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Autonomous Perception and Grasp Generation Based on Multiple 3D Sensors and Deep Learning
PublicationGrasping objects and manipulating them is the main way the robot interacts with its environment. However, for robots to operate in a dynamic environment, a system for determining the gripping position for objects in the scene is also required. For this purpose, neural networks segmenting the point cloud are usually applied. However, training such networks is very complex and their results are unsatisfactory. Therefore, we propose...
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Sterowanie predykcyjne i fuzja danych w systemie dynamicznego pozycjonowania statku
PublicationRozprawa doktorska poświęcona jest badaniu zastosowania fuzji danych oraz sterowania predykcyjnego w systemie dynamicznego pozycjonowania statku. W pierwszej części pracy przedstawiono historię rozwoju systemów dynamicznego pozycjonowania, różne metody estymacji położenia statku, metody sterowania oraz cel i tezę pracy. Następnie zaprezentowano model matematyczny statku, kinematykę oraz dynamikę. W kolejnej części przedstawiono...
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Low-energy positron scattering from gas-phase benzene
PublicationIn this paper we are presenting calculations of the elastic cross section of positrons with gas-phase benzene for the energy range from 0.25 eV to 9.0 eV. The calculations are done with the molecular R-matrix method for positron-scattering from poly-atomic molecules using a scaling factor to scale the electron-positron interaction. The scaling factor influences the position of the poles of the R-matrix. We adjust the scaling factor...
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Applying of Doped Graphene Oxide Coatings for Corrosion Prevention
PublicationINTRODUCTION Graphene is a carbonaceous material characterized by extraordinary properties (high electron mobility, high surface area, high mechanical strength of 1100 GPa, very dense network hindering the passage of even the smallest helium atoms) [1]. Therefore, it found many applications, also as an anti-corrosive layer [2]. Electrophoretic Deposition (EPD) is one of the methods to deposit coatings. However, due to slight solubility...
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Assessment of Technical Conditions in Adapting a Historic Warehouse's Space Functionality
PublicationThe paper is a case study in the assessment of the technical condition of a building that is an immovable monument located in a former shipyard area. Due to the change in the use of the industrial area and the intention to build a production hall, it was necessary to consider the demolition of the historic building, while preserving as many of its historical aspects as possible. The paper presents a detailed description of the...
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New Indoor Positioning Algorithm for Distance Measurements
PublicationIn the paper a new indoor positioning algorithm is presented. This algorithm takes into account selected features of radio wave propagation in indoor environment. This results in improvement in accuracy of calculated position estimates. A comparative analysis of this new algorithm with Chan and Foy algorithms was made and described in the paper. This comparative analysis was made with utilization of real radio distance measurements.
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Convenient and Efficient Synthesis of Functionalized 2-Sulfenylindoles
PublicationA simple, efficient, and practical sulfenylation at the C2 position of N-tosylindoles under mild conditions was developed. The designed transformation is based on the reaction of N-tosylindoles with BuLi and S-alkyl, and S-aryl phosphorodithioates or thiotosylates to produce 2-sulfenylindoles in moderate to high yields. The presence of additional hydroxy, carboxy, or amino functionalities did not disturb the formation of products
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The use of thin diamond films in fiber optic low-coherence interferometers”
PublicationIn this paper we present the use of thin diamond films in fiber-optic low-coherence interferometers. Two kinds of diamond surfaces were used: undoped diamond film and boron-doped diamond film. They were deposited on glass plates as well as silicon layers. A conventionally used mirror was used as a reference layer. Diamond films were deposited using Microwave Plasma Enhanced Chemical Vapour Deposition (μPE CVD) system. Measurements...
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Influence of synthesis conditions on zinc oxide nanorode layer morphology
PublicationIn recent years one dimensional (1D) nanostructures (nanotubes, nanowires, nanoribbons and nanorods) have been widely studied. Among studied nano-materials, the greatest interest can be seen for zinc oxide (ZnO). However, there is still a need for simple, inexpensive and reproducible fabrication method. In the literature different fabrication methods can be found, most of them requires expensive equipment and involve complex...
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Nanotubular oxide layers and hydroxyapatite coatings on ‘Ti–13Zr–13Nb’ alloy
PublicationThe presented research was aimed to determine the mechanical properties of the nanotubular oxide layer covered with hydroxyapatite coating. The Ti–13Zr–13Nb alloy was oxidised in 1M phosphoric acid with an addition of 0?5% HF for HF solution at 20 V voltage. The electrochemically assisted deposition of hydroxyapatite was performed at cyclic polarisation in NH4H2PO4 and CaCl2 solution at 80uC. The mechanical properties were determined...
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Optical and chemical characterization of thin TiNx films deposited by DC-magnetron sputtering
PublicationThin titanium nitride (tinx) films were deposited on silicon substrates by means of a reactive dc-magnetron plasma. Layers were synthesized under various conditions of discharge power and nitrogen flows in two operation modes of the magnetron (the so-called "balanced" and "unbalanced" modes). The optical constants of the tinx films were investigated by spectroscopic ellipsometry (se). X-ray photoelectron spectroscopy (xps) was...
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Metal (Mo, W, Ti) Carbide Catalysts: Synthesis and Application as Alternative Catalysts for Dry Reforming of Hydrocarbons—A Review
PublicationDry reforming of hydrocarbons (DRH) is a pro-environmental method for syngas production. It owes its pro-environmental character to the use of carbon dioxide, which is one of the main greenhouse gases. Currently used nickel catalysts on oxide supports suffer from rapid deactivation due to sintering of active metal particles or the deposition of carbon deposits blocking the flow of gases through the reaction tube. In this view,...
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Implementation of SiN thin film in fiber-optic sensor working in telecommunication range of wavelengths
PublicationMirrors are used in optical sensors and measurement setups. This creates a demand for mirrors made of new materials and having various properties tailored to specific applications. In this work, we propose silicon covered with a thin silicon nitride layer as a mirror for near-infrared measurements. SiN layer was deposited on a standard silicon wafer with a Low-Pressure Chemical Vapor Deposition furnace. Then, the created layer...
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Effect of crystallinity on structural, thermal, and in vitro dissolution properties of Na2O-CaO-Nb2O5/MgO-P2O5 glass-ceramics
PublicationThe impact of the crystallinity on structural, thermal, and in vitro dissolution properties were examined for Na2O- CaO-Nb2O5/MgO-P2O5 glasses/glass-ceramics. Glass-ceramics were synthesized via a spontaneous crystallization process. The Nb content in the materials increased with melting temperature, furthermore, the crystallinity is proportional to the Nb content. The presence of crystalline niobates and phosphates is confirmed...
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Enhancement of fiber-optic low-coherence Fabry-Pérot interferometer with ZnO ALD films
PublicationIn this paper investigation of the enhanced fiber-optic low coherence Fabry-Pérot interferometer with zinc oxide (ZnO) film deposited by atomic layer deposition (ALD) was presented. Model of the interferometer, which was constructed of single-mode optical fiber with applied ZnO ALD films, was built. The interferometer was also examined by means of experiment. Measurements were performed for both reflective and transmission modes,...
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Combined chemoresistive and in situ FTIR spectroscopy study of nanoporous NiO films for light-activated nitrogen dioxide and acetone gas sensing
PublicationThe chemoresistive sensor response of nanoporous NiO films prepared by advanced gas deposition was investigated by combined resistivity and in situ FTIR spectroscopy, with and without simultaneous light illumination, to detect NO2 and acetone gases. The sensitivity towards NO2 increased dramatically under UV irradiation employing 275 nm light. Improved sensitivity was observed at an elevated temperature of 150 °C. In situ FTIR...
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REVIEW OF CURRENT RESEARCH ON CHITOSAN AS A RAW MATERIAL IN THREE-DIMENSIONAL PRINTING TECHNOLOGY IN BIOMEDICAL APPLICATIONS
PublicationThree-dimensional (3D) biomaterial manufacturing strategies show an extraordinary driving force for the development of innovative solutions in the biomedical sector, including drug delivery systems, disease modelling and tissue and organ engineering. Due to its remarkable and promising biological and structural properties, chitosan has been widely studied for decades in several potential applications in the biomedical field. However,...
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Highly Oriented Zirconium Nitride and Oxynitride Coatings Deposited via High‐Power Impulse Magnetron Sputtering: Crystal‐Facet‐Driven Corrosion Behavior in Domestic Wastewater
PublicationHerein, highly crystalline ZrxNy and ZrxNyOz coatings are achieved by the deposition via high‐power impulse magnetron sputtering. Various N2 and N2/O2 gas mixtures with argon are investigated. The chemical composition and, as a result, mechanical properties of the deposited layer can be tailored along with morphological and crystallographic structural changes. The corrosion resistance behavior is studied by potentiodynamic measurements...
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Effective yttrium based coating for steel interconnects of solid oxide cells: Corrosion evaluation in steam-hydrogen atmosphere
PublicationThis work describes manufacture, analysis and test of a new well conducting corrosion-protection coating that can be applied on steel types with high chromium content. Electrolytic deposition of yttrium salts is used to form thin (<100 nm) coatings on both flat steel sheets (material: Crofer 22 APU) and its properties are proven on woven wire-meshes (materials from two different sources: SUS316 and SUS316L). The oxide scale on...
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Modeling and Strength Calculations of Parts Made Using 3D Printing Technology and Mounted in a Custom-Made Lower Limb Exoskeleton
PublicationThis study is focused on the application of 3D-printed elements and conventional elements to create a prototype of a custom-made exoskeleton for lower limb rehabilitation. The 3D-printed elements were produced by using Fused Deposition Modeling technology and acrylonitrile butadiene styrene (ABS) material. The scope of this work involved the design and construction of an exoskeleton, experimental testing of the ABS material and...
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One-step recovery of REE oxalates in electro-leaching of spent NdFeB magnets
PublicationRecovery of rare-earth elements (REEs) from spent NdFeB magnets is receiving great attention because of high amount of neodymium and potential risk of environmental pollution. In this study, a novel environment-friendly hydrometallurgical route is proposed for efficient recovery of REEs during electrochemical leaching with sulfuric and oxalic acids. With proper adjustment of the electrolyte composition and operating conditions,...
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Novel application of dynamic electrochemical impedance monitoring to a cataphoretic coating process
PublicationThe paper presents a novel method of on-line impedance monitoring of cataphoretic coating application process. Utilization of dynamic electrochemical impedance spectroscopy (DEIS) overcame the fundamental problem connected with non-stationarity of the aforementioned coating deposition process, which eliminates classical impedance spectroscopy technique from a real-time description of cataphoresis. The paper illustrates selected examples...
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Monitoring the BTEX Volatiles during 3D Printing with Acrylonitrile Butadiene Styrene (ABS) Using Electronic Nose and Proton Transfer Reaction Mass Spectrometry
PublicationWe describe a concept study in which the changes of concentration of benzene, toluene, ethylbenzene, and xylene (BTEX) compounds and styrene within a 3D printer enclosure during printing with different acrylonitrile butadiene styrene (ABS) filaments were monitored in real-time using a proton transfer reaction mass spectrometer and an electronic nose. The quantitative data on the concentration of the BTEX compounds, in particular...
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Sources and Fate of PAHs and PCBs in the Marine Environment
PublicationThe assessment of a hazard resulting from the pollution of the environment by chemical compounds is in principle limited to the determination of their concentrations in its various compartments. But for solving many problems in this context, knowledge of the emission sources, transport pathways, and sites of deposition is of great benefit. By far the largest amounts of pollutants, regardless of where they were discharged, end up...
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Manganese Phosphatizing Coatings: The Effects of Preparation Conditions on Surface Properties
PublicationManganese phosphate coating could be used to protect the surface of steel products. However, it is essential to determine the effects which process parameters, as well as the types of additives used, have on the efficiency of coating deposition. Thus, we present here a process of phosphatization of low-alloy steel (for 15 min at 95 ◦C) in manganese/nickel baths followed by a passivation process with the use of a silicon and zircon...
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Cyclic deformation and fracture behaviour of additive manufactured maraging steel under variable-amplitude loading
PublicationThe cyclic deformation and fracture behaviour of 18Ni300 maraging steel produced by laser beam powder bed fusion is studied under variable-amplitude loading. The tests were conducted under fully-reversed strain-controlled conditions with a loading sequence comprising three ascending cycles and three descending cycles repeated sequentially until failure. After the tests, fracture surfaces were examined using height and volume surface...
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Marine polymers in tissue bioprinting: Current achievements and challenges
PublicationBioprinting has a critical role in tissue engineering, allowing the creation of sophisticated cellular scaffolds with high resolution, shape fidelity, and cell viability. Achieving these parameters remains a challenge, necessitating bioinks that are biocompatible, printable, and biodegradable. This review highlights the potential of marine-derived polymers and crosslinking techniques including mammalian collagen and gelatin along...
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Biophilic Design: A Trend Watch
PublicationDuring the 20th century, many people migrated to cities for employment and economic opportunities, abandoning farming and natural landscapes so their direct connection to the countryside and nature was lost. This process continues to this day with unprecedented urban growth, in fact, it’s estimated 68% of the world population will live in urban areas by 2050. Due to the evolutionary disposition of humans, when people live in an...
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An in situ technique for the assessment of adhesive properties of a joint under load
PublicationSlow crack propagation in adhesive bonded joints has been characterised using an asymmetric wedge test. Crack position was evaluated from strain gauge measurements, both in the debonded partof the joint and in the bonded zone. Test temperature was changed during loading, giving insight into bond evolution. The technique allows accurate, and virtually continuous, determination of crack position to be made, and therefore the evaluation...
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Methodology for Performing Bathymetric Measurements of Shallow Waterbodies Using an UAV, and their Processing Based on the SVR Algorithm
PublicationState-of-art methods of bathymetric measurements for shallow waterbodies use Global Navigation Satellite System (GNSS) receiver, bathymetric Light Detection and Ranging (LiDAR) sensor or satellite imagery. Currently, photogrammetric methods with the application of Unmanned Aerial Vehicles (UAV) are gathering great importance. This publication aims to present step-by-step methodology for carrying out the bathymetric measurements...
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Methodology for Performing Bathymetric Measurements of Shallow Waterbodies Using an UAV, and their Processing Based on the SVR Algorithm
PublicationState-of-art methods of bathymetric measurements for shallow waterbodies use Global Navigation Satellite System (GNSS) receiver, bathymetric Light Detection and Ranging (LiDAR) sensor or satellite imagery. Currently, photogrammetric methods with the application of Unmanned Aerial Vehicles (UAV) are gathering great importance. This publication aims to present step-by-step methodology for carrying out the bathymetric measurements...
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The selective salinity and hydrazine parameters for the start-up of non-anammox-specific biomass SBR
PublicationThe presence of ammonium (NH 4+ ) in wastewater above the permissible limits leads to undesirable ecological impact and public health concerns. In this study, the anaerobic ammonium oxidizing (anammox) bacteria-mediated nitrogen removal was investigated using a sequential batch reactor (SBR). Effects of different salinity levels were evaluated on the bacterial activity at: mild (below 0.2 g NaCl/L), elevated (18.2 g NaCl/L) and...
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The Syntheses and Crystal Structures of the First Disiloxane-1,3-dithiol and Its Cadmium Complex.
PublicationThe new silicon–sulfur compound: disiloxane-1,3-dithiol was obtained from silicon disulfide and 2,6-diisopropylphenol in a reaction catalyzed by imidazole or 4-(dimethylamino)pyridine (DMAP). Crystal structure of disiloxane–1,3-dithiol reveals a close-to-linear Si–O–Si angle and a mutual trans position of the two hydrosulfido groups. The compound forms a chelating mononuclear complex with cadmium ions.
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Investigation on thermal changes of mechanical properties of textile fabric of National Stadium in Warsaw roof
PublicationSubject of the research is investigation of mechanical properties of technical fabric Précontraint 1202 S2 used for construction of the mobile part of roof of National Stadium in Warsaw. The research has been focused on fabric behavior in low temperature conditions. The main question which had to be answer has been: is it save to open and close the roof or keep the roof in the close position in winter conditions?
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Radar time budget optimization subject to angle accuracy constraint via cognitive approach
PublicationThe problem of minimizing dwell time in multifunction phased array radar is considered. Target of interest is assumed to fluctuate according to a generalization of Swerling family and the parameters of fluctuation model are assumed to be known. The a'priori position of the target is uncertain. Optimization, whose variables include pulse count and array transmit beampattern, is carried out subject to achieving a desired accuracy...
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Non-intrusive infrared-free eye tracking method
PublicationIn the paper a technique of eye tracking based on visible light is presented. The approach described does not require an additional hardware equipment used in the infrared eye tracking system. First, examples of existing eye tracking techniques were presented. Then, the proposed algorithm of image processing and the process of determining the eye position are described. The engineered eye tracking application was tested and the...
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Resolving conflicts in object tracking for automatic detection of events in video
PublicationAn algorithm for resolving conflicts in tracking of moving objects is presented. The proposed approach utilizes predicted states calculated by Kalman filters for estimation of trackers position, then it uses color and texture descriptors in order to match moving objects with trackers. Problematic situations, such as splitting objects, are addressed. Test results are presented and discussed. The algorithm may be used in the system...
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Przygotowanie przemysłowego obiektu o stalowej konstrukcji nośnej do remontu po pożarze
PublicationW artykule przedstawiono warunki i sposób podejścia do naprawy stalowej konstrukcji nośnej kilkukondygnacyjnego obiektu przemysłowego, który uległ uszkodzeniu w wyniku oddziaływania wysokiej temperatury pożaru. Omówiono rodzaje badań i sprawdzeń oraz sposób przeprowadzenia kontroli konstrukcji, które stały się podstawą do wydania oceny technicznej o możliwości odbudowy i remontu obiektu, bez jego nadmiernej rozbiórki. Wskazany...
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Tetrahydroquinolinone derivatives exert antiproliferative effect on lung cancer cells through apoptosis induction
PublicationThe anticancer properties of quinolones is a topic of interest among researchers in the scientific world. Because these compounds do not cause side effects, unlike the commonly used cytostatics, they are considered a promising source of new anticancer drugs. In this work, we designed a brief synthetic pathway and obtained a series of novel 8-phenyltetrahydroquinolinone derivatives functionalized with benzyl-type moieties at position...
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Constrained optimization for generating gain-bandwidth design trade-offs of wideband unidirectional antennas
PublicationBroadband unidirectional antennas realised in microstrip technology find applications in many wireless communication systems. One of their design challenges is the necessity of handling multiple performance figures which is difficult when using traditional design methods, largely based on parameter sweeping. This work presents a simple optimisation-based framework that permits generation of gain-bandwidth trade-off designs for...
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Eine Eeue Technik zur Präzisen Rissfortschrittsmessung im DCB oder im Keilversuch = A novel technique for precise crack length measurement in the DCB or wedge test
PublicationDiverse methods have been tried to study crack length, most basic relying on direct, or microscopic, observation of the crack tip position. Optical correlation, both lasermoiré and speckle interferometry, a single strain gauge and displacement sensorshave also been employed. Crack length measurement is, however, delicate. We present a novel method making use of strain gauges attached to one of the adherends.
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Dynamical nonlocality in quantum time via modular operators
PublicationWe formalize the concept of the modular energy operator within the Page and Wootters timeless framework. As a result, this operator is elevated to the same status as the more studied modular operators of position and momentum. In analogy with dynamical nonlocality in space associated with the modular momentum, we introduce and analyze the nonlocality in time associated with the modular energy operator. Some applications of our...
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Application of Thin ZnO ALD Layers in Fiber-Optic Fabry-Pérot Sensing Interferometers
PublicationIn this paper we investigated the response of a fiber-optic Fabry-Pérot sensing interferometer with thin ZnO layers deposited on the end faces of the optical fibers forming the cavity. Standard telecommunication single-mode optical fiber (SMF-28) segments were used with the thin ZnO layers deposited by Atomic Layer Deposition (ALD). Measurements were performed with the interferometer illuminated by two broadband sources operating...
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Simultaneous determination of Na+, K+, Ca2+, Mg2+ and Cl- in unstimulated and stimulated human saliva using all solid state multisensor platform
PublicationHuman saliva is one of the body fluids which collection method is relatively simple and non-invasive. The article is dedicated to assess concentration (activity) of Na+, K+, Ca2+, Mg2+ and Cl- in fresh, unstimulated or stimulated human saliva samples using single solid contact ion-selective electrodes with conventional reference electrode and self-made multisensor platform (MP) equipped with ion-selective membranes for Na+, K+,...
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Towards an integrated assessment of environmental and human health impact of energy sector in Poland
PublicationReferat prezentuje system zintegrowanej oceny wpływu sektora energetycznego na stan środowiska i zdrowie ludzkie w Polsce. W podejściu wykorzystano kombinację modelu transportu zanieczyszczeń w powietrzu POLAIR 3D z modelem informacyjno-symulacyjnym RAINS. Model oszacowuje emisje i koncentracje zanieczyszczeń powietrza, koszty kontroli emisji zanieczyszczeń i inne koszty związane z różnymi scenariuszami rozwoju sektora energetycznego.The...
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Optical-Fiber Microsphere-Based Temperature Sensors with ZnO ALD Coating—Comparative Study
PublicationThis study presents the microsphere-based fiber-optic sensor with the ZnO Atomic Layer Deposition coating thickness of 100 nm and 200 nm for temperature measurements. Metrological properties of the sensor were investigated over the temperature range from 100 °C to 300 °C, with a 10 °C step. The interferometric signal was used to monitor the integrity of the microsphere and its attachment to the connecting fiber. For the sensor...
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Focused ion beam-based microfabrication of boron-doped diamond single-crystal tip cantilevers for electrical and mechanical scanning probe microscopy
PublicationIn this paper, the fabrication process and electromechanical properties of novel atomic force microscopy probes utilising single-crystal boron-doped diamond are presented. The developed probes integrate scanning tips made of chemical vapour deposition-grown, freestanding diamond foil. The fabrication procedure was performed using nanomanipulation techniques combined with scanning electron microscopy and focused ion beam technologies....
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Mechanical Behavior of Bi-Layer and Dispersion Coatings Composed of Several Nanostructures on Ti Substrate
PublicationThree coatings suitable for biomedical applications, including the dispersion coating composed of multi-wall carbon nanotubes (MWCNTs), MWCNTs/TiO2 bi-layer coating, and MWCNTs-Cu dispersion coating, were fabricated by electrophoretic deposition (EPD) on Ti Grade II substrate. Optical microscopy, scanning electron microscopy, energy-dispersive X-ray spectroscopy, and nanoindentation were applied to study topography, chemical, and...
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Evaluation of the Cathodic Electrodeposition Effectiveness of the Hydroxyapatite Layer Used in Surface Modification of Ti6Al4V-Based Biomaterials
PublicationThe important issue associated with the design and the fabrication of the titanium and titanium alloy implants is the increase of their biointegration with bone tissue. In the presented paper, the research results concerning the conditions used in the cathodic deposition of hydroxyapatite on the surface Ti6Al4V substrates primarily modified by the production of TiO2 nanoporous coatings, TiO2 nanofibers, and titanate coatings, are...
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Diamond protection for reusable ZnO coated fiber-optic measurement head in optoelectrochemical investigation of bisphenol A
PublicationDue to the global problem with plastic contaminating the environment, with bisphenol A (BPA) being one of the highest demand, effective monitoring and purification of the pollutants are required. The electrochemical methods constitute a good solution but, due to polymerization of electrochemical oxidation bisphenol A products and their adsorption to the surfaces, measurement head elements are clogged by the formed film. In this...