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Catalog Publications
Year 2012
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Modeling of Accidental Bunker Oil Spills as a Result of Ship's Bunker Tanks Rupture - a Case Study
PublicationAIS (Automatic Identification System) data analysis is used to define ship domain for grounding scenarios. The domain has been divided into two areas as inner and outer domains. Inner domain has clear border, which is based on ship dynamic characteristics. Violation of inner domain makes the grounding accident unavoidable. Outer domain area is defined with AIS data analyzing. Outer domain shows the situation of own ship in compare...
Year 2017
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Improvement of microstructure and mechanical properties of high dense sic ceramics manufactured by high-speed hot pressing
PublicationNon-oxide ceramics possess high physical-mechanical properties, corrosion and radiation resistance, which can be used as a protective materials for radioactive wastes disposal. The aim of the present study was the manufacturing of high density SiC ceramics with advanced physical and mechanical parameters. The high performance on the properties of produced ceramics was determined by the dense and monolithic structure. The densified...
Year 2019
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Diagnostic Model of Crankshaft Seals
PublicationT he paper presents a research stand being a diagnostic model of radial lip seals used, among others, on crankshafts of piston combustion engines in order to identify the correctness of their operation. The possibility of determining the technical condition of lip seals on the basis of the proposed coefficient of correctness of operation has been described. T he basic features of seals influencing their correctness of...
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Stateczność i niezawodność pełnomorskich platform wiertniczych
PublicationW pracy przedstawiono wieloletnie doświadczenia Autora w zakresie wybranych aspektów numerycznej analizy pełnomorskich platform wiertniczych, w szczególności stacjonarnych platform stalowych poddanych działaniu fal wiatrowych i wiatru. W opisie zachowania się platform uwzględniono współoddziaływanie trzech ośrodków: materiału konstrukcji, morskich fal wiatrowych i podłoża gruntowego. Przyjęcie do opisu stochastycznych właściwości...
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Stateczność samopodnoszących pełnomorskich platform wiertniczych w fazie eksploatacji
PublicationWspółczynnik bezpieczeństwa platformy Petrobaltic na moment obrotowy (stateczność ogólna) oszacowany przy założeniu, że konstrukcja jest traktowana jako układ słupów połączonych sztywnym pokładem, z korekcją efektów drugiego rzędu. Przemieszczenie poziome pokładu platformy wyznaczone, stosując odpowiedni model MES. Siła krytyczna nogi obliczona przy założeniu jej utwierdzenia w dnie morza. Wpływ odchyłki od idealnej geometrii rur...
Year 2020
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Experimental Research on Insufficient Water Lubrication of Marine Stern Tube Journal Bearing with Elastic Polymer Bush
PublicationWater-lubricated bearings with polymer bushes are steadily gaining popularity due to their advantages, including environmental friendliness, relatively simple construction and long-term operation. Nevertheless, in practice instances of damage to such bearings occur due to insufficient or absent flow of the lubricating agent. In this study, experimental tests established that elastic polymer bush bearing is capable of operating...
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In vivo performance of intraperitoneal onlay mesh after ventral hernia repair
PublicationBackground: Ventral hernia repair needs to be improved since recurrence, postoperative pain and other complications are still reported in many patients. The behavior of implants in vivo is not sufficiently understood to design a surgical mesh mechanically compatible with the human abdominal wall. Methods: This analysis was based on radiological pictures of patients who underwent laparoscopic ventral hernia repair. The pictures...
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PORÓWNANIE SPRAWNOŚCI ŚRUB NAPĘDOWYCH JACHTU MOTOROWEGO NA STANOWISKU DYDAKTYCZNYM
Publicationw artykule przedstawiono autorską metodę wyznaczania sprawności działania różnych śrub napędowych jachtu motorowego na podstawie wyników badań wykonanych na stanowisku laboratoryjnym. Zastosowanie takiej metody porównawczej wymagało zbudowania prostego w użytkowaniu stanowiska dydaktycznego odwzorowującego możliwe warunki działania układu napędowego jachtu motorowego, składającego się ze źródła mocy w postaci silnika elektrycznego,...
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Reliability of Corroded Stiffened Plate Subjected to Uniaxial Compressive Loading
PublicationThe work is focused on the reliability of corroded stiffened plates subjected to compressive uniaxial load based on the progressive collapse approach as stipulated by the Common Structural Rules for Bulk Carriers and Oil Tankers, employing the limit state design. Two different cases have been investigated. In the first model, the corrosion degradation led to uniform thickness loss, whereas the mechanical properties were unchanged,...
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Towards Improving Optimised Ship Weather Routing
PublicationThe aim of the paper is to outline a project focusing on the development of a new type of ship weather routing solution with improved uncertainty handling, through better estimation of ship performance and responses to sea conditions. Ensemble forecasting is considered to take into account the uncertainty levels that are typical of operations in a stochastic environment. Increased accuracy of weather prediction is achieved through...
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WYBRANE ASPEKTY ZMĘCZENIOWYCH USZKODZEŃ OKRĘTOWYCH WAŁÓW NAPĘDOWYCH
PublicationProblem zmęczeniowego pękania konstrukcji okrętowych w sposób istotny dla eksploatacji tychże obiektów ujawnił się na przełomie lat 70. i 80. ubiegłego stulecia. Ponieważ pęknięcia zmęczeniowe dotyczą głównie kadłubów statków i są szczególnie dotkliwe dla dużych jednostek (zbiornikowców, masowców i kontenerowców), dlatego też cała uwaga towarzystw klasyfikacyjnych i biur projektowych skupia się głównie na tym aspekcie uszkodzeń...
Year 2021
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A comparative performance assessment of a hydrodynamic journal bearing lubricated with oil and magnetorheological fluid
PublicationThis work presents the investigation results of a journal bearing lubricated with magnetorheological fluid that is activated by a local constant magnetic field to vary both the local flow resistance and pressure. The bearing performance is assessed via Finite Element Modelling (FEM) and results are corroborated by experiments. The FEM model uses the Bingham model to describe the fluid film. A dedicated test rig is used to assess...
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A review on application of artificial neural network (ANN) for performance and emission characteristics of diesel engine fueled with biodiesel-based fuels
PublicationBiodiesel has been emerging as a potential and promising biofuel for the strategy of reducing toxic emissions and improving engine performance. Computational methods aiming to offer numerical solutions were inevitable as a study methodology which was sometimes considered the only practical method. Artificial neural networks (ANN) were data-processing systems, which were used to tackle many issues in engineering and science, especially...
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A ship domain-based model of collision risk for near-miss detection and Collision Alert Systems
PublicationThe paper presents a new model of ship collision risk, which utilises a ship domain concept and the related domain-based collision risk parameters. An encounter is here described by five variables representing: degree of domain violation (DDV), relative speed of the two vessels, combination of the vessels’ courses, arena violations and encounter complexity. As for the first three variables, their values can be directly computed...
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ANALIZA INFORMACYJNOŚCI DIAGNOSTYCZNEJ SZYBKOZMIENNEJ TEMPERATURY SPALIN WYLOTOWYCH OKRĘTOWEGO SILNIKA TŁOKOWEGO - KLASYFIKACJA JEDNOCZYNNIKOWA
PublicationW niniejszym artykule zwrócono uwagę na problem niskiej podatności kontrolnej okrętowych silników średnio- i szybkoobrotowych w eksploatacji, co znacznie ogranicza możliwości diagnozowania parametrycznego ich przestrzeni roboczych oraz układu wtrysku paliwa. W celu rozwiązania tego problemu zaproponowano pomiar szybkozmiennej temperatury spalin wylotowych z silnika, której przebieg po odpowiedniej obróbce matematycznej oraz analizie...
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Application of the F-statistic of the Fisher-Snedecor distribution to analyze the significance of the effect of changes in the compression ratio of a diesel engine on the value of the specific enthalpy of the exhaust gas flow
PublicationThe paper discusses the impact of changes in the compression ratio on the operating parameters of a diesel engine, e.g. on the temperature of exhaust gases. It presents the construction of the laboratory test stand, on which experimental measurements were realized. It is characterized how the actual changes of the compression ratio were introduced to the existing engine. The program of experimental investigations taking into account...
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ASSESSING THE POTENTIAL REPLACEMENT OF MINERAL OIL WITH ENVIRONMENTALLY ACCEPTABLE LUBRICANTS IN A STERN TUBE BEARING: AN EXPERIMENTAL ANALYSIS OF BEARING PERFORMANCE
PublicationT his study compares the performance of a plain bearing, with a similar structure to a tail shaft stern bearing, lubricated with either mineral oil or an environmentally acceptable lubricant (EAL). The main characteristic of the bearing is its length/diameter ratio of <1. Measurements are carried out with the bearing operating under loads from 0.5 to 1 MPa and seven speeds ranging from 1 to 11 rev/s. The bearing lubricated...
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CEL FUNKCJONOWANIA, ZADANIA I OBSZARY BADAWCZE CENTRUM MORSKIEJ ENERGETYKI WIATROWEJ POLITECHNIKI GDAŃSKIEJ
PublicationW artykule przybliżono wybrane aspekty funkcjonowania Centrum Morskiej Energetyki Wiatrowej w Politechnice Gdańskiej. Scharakteryzowano główne zadania Centrum oraz wstępnie zdefiniowane obszary badawcze, w których specjalizują się naukowcy reprezentujący niemal wszystkie wydziały akademickie Uczelni (oprócz Wydziału Architektury). Przedstawiono kierunki działania Centrum w perspektywie kilku najbliższych lat, w wyniku których nastąpi...
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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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Comprehensive thermodynamic analysis of steam storage in a steam cycle in a different regime of work: A zero-dimensional and three-dimensional approach
PublicationDue to the current trends aiming to reduce carbon dioxide emissions by increasing the use of renewable energy sources, changes are required in the operation of coal-fired steam units. The unstable nature of renewable energy sources, depending on weather conditions, means that the amount of energy produced varies and is not always in line with peak demand. To ensure the security and stability of energy supplies in the energy system,...
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Design of experiments approach for ultimate strength assessment of corroded stiffened plates
PublicationThe impact of corrosion degradation on the ultimate strength of stiffened plates subjected to compressive loading is investigated. The DoE technique is used considering different plate and column slenderness ratios and corrosion severity. The FE method, considering geometrical and material nonlinearities, is employed. A two-stage corrosion degradation model is adopted. Firstly, a uniform thickness loss is adopted to reflect the...
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DETERMINATION OF THE AERODYNAMIC DRAG OF PNEUMATIC LIFE RAFTS AS A FACTOR FOR INCREASING THE RELIABILITY OF RESCUE OPERATIONS
PublicationEnsuring the safety of ship crews at sea is of the utmost importance. Life rafts are one of the basic components of any seagoing vessel and ensuring their stability is an important component of maritime research. This study concerns the determination of the aerodynamic drag coefficients of pneumatic life rafts in a full range of wind speed and directions. The drag coefficients are based on full-scale experimental studies and numerical...
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DIAGNOSTIC INFORMATION ANALYSIS OF QUICKLY CHANGING TEMPERATURE OF EXHAUST GAS FROM MARINE DIESEL ENGINE PART I SINGLE FACTOR ANALYSIS
PublicationIn this paper, attention was paid to the problem of low controllability of marine medium- and high-speed engines during operation, which significantly limits the parametric diagnosis. The measurement of quickly changing temperature of engine exhaust gas was proposed, the courses of which can be a source of diagnostic information. The F statistic of the Fisher-Snedecor distribution was chosen as a statistical tool. Laboratory tests...
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Dynamic Signature Vertical Partitioning Using Selected Population-Based Algorithms
PublicationThe dynamic signature is a biometric attribute used for identity verification. It contains information on dynamics of the signing process. There are many approaches to the dynamic signature verification, including the one based on signature partitioning. Partitions are the regions created on the basis of signals describing the dynamics of the signature. They contain information on the shape of the signature characteristic of a...
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ENERGY ANALYSIS OF THE PROPULSION SHAFT FATIGUE PROCESS IN A ROTATING MECHANICAL SYSTEM PART III DIMENSIONAL ANALYSIS
PublicationThis article presents the third and last part of the problem of diagnosing the fatigue of marine propulsion shafts in terms of energy with the use of the action function, undertaken by the authors. Even the most perfect physical models of real objects, observed under laboratory conditions and developed based on the results of their research, cannot be useful in diagnostics without properly transferring the obtained results to the...
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EVALUATION OF EFFECTIVENESS OF WATERJET PROPULSOR FOR A SMALL UNDERWATER VEHICLE
PublicationT he goal of the project described is to replace the existing propulsion system of a small underwater vehicle with a solution less prone to mechanical damage and ensuring a lower risk of the entanglement of fibrous objects suspended in the body of water. Four typical marine screws are utilised in the current design of the vehicle. One possible solution of the problem is the application of waterjet propulsors located...
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Experimental and numerical investigations of ultimate strength of degradated structures
PublicationThe presented work investigates the corrosion influence on the structural behaviour of structural elements. Nine welded large-scale stiffened plates, and 30 standard small specimens have been subjected to the accelerated marine immersed conditions. After corrosion testing, the specimens have been accurately measured in terms of surface characteristics. The coupon specimens were furtherly subjected to tensile loading to develop...
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Image-based numerical modeling of the tensile deformation behavior and mechanical properties of additive manufactured Ti–6Al–4V diamond lattice structures
PublicationThis work concerns the numerical modeling of the deformation process and mechanical properties of structures obtained by the additive method laser power bed fusion (LPBF). The investigation uses diamond structures of Ti–6Al–4V titanium implantation alloy with various relative densities. To model the process of tensile deformation of the materials, geometric models were used, mapping the realistic shape of the examined structures....
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Influence of Holes Manufacture Technology on Perforated Plate Aerodynamics
PublicationTranspiration flow is a very important and still open subject in many technical applications. Perforated walls are useful for the purpose of “flow control”, as well as for the cooling of walls and blades (effusive cooling) in gas turbines. We are still not able to include large numbers of holes in the numerical calculations and therefore we need physical models. Problems are related also to the quality of the holes in perforated...
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INFLUENCE OF SOLID PARTICLE CONTAMINATION ON THE WEAR PROCESS IN WATER LUBRICATED MARINE STRUT BEARINGS WITH NBR AND PTFE BUSHES
PublicationThis paper reports on a study of the influence of solid particle contamination on the wear process in water-lubricated slide bearings (steel-acrylonitrile-butadiene rubber (NBR) and steel- polytetrafluoroethylene (PTFE)). To compare the wear of the shaft journal and bushes (NBR and PTFE) when lubricated with fresh water and contaminated water, an experiment was carried out to identify key factors that influence the state of wear...
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INFLUENCE OF THE HULL SHAPE ON THE ENERGY DEMAND OF A SMALL INLAND VESSEL WITH HYBRID PROPULSION
PublicationRecently, there has been a significant development of ecological propulsion systems, which is in line with the general trend of environmentally friendly “green shipping”. The main aim is to build a safe, low-energy passenger ship with a highly efficient, emission-free propulsion system. This can be achieved in a variety of ways. The article presents the main problems encountered by designers and constructors already at the stage...
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INVESTIGATIONS OF THE EMISSION CHARACTERISTICS OF A DUAL-FUEL GAS TURBINE COMBUSTION CHAMBER OPERATING SIMULTANEOUSLY ON LIQUID AND GASEOUS FUELS
PublicationT his study is dedicated to investigations of the working process in a dual-fuel low-emission combustion chamber for a floating vessel’s gas turbine. As the object of the research, a low-emission gas turbine combustion chamber with partial premixing of fuel and air inside the outer and inner radial-axial swirls was chosen. The method of the research is based on the numerical solution of the system of differential...
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Joints Of Steel Sandwich Structures
PublicationSteel sandwich structures are perceived as alternatives to single-skin welded structures in the shipbuilding industry due its advantages like significant reduction of mass in relation to typical single skin structure. However, beside problems with their strength properties itself, applications in real structures requires of solving the problem of joining, both for connection sandwich to sandwich as well as sandwiches to single-shell...
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KLASYFIKACJA STANU TECHNICZNEGO UKŁADU WTRYSKOWEGO SILNIKA Z ZAPŁONEM SAMOCZYNNYM NA PODSTAWIE POMIARU SKŁADU SPALIN
PublicationArtykuł przedstawia wyniki empirycznej weryfikacji hipotezy pozwalającej na opracowanie sprzętowo – programowego klasyfikatora stanu technicznego układu wtryskowego silnika z zapłonem samoczynnym. Pozytywna weryfikacja wspomnianej hipotezy, która wiąże przebieg procesu spalania, skład chemiczny spalin oraz wybrane stany niesprawności technicznej układu wtryskowego pozwoliła na przedstawienie koncepcji klasyfikatora w rozpatrywanym...
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Methodology for determining the elemental composition, as well as energy and ignition properties of the low-sulfur marine fuels
PublicationThe key metrological issue of substance and energy balance in research engines is the precise determination of the elemental composition of the applied fuel and its net calorific value. This makes it possible to calculate the amount of heat brought with the fuel into the combustion chamber, as well as the amount and gas composition of the exhaust. However, to fully assess the energy quality of the fuel used, its ignition properties...
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METODY IDENTYFIKACJI STANÓW NIEZDATNOŚCI EKSPLOATACYJNEJ ŁOŻYSK TOCZNYCH W OKRĘTOWYCH UKŁADACH NAPĘDOWYCH Z WYKORZYSTANIEM METODY IMPULSÓW UDAROWYCH
PublicationRozpatrując okrętowe zespoły napędowe z punktu widzenia transmisji energii mechanicznej największym zagrożeniem dla ich niezawodności jest utrata stabilności układu mechanicznego, co zazwyczaj objawia się zwiększeniem amplitudy drgań mechanicznych. Zwiększeniu tych drgań towarzyszy wzrost amplitudy okresowo zmiennych naprężeń wewnętrznych co jest prostą i nieuniknioną drogą do uszkodzenia znajdujących się w tym układzie łożysk....
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Microstructure and Properties of Electroless Ni-P/Si3N4 Nanocomposite Coatings Deposited on the AW-7075 Aluminum Alloy
PublicationThe article presents the results of mechanical and tribological tests of Ni-P/Si3N4 nanocomposite coatings deposited on the AW-7075 aluminum alloy using the chemical reduction method. The influence of the chemical composition on the Vickers microhardness determined by the DSI method was examined. The nanocomposite layers were made of Si3N4 silicon nitride in a polydisperse powder with a particle size ranging from 20 to 25 nm. The...
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Minimizing Greenhouse Gas Emissions From Ships Using a Pareto Multi-Objective Optimization Approach
PublicationTo confront climate change, decarbonization strategies must change the global economy. According to statements made as part of the European Green Deal, maritime transport should also become drastically less polluting. As a result, the price of transport must reflect the impact it has on the environment and on health. In such a framework, the purpose of this paper is to suggest a novel method for minimizing emissions...
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Moda jako wartość konsumencka - eksplikacja zagadnienia
PublicationCel: Celem artykułu jest przedstawienie problematyki mody jako propozycji wartości dla klienta. Realizacja niniejszego celu wymagała uszczegółowionej eksplikacji zjawiska mody. W publikacji zdefiniowaniu poddano mechanizm działania mody, istotę trendu mody, jak również omówiono główne perspektywy analizy mody oraz aktualne nurty badań nad modą. Projekt badania/metodyka badawcza/koncepcja: W pracy wykorzystano metodę krytycznej...
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MODERNIZACJA DYDAKTYCZNEGO STANOWISKA LABORATORYJNEGO UMOŻLIWIAJĄCEGO ANALIZĘ PORÓWNAWCZĄ SPRAWNOŚCI ŚRUB NAPĘDOWYCH JACHTU MOTOROWEGO
PublicationW artykule przedstawiono autorską metodę wyznaczania sprawności działania różnych śrub napędowych jachtu motorowego na podstawie wyników badań wykonanych na zmodernizowanym stanowisku laboratoryjnym. Modernizacja stanowiska składającego się ze źródła mocy w postaci silnika elektrycznego, części pośredniczącej i pędnika polegała na dodaniu przetwornika częstotliwości umożliwiającego starowanie silnikiem elektrycznym, czujnika do...
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Monitoring Regenerative Heat Exchanger in Steam Power Plant by Making Use of the Recurrent Neural Network
PublicationArtificial Intelligence algorithms are being increasingly used in industrial applications. Their important function is to support operation of diagnostic systems. This paper pesents a new approach to the monitoring of a regenerative heat exchanger in a steam power plant, which is based on a specific use of the Recurrent Neural Network (RNN). The proposed approach was tested using real data. This approach can be easily adapted to...
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NEW DESIGNS OF MAGNETIC FLUID SEALS FOR RECIPROCATING MOTION
PublicationT he operating conditions of magnetic fluid seals during reciprocating motion are so different from those observed in rotating motion that the use of their conventional structures for reciprocating motion seals yields no good results. The analysis of the sealing mechanism of magnetic fluid seals in reciprocating motion shows that the operation of these seals is affected by the carry-over phenomenon and magnetic fluid...
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Novel Cold Crucible Ultrasonic Atomization Powder Production Method for 3D Printing
Publication: A new powder production method has been developed to speed up the search for novel alloys for additive manufacturing. The technique involves an ultrasonically agitated cold crucible installed at the top of a 20 kHz ultrasonic sonotrode. The material is melted with an electric arc and undergoes pulverization with standing wave vibrations. Several different alloys in various forms, including noble and metallic glass alloys, were...
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Numerical and experimental study on effect of boundary conditions during testing of stiffened plates subjected to compressive loads
PublicationThis study analyses the effect of boundary conditions during testing on the structural behaviour stiffened plates with different thicknesses subjected to compressive loads. The goal of the compressive tests is to analyse the ultimate strength of a stiffened plate. During the test, relevant physical quantities are measured and investigated. The supporting structure's behaviour is investigated by analysing the force-displacements...
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Numerical modelling of the mesofracture process of sintered 316L steel under tension using microtomography
PublicationThis paper concerns numerical modelling of the deformation process, taking into account the local fracture of porous 316L sinters at the mesoscopic scale using the finite element method. Calculations are performed with the use of geometrical models, to map the realistic shape of the porous mesostructure of the material, obtained by means of computed microtomography. The microtomographic device has limited and insufficient measurement...
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PARAMETRIC ANALYSIS OF THE EFFICIENCY OF THE COMBINED GAS-STEAM TURBINE UNIT OF A HYBRID CYCLE FOR THE FPSO VESSEL
PublicationA thermal diagram of the combined gas‒steam turbine unit of a hybrid cycle, which is an energy complex consisting of a base gas turbine engine with a steam turbine heat recovery circuit and a steam-injected gas turbine operating with overexpansion, is proposed. A mathematical model of a power plant has been developed, taking into consideration the features of thermodynamic processes of simple, binary, and steam-injected...
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Performance and Emission Modelling and Simulation of Marine Diesel Engines using Publicly Available Engine Data
PublicationTo analyse the behaviour of marine diesel engines in unsteady states for different purposes, for example to determine the fuel consumption or emissions level, to adjust the control strategy, to manage the maintenance, etc., a goal-based mathematical model that can be easily implemented for simulation is necessary. Such a model usually requires a wide range of operating data, measured on a test stand. This is a time-consuming process...
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Photogrammetry image-based approach for imperfect structure modelling and FE analysis
PublicationThis study aims to model and analyse imperfect tructures using real measurements, employing photogrammetry technique commonly used in the geodesy. The study highlights the capability of the photogrammetry in aiding the structural analysis of imperfect engineering objects. Firstly, the photogrammetry measurements of a stiffened plate are carried out using a specially designed for the purpose experimental stand. Then, the plate surface...
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PROJEKT STANOWISKA DYDAKTYCZNEGO DO WYZNACZANIA CHARAKTERYSTYK POMP WIROWYCH
PublicationW artykule przedstawiono projekt oraz gotowe stanowisko do wyznaczenia charakterystyk przepływowych pomp wirowych w pracy indywidualnej oraz w wybranych wariantach współpracy szeregowej jak i równoległej. Obserwację parametrów kontrolnych pomp wirowych w różnych stanach pracy: dławienie przepływu, zmiana prędkości obrotowej. Dużą zaletą stanowiska jest wymuszanie obserwację zjawiska kawitacji.
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Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm
PublicationThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control...