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Search results for: UNDERWATER PIPELINE
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Multiple-Input Multiple-Output Technique for Underwater Acoustic Communication System
PublicationThe performance of an underwater acoustic communication (UAC) system is limited due to tough propagation conditions in the UAC channel. Multiple-Input Multiple-Output (MIMO) technique can improve the reliability of the data transmission system, increase its speed, increase its range, and reduce the energy consumption. The paper presents an implementation method of MIMO technique in the form of coding the Space-Time Block Code and...
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Effect of electrode waterproof coating on quality of underwater wet welded joints
PublicationIn this paper, the effects of different hydrophobic coatings on the surface of covered electrodes on the quality of wet welded carbon steel joints were discussed. Commonly available hydrophobic substances used in industrial applications were selected for the research. The aim of using waterproof coatings was to check the possibility to decreasing the susceptibility of highstrength low-alloy S460N steel to cold cracking. During...
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Weldability of S460ML High Strength Low Alloy Steel in Underwater Conditions
PublicationThe paper presents experimental evaluation of susceptibility of the high strength S460ML steel to cold cracking in the conditions of wet welding with the use of covered electrodes. From the results of Tekken tests it was found out that the investigated steel was characterised, in the conditions of the carried out experiments (underwater wet welding and air welding with rutile electrodes), of high susceptibility to cold cracking....
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Effect of welding conditions on susceptibility to cold cracking of underwater welded joints
PublicationPrzedstawiono wybrane aspekty spawalności stali przy spawaniu pod wodą metodą lokalnej komory suchej. Zwrócono szczególną uwagę na skłonność do tworzenia peknięć zimnych w SWC. Przy pomocy planowania doświadczeń określono ilościowy wpływ parametrów spawania na naprężenia krytyczne z próby implant.
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Probe signal processing for channel estimation in underwater acoustic communication system
PublicationUnderwater acoustic communication channels are characterized by a large variety of propagation conditions. Designing a reliable communication system requires knowledge of the transmission parameters of the channel, namely multipath delay spread, Doppler spread, coherence time, and coherence bandwidth. However, the possibilities of its estimation in a realtime underwater communication system are limited, mainly due to the computational...
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Testing the Wide-Sense Stationarity of Bandpass Signals for Underwater Acoustic Communications
PublicationThe Underwater Acoustic Communication (UAC) systems work in communication channels characterized by a large variety of multipath propagation conditions that can additionally change over time. Designing a reliable communication system requires knowledge of the transmission parameters of the channel. There is a need for the development of adaptive signaling schemes that would dynamically optimize the signal parameters of the physical...
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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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Tracking of the broadband source of the underwater noise in the very shallow water conditions
PublicationThe paper contains the result s, both theoretical and experimental , connected with the tracking of the underwater noise source as small ships, pontoon , diver and so on. The pro blem of security in the shallow water area is the challenge for underwater acousticians. In this paper there is take n into account the detection of the sources that move on the surface of the sea or underwater in shallow...
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Wake-Up Receiver for Underwater Acoustic Communication Using in Shallow Water
PublicationA data frame transmitted over the underwater acoustic channel usually begins with a preamble. Therefore, underwater communication systems have a dedicated receiver that constantly listens to the preamble signals. A receiver that is to work effectively in shallow waters must have solutions that effectively reduce the impact of the permanently occurring multipath propagation. The article presents a solution based on complementary...
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Performance of Coherent Modulation Scheme Used in Acoustic Underwater Communication System
PublicationThe development of an acoustic underwater communication system for shallow waters is still a big scientificand construction challenge. Currently, non-coherent modulations in combination with strong channel coding are used to achieve reliable communication with low rate in such a channel. To obtain transmission with a higher transmission rate, it is required to use coherent modulation. This paper presents the assumptions of such...
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Underwater Navigation Ssystem Based on Doppler Shift – Measurements and Error Estimations
PublicationA new acoustic navigation system was developed to determine the position and speed of moving underwater objects such as divers and underwater vehicles. The path of an object and its speed were determined by the Doppler shifts of acoustic signals emitted by a transmitter placed on the object and received by four hydrophones installed at the periphery of the monitored body of water. The position and speed measurements were affected...
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Suitability of acoustic power amplifiers as power amplifiers in underwater communication systems
PublicationThe paper presents selected acoustic power amplifiers from among those currently available. The results of a series of measurements characterising the amplifiers are presented. The measured amplitude and phase characteristics as a function of frequency for four selected amplifiers are analysed. The spectra of the output signal in the band from 4 kHz to 30 kHz are presented. The usefulness of the selected amplifiers in an underwater...
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Artificial neural network controller for underwater ship hull operation robot.
PublicationZaproponowano model matematyczny pojazdu podwodnego, który w uproszczonej wersji spełnia warunki dynamiki odpowiadające głowicy roboczej podwodnego robota. Uwzględniono niektóre czynniki oddziałujące na ruch podwodnej głowicy roboczej, jak np. gęstość wody oraz siły odśrodkowe i wypornościowe. Przedstawiono układ sterowania, w którym zastosowano regulator oparty na bazie sieci neuronowych, za pomocą którego można sterować...
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Underwater communication system for shallow water using modified MFSK modulation
PublicationOpisano budowę i zasadę działania systemu komunikacji podwodnej z modulacją MMFSK. System służy do przekazywania danych i komend ze statku do obiektów podwodnych w płytkich wodach przybrzeżnych i jeziorach. Priorytetowe wymagania postawione systemowi to bardzo małe zużycie energii w części podwodnej i bardzo mała liczba błędów transmisji. Szczególną uwagę zwrócono na nietypowe źródło błędów, jakim są zniekształcenia nieliniowe...
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The kinematic model of the novel autonomous underwater robot for ship hull cleaning
PublicationOmówiono zagadnienia związane ze sterowaniem autonomicznego robota podwodnego przeznaczonego do oczyszczania kadłuba statku z bioporostów. Dokonano przeglądu wybranych prac na temat systemów lokalizacji i algorytmów sterowania robotów podwodnych oraz przedstawiono projekt własny, w którym zawarto opis obiektu podwodnego przemieszczającego się po ustalonym torze. Dla określonych warunków roboczych zaproponowano koncepcję metody...
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Mechanical response of buried High-Density Polyethylene pipelines under normal fault motions
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An analysis and evaluation of the WeFold collaborative for protein structure prediction and its pipelines in CASP11 and CASP12
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Pipelined sceling of signed residue numbers with the mixed-radix conversion in the programmable gate array
PublicationIn this work a scaling technique of signed residue numbers is proposed. The method is based on conversion to the Mixed-Radix System (MRS) adapted for the FPGA implementation. The scaling factor is assumed to be a moduli product from the Residue Number System (RNS) base. Scaling is performed by scaling of terms of the mixed-radix expansion, generation of residue reprezentation of scaled terms, binary addition of these representations...
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THE POSSIBILITIES OF ESTIMATING THE RELIABILITY OF SHIP PIPELINES’ ELEMENTS INCLUDING DESTRUCTIVE PHENOMENA ACTING ON THEM
PublicationIn the article an approach to the problem of estimating reliability data based on physical models is proposed. The possibility of reliability assessment for selected elements of ship pipelines, based on the recognition of the destructive physical phenomena taking place in them, is discussed. To do this, an overview of these phenomena has been made. In addition, a preliminary review of existing measures of destruction of materials...
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Badania połączeń spawanych rurociągu wody pitnej we Włocławku, ang. Welding joints tests in drinking water pipeline.
PublicationCelem badań opisanych w pracy było określenie przyczyn korozji powstałej w strefie wpływu ciepła (SWC) w obwodowych połączeniach spawanych w rurociągu wody pitnej. Materiałem, z którego wykonano rurociąg to stal 304/304L. W obszarze złącza spawanego stwierdzono wżery inicjowane od niezgodności geometrycznych, gdzie mogły gromadzić się osady zwiększające udział chlorków bezpośrednio przy powierzchni rury, promujące tym procesy korozyjne....
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Corrosion performance of super duplex stainless steel and pipeline steel dissimilar welded joints: a comprehensive investigation for marine structures
PublicationThis study investigates the corrosion behavior of dissimilar gas tungsten arc (GTA) welded joints between super duplex stainless steel (sDSS 2507) and pipeline steel (X-70) using electrochemical and immersion corrosion tests. The GTA welds were fabricated using ER2594 and ER309L fller metals. The study examined the electrochemical characteristics and continuous corrosion behavior of samples extracted from various zones of the weldments...
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Adaptive Identification of Underwater Acoustic Channel with a Mix of Static and Time-Varying Parameters
PublicationWe consider the problem of identification of communication channels with a mix of static and time-varying parameters. Such scenarios are typical, among others, in underwater acoustics. In this paper, we further develop adaptive algorithms built on the local basis function (LBF) principle resulting in excellent performance when identifying time-varying systems. The main drawback of an LBF algorithm is its high complexity. The subsequently...
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3D Form analysis of rope deformation with long towed underwater hydroacoustic antenna
PublicationArtykuł opisuje rozwiązanie zagadnienia brzegowego dla zestawu długiej liny holującej i podwodnej anteny hydroakustycznej o gęstości, tej ostatniej, nieznacznie większej od gęstości wody i małej sztywności. Znane jest tylko położenie punktu zamocowania liny do okrętu (p-kt początkowy holowanego zestawu) oraz głębokość, na której znajduje się koniec anteny. Przedstawiono analizę sił działających na holowany zestaw, ich równania...
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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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Parametric method for determination of motion characteristics of underwater vehicles, applicable in preliminary designing.
Publicationartykuł zawiera opis metody wstępnego projektowania autonomicznych pojazdów podwodnych (auv), przydatnej szczególnie w przypadku, gdy w założeniach projektowych stawiane są wymogi dotyczące parametrów kinematyczno-dynamicznych ruchu pojazdu. koncepcja metody zasadza się na równaniach dynamiki opisujących ruch płaski pojazdu w kierunku poziomym i pionowym, wywołanych odpowiednio napędem śrubowym lub balastem wodnym. równania ruchu...
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Innovative Energy-Saving Propulsion System for Low-Speed Biomimetic Underwater Vehicles
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Comparison of Different Course Controllers of Biomimetic Underwater Vehicle with Two Tail Fins
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Innovative Energy-Saving Propulsion System for Low-Speed Biomimetic Underwater Vehicles
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THE EFFECT OF WET UNDERWATER WELDING ON COLD CRACKING SUSCEPTIBILITY OF DUPLEX STAINLESS STEEL
PublicationABSTRACT The present work was conducted to assess the weldability of duplex stainless steel in underwater conditions. Metal manual arc welding (MMA) with the use of coated electrodes was used in the investigations. Tekken weldability tests were performed underwater at 0.5 m depth and in the air. Nondestructive tests, metallographic examinations of welds, ferrite content assessment in microstructure and hardness test were performed....
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Weldability of Underwater Wet-Welded HSLA Steel: Effects of Electrode Hydrophobic Coatings
PublicationThe paper presents the effects of waterproof coatings use to cover electrodes on the weldability of high-strength, low-alloy (HSLA) steel in water. With the aim of improving the weldability of S460N HSLA steel in water, modifications of welding filler material were chosen. The surfaces of electrodes were covered by different hydrophobic substances. The aim of the controlled thermal severity (CTS) test was to check the influence...
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ADAPTIVE IDENTIFICATION OF TIME-VARYING IMPULSE RESPONSE OF UNDERWATER ACOUSTIC COMMUNICATION CHANNEL
PublicationThe transmission properties of underwater acoustic communication channel can change dynamically due to the movement of acoustic system transmitter and receiver or underwater objects reflecting transmitted signal. The time-varying impulse response measurement and estimation are necessary to match the physical layer of data transmission to instantaneous channel propagation conditions. Using the correlative measurement method, impulse...
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Cold Cracking Of Underwater Wet Welded S355G10+N High Strength Steel
PublicationWater as the welding environment determines some essential problems influencing steel weldability. Underwater welding of high strength steel joints causes increase susceptibility to cold cracking, which is an effect of much faster heat transfer from the weld area and presence of diffusible hydrogen causing increased metal fragility. The paper evaluates the susceptibility to cold cracking of the high strength S355G10+N steel used,...
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Effect of underwater wet welding conditions on the diffusible hydrogen content in deposited metal
PublicationIn the study mercury displacement method was used for determination of diffusible hydrogen amount in deposited metal obtained during underwater wet welding with covered electrodes in laboratory conditions according to a two-level full factorial design for three factors. The factors and their levels were chosen among conditions and parameters of welding in accordance with the results of own preliminary studies. A statistical analysis...
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Bead-on-plate welding on S235JR steel by underwater local dry chamber process
PublicationThe article presents the results of the effect of parameters of underwater local dry chamber welding on the properties of padding welds. The effect of heat input and the type of shielding gas on the structure and hardness of welds was established. the functions for estimating the maximum hardness of the heat affected zone have been also elaborated.
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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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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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Underwater in situ local heat treatment by additional stitches for improving the weldability of steel
PublicationIn this paper the influence of in situ local heat treatment performed by additional stitches on the weldability of high-strength low-alloy (HSLA) S355J2C+N steel was tested. The investigated steel is characterized by high susceptibility to cold cracking. It is necessary to find a method to improve the quality of welded joints. The local heat treatment was applied as an eect of bead-on plate welding made on the face of a Tekken...
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Using Fast Frequency Hopping Technique to Improve Reliability of Underwater Communication System
PublicationAcoustic underwater communication systems designed to work reliably in shallow coastal waters must overcome major limitations such as multipath propagation and the Doppler effect. These restrictions are the reason for the complexity of receivers being built, whose task is to decode a symbol on the basis of the received signal. Additional complications are caused by the low propagation speed of the acoustic wave in the water and...
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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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A Method for Underwater Wireless Data Transmission in a Hydroacoustic Channel under NLOS Conditions
PublicationWireless data transmission in the hydroacoustic channel under non-line-of-sight (NLOS) propagation conditions, for example, during a wreck penetration, is difficult to implement reliably. This is mostly due to the multipath propagation, which causes a reduction in the quality of data reception. Therefore, in this work an attempt has been made to develop a reliable method of wireless underwater communication test it under the NLOS...
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Underwater acoustic communication system using broadband signal with hyperbolically modulated frequency
PublicationThe implementation of reliable acoustic underwater communication in shallow waters is a scientific and engineering challenge, mainly due to the permanent occurrence of the multipath phenomenon. The article presents the concept of a transmission system using a broadband signal with hyperbolically modulated frequency (HFM) to transmit data symbols and synchronize data frames. The simulation tests were carried out in channels with...
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Operational Performance and Weld Bead Characteristics of Experimental Tubular-Wires for Underwater Welding
PublicationAiming to evaluate new formulations and their operational behavior underwater, two experimental tubular wires with different chemical compositions in their internal flux were initially manufactured, employing a pilot machine and a unique manufacturing process. Weld beads were deposited on a plate placed in a flat position inside a tank using a mechanized system and the IMC 300 welding power source. The work was done at a depth...
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System identification theory-based estimation of underwater acoustic channel for broadband communications.
PublicationPłytki kanał podwodny jest niestacjonarny z powodu wielokrotnych odbić fal dźwiękowych od powierzchni wody oraz ruchu nadajnika i odbiornika systemu komunikacyjnego. Dla zapewnienia szybkiej transmisji danych niezbędna jest estymacja kanału oparta na equalizacji adaptacyjnej. W systemach komunikacji podwodnej stosowane są zazwyczaj equalizery DFE z zaimplementowanymi algorytmami najmniejszych kwadratów: LMS oraz RLS.W artykule...
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The determination and identification of stray current source influences on buried pipelines using time/frequency analysis
PublicationZaprezentowano metodę detekcji źródła interferencji prądów błądzących na rurociągach podziemnych w aglomeracjach miejskich z wykorzystaniem łącznej analizy czasowo-częstotliwościowej mierzonych sygnałów. Badania przeprowadzono na rurociągu podziemnym zlokalizowanym w sąsiedztwie dwóch trakcji elektrycznych: tramwajowej i kolejowej. Wyniki analiz zaprezentowano w formie spektrogramów, które ilustrują zmiany spektralnej gęstości...
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Influence of gas parameters alteration on the form of gas-flow-impact appearing in long transportation pipelines
PublicationPrzy szybkich zamknięciach przepływu w długich liniach transportowych gazu, obserwuje się znaczne przesterowania ciśnienia, towarzyszące zjawiskom udarowym, wywołane zarówno falą uderzeniową jak i odbitą. Głównym czynnikiem wpływającym na postać fali uderzeniowej i jej amplitudy, jest szybkość zamykania zaworu odcinającego określona stałą czasową serwomotoru sterującego zaworem. Ponieważ obserwuje się zmiany właściwości chemicznych...
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Technical and economical analysis of combined cycles of gas turbine -steam turbine on pipeline compressor stations. Part II - Economic analysis
PublicationW pracy przedstawiono zagadnienie nadbudowy zespołów turbosprężarkowych, znajdujących się na tłoczni gazu ziemnego, odzyskowymi blokami parowymi. W analizie tego przedsięwzięcia wzięto pod uwagę kilka wariantów konfiguracji układu parowego oraz kilka wariantów uwzględniających zmienność obciążenia turbin gazowych napędzających kompresory. Dla układu parowego dobrano wszystkie podstawowe parametry, a następnie wykonano obliczenia...
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Technical and economical analysis of combined cycles of gas turbine - steam turbine on pipeline compressor stations. Part I - Technical analysis
PublicationW pracy przedstawiono zagadnienie nadbudowy zespołów turbosprężarkowych, znajdujących się na tłoczni gazu ziemnego, odzyskowymi blokami parowymi. W analizie tego przedsięwzięcia wzięto pod uwagę kilka wariantów konfiguracji układu parowego oraz kilka wariantów uwzględniających zmienność obciążenia turbin gazowych napędzających kompresory. Dla układu parowego dobrano wszystkie podstawowe parametry, a następnie wykonano obliczenia...
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Technical and economical analysis of combined cycles of gas turbine - steam turbine on pipeline compressor stations. Part II - Economic analysis
PublicationW pracy przedstawiono zagadnienie nadbudowy zespołów turbosprężarkowych, znajdujących się na tłoczni gazu ziemnego, odzyskowymi blokami parowymi. W analizie tego przedsięwzięcia wzięto pod uwagę kilka wariantów konfiguracji układu parowego oraz kilka wariantów uwzględniających zmienność obciążenia turbin gazowych napędzających kompresory. Dla układu parowego dobrano wszystkie podstawowe parametry, a następnie wykonano obliczenia...
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Mechanical chest compression with the LifeLine ARM device during simulated CPR
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Zagrożenia środowiska podczas eksploatacji gazociągów podmorskich = Environmental threats during oparation of subsea gas pipelines
PublicationPrzedstawiono wybrane zagadnienia eksploatacji gazociągów podmorskich, w tym zagrożenia dla rekreacyjnego i gospodarczego korzystania z morza. Uszkodzenie gazociągu podmorskiego jest zazwyczaj spowodowane korozją, działaniami morskimi lub zagrożeniami naturalnymi. W określonych warunkach mogą wytrącić się kryształy hydratów węglowodorów gazowych, co może prowadzić do zablokowania linii przesyłowej