The exposure to said heavy metals may cause local skin...
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Extraction and Analysis of Bisphenols and Their Derivatives in Infant and Toddler Ready-to-feed Meals by Ultrasound-assisted Membrane Extraction Followed by LC MS/MS
PublicationThis research developed an ultrasound-assisted membrane extraction coupled with liquid chromatography-tandem mass spectrometry method for the determination of nineteen bisphenols and their derivatives in infant and toddler ready-to-feed meals. The calibration curves for all analytes were linear in the tested range, and the limit of detection and limit of quantitation were in the range 0.27 to 0.79 ng/g and 0.80 to 2.4 ng/g, respectively....
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Comparison of safety levels required by adequate regulations for cargo ships of different types
PublicationDuring the currently ongoing development of methods for assessing the safety of ships, it is imperative that a compromise between the accuracy of the results and the accessibility of obtaining results is reached. This paper shows the calculations of a theoretical hull against damage stability regulations as included in SOLAS 2020, ICLL 66/88 as amended in 2003 and MARPOL 78. The rules included in the currently valid regulations require...
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Experimental test results of an automatic voltage regulator with independent phase voltage controllers
PublicationThe growing number of distributed renewable energy sources and dynamic constant-power loads (e.g. electric vehicle charging stations) pose new challenges for network operators. These changes result in alterations to network load profiles and load flows, leading to greater voltage volatility. One effective solution to these problems can be the use of automatic voltage regulators (AVRs), which stabilize and symmetrize voltage output,...
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Pose-Invariant Face Detection by Replacing Deep Neurons with Capsules for Thermal Imagery in Telemedicine
PublicationAbstract— The aim of this work was to examine the potential of thermal imaging as a cost-effective tool for convenient, non- intrusive remote monitoring of elderly people in different possible head orientations, without imposing specific behavior on users, e.g. looking toward the camera. Illumination and pose invariant head tracking is important for many medical applications as it can provide information, e.g. about vital signs, sensory...
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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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Levels of 13 multi-class pesticide residues in Polish honeys determined by LC-ESI-MS/MS
PublicationLevels of 13 pesticides in 40 honey samples form Poland are reported. A rapid and sensitive method was developed for the LC-ESI-MS/MS determination of multi-class pesticide residues in honey samples. Liquid-liquid extraction (LLE) on a diatomaceous earth support (requiring the use of small amounts of organic solvent), followed by chromatographic separation on a C18 column and gradient elution were employed. The method quantifies...
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Asynchronous Charge Carrier Injection in Perovskite Light-Emitting Transistors
PublicationUnbalanced mobility and injection of charge carriers in metal-halide perovskite light-emitting devices pose severe limitations to the efficiency and response time of the electroluminescence. Modulation of gate bias in methylammonium lead iodide light-emitting transistors has proven effective in increasing the brightness of light emission up to MHz frequencies. In this work, a new approach is developed to improve charge carrier...
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Automatic Watercraft Recognition and Identification on Water Areas Covered by Video Monitoring as Extension for Sea and River Traffic Supervision Systems
PublicationThe article presents the watercraft recognition and identification system as an extension for the presently used visual water area monitoring systems, such as VTS (Vessel Traffic Service) or RIS (River Information Service). The watercraft identification systems (AIS - Automatic Identification Systems) which are presently used in both sea and inland navigation require purchase and installation of relatively expensive transceivers...
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The passive operating mode of the linear optical gesture sensor
PublicationThe study evaluates the influence of natural light conditions on the effectiveness of the linear optical gesture sensor, working in the presence of ambient light only (passive mode). The orientations of the device in reference to the light source were modified in order to verify the sensitivity of the sensor. A criterion for the differentiation between two states - "possible gesture" and "no gesture" - was proposed. Additionally,...
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Identification of safety hazards and their sources in tram transport
PublicationBoth in Poland and in most countries of the European Union, the tram infrastructure is extensively expanding. Contemporary low-floor trams are constructed according to different technical assumptions than typical railway vehicles or high floor trams. In Poland such vehicles rides often on lines designed according to standards developed to the classical vehicles. At the same time, the intensity of road traffic and the number of...
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Microplastics removal from aqueous environment by metal organic frameworks
PublicationThis paper provides an overview of recent research performed on the applications of metal–organic frameworks (MOFs) for microplastics (MPs) removal from aqueous environments. MPs pollution has become a major environmental concern due to its negative impacts on aquatic ecosystems and human health. Therefore, developing effective and sustainable methods for removing them from aqueous environments is crucial. In recent years, MOFs...
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Towards Contactless, Hand Gestures-Based Control of Devices
PublicationGesture-based intuitive interactions with electronic devices can be an important part of smart home systems. In this paper, we adapt the contactless linear gesture sensor for the navigation of smart lighting system. Set of handled gestures allow to propose two methods of active light source selection, continuous dimming, and turning on and off based on discrete gestures. The average gesture recognition accuracy was 97.58% in the...
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Assessment of the Environmental Impact of a Car Tire throughout Its Lifecycle Using the LCA Method
PublicationThere are numerous threats to the natural environment that pose a significant risk both to the environment and to human health, including car tires. Thus, there is a need to determine the impact of the life cycle of car tires on the environment, starting with the processes of raw materials acquisition, production, and ending with end-of-life management. Therefore, the authors of this study chose to do research on passenger car...
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Thermal failure of a second rotor stage in heavy duty gas turbine
PublicationThe impulse mode of operation and the supply of various types of fuels causes frequent failures even in the heavy duty gas turbines. The paper presents the ravages of second rotor stage failure in a gas turbine. The excessive thermal elongation rise caused by fuel change was indicated as the main cause. We applied nonlinear numerical analysis, preceded by thermodynamic calculations of the turbine and visual inspection of the effects...
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Thermo-Chemical Decomposition Study of Polyurethane Elastomer Through Glycerolysis Route with Using Crude and Refined Glycerine as a Transesterification Agent
PublicationDue to the increasing amount of polyurethane waste, chemical recycling of these materials is a topic of growing interest for many researchers. The primary pur- pose of polyurethane feedstock recycling is to recover the starting polyol. In this study glycerolysis using glycerine from two sources and two purity grades is proposed as a method of chemical recycling. The main effort of this paper focuses on the employment of commercial...