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Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator
PublikacjaThis paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance can be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPC as a known proficient nonlinear control approach should be improved by the uncertainty estimator...
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Influence of Cement Replacement with Sewage Sludge Ash (SSA) on the Heat of Hydration of Cement Mortar
PublikacjaThe amount of fly ash from the incineration of sewage sludge is increasing all over the world, and its utilization is becoming a serious environmental problem. In the study, a type of sewage sludge ash (SSA) collected directly from the municipal sewage treatment plant was used. Five levels of cement replacement (2.5%, 5%, 7.5%, 10% and 20%) and unchanged water-to-binder (w/b) ratio (0.55) were used. The purpose of the study was...
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Photogrammetric and computerized report on site model in feasibility study of navigability channel on vistula spit
PublikacjaIn the report the authors present a course of geodesic and geo-computerized works upon realization of feasibility study of navigability channel on Vistula Spit. A procedure of acquiring verification and modeling of data for requirements of a numeric model of a bottom and site has been presented with construction of original software for 3D visualization of the Vistula Spit area. The activities described in the report can be...
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Automatic Discovery of IaaS Cloud Workload Types
PublikacjaThe paper presents an approach to automatic discovery of workloads types. We perform functional characteristics of the workloads executed in our cloud environment, that have been used to create model of the computations. To categorize the resources utilization we used K-means algorithm, that allow us automatically select six types of computations. We perform analysis of the discovered types against to typical computational benchmarks,...
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Rola i znaczenie zbiornika sieciowego w kształtowaniu hydrauliki i jakości wody w systemie wodociągowym
PublikacjaEksploatacja zbiornika sieciowego powinna zapewniać cykliczną wymianę wody w jego komorach. Koniecznym warunkiem prawidłowej eksploatacji zbiornika jest zgodność założeń projektowych ze stanem faktycznym. Praktyka eksploatacyjna wskazuje na szereg nieprawidłowości w tym względzie. Z powodu lokalizacji zbiornika sieciowego za nisko lub za wysoko albo wskutek błędów popełnionych w ustaleniu jego parametrów obserwuje się niestabilność...
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Designing Intelligent Factory: Conceptual Framework and Empirical Validation
PublikacjaThis paper presents a framework for monitoring, analysing and decision making for a smart manufacturing environment. We maintain that this approach could play a vital role in developing an architecture and implementation of Industry 4.0. The proposed model has features like experience based knowledge representation and semantic analysis of engineering objects and manufacturing process. It is also capable of continuous real time...
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Influence of ESPAR Antenna Radiation Patterns Shape on PPCC-Based DoA Estimation Accuracy
PublikacjaIn the article, we show the influence of three different electronically steerable parasitic array radiator (ESPAR) antenna radiation patterns on the overall direction of arrival (DoA) estimation accuracy when power-pattern cross-correlation (PPCC) algorithm, relying on received signal strength (RSS) values, is used for the estimation. The ESPAR antenna designs were obtained for three optimization...
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Miniaturization of ESPAR Antenna Using Low-Cost 3D Printing Process
PublikacjaIn this paper, the miniaturized electronically steerable parasitic array radiator (ESPAR) antenna is presented. The size reduction was obtained by embedding its active and passive elements in polylactic acid (PLA) plastic material commonly used in low-cost 3D printing. The influence of 3D printing process imperfections on the ESPAR antenna design is investigated and a simple yet effective method to...
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Validation of a virtual test environment for C2X communication under radio jamming conditions
PublikacjaIn this paper, we propose a novel car-2-x communication security testing methodology in the physical layer of wireless systems. The approach is dedicated to automated testing of autonomous vehicles and it is essential for such complex systems operation, especially with regard to safety and security issues. It is based on scenario-driven testing in virtual and real test environments created from collected or simulated data. The...
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Chęć kontynuowania pracy po osiągnięciu wieku emerytalnego w wybranych państwach Regionu Morza Bałtyckiego
PublikacjaArtykuł odnosi się do problematyki starzenia się społeczeństwa europejskiego i, jako konsekwencji tego, pogłębiania się deficytu zasobów ludzkich na ryku pracy. Najczęściej proponowane działania, które mogłoby przeciwdziałać temu zjawisku to zarządzanie wiekiem w przedsiębiorstwach, promowanie kontynuowania pracy po osiągnięciu wieku emerytalnego czy legislacyjne zmiany w zakresie podwyższenia wieku emerytalnego. W artykule przedstawiono...
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CDIO IN GDANSK: PEOPLE-ORIENTED STRATEGY
PublikacjaThe CDIO system implementation in Poland meets problems and Gdansk University of Technology (GUT) is still a single higher education institution in Poland accepted as the member of CDIO Initiative. The paper detects and characterizes the existing problems to be solved. In particular, the different groups of people are considered as supporters or fighters against CDIO idea, their attitudes being considered and applied strategy demonstrated. The...
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Tools for road infrastructure safety management in Poland
PublikacjaThe objective of road safety infrastructure management is to ensure that when roads are planned, designed, built and used road risks can be systematically identified, assessed, removed and mitigated. There are a number of approaches to road safety management. European Union Directive 2008/96/EC requires EU member states to use four basic tools of road safety infrastructure management. An overview of the methods in these countries...
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EVALUATION OF EFFECTIVENESS OF WATERJET PROPULSOR FOR A SMALL UNDERWATER VEHICLE
PublikacjaT 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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Testing Question Order Effects of Self-perception of Risk Propensity on Simple Lottery Choices as Measures of the Actual Risk Propensity
PublikacjaUncertainty together with the necessity of making choices inevitably results in risky decisions. For many years now, scientists have been studying notions connected with risk such as risk management, risk perception or risk propensity. While many sophisticated methods regarding measurement of risk propensity have been developed so far, it seems that little attention has been paid to checking whether they are not inherently flawed....
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Universal autonomous control and management system for multipurpose unmanned surface vessel
PublikacjaThe paper presents design, structure and architecture of the Universal Autonomous Control and Management System (UACAMS) for multipurpose unmanned surface vessel. The system was designed, installed and implemented on the multipurpose platform - unmanned surface vessel named HydroDron. The platform is designed to execute hydrographic survey missions with multi-variant configuration of the survey system (payload? ) including multi-beam...
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Liquid chromatography techniques for separation of flavonoids from Droseraceae
PublikacjaFlavonoids which are presented in insectivorous plants of the Droseraceae family have wide range of advantageous properties i.e. an antioxidant, anti-inflammatory and antimicrobial activities, antitumor activity was reported as well.The purpose of the research was to develop the most favourable conditions for liquid chromatographic separation and identification of myricetin and quercetin in extracts of insectivorous plants. In...
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Broadband communication solutions for maritime ITSs: Wider and faster deployment of new e-navigation services
Publikacjan its initial part, the paper presents an overview of popular technologies and systems currently developed or employed in maritime communication. These solutions are used to provide both ship-to-ship and ship-to-shore communication for the purpose of supporting specific services, often dedicated to maritime safety and e-navigation. Utility of such communication systems have been thoroughly verified over the years and their strengths...
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The Bridge to Knowledge – Open Access to Scientific Research Results on Multidisciplinary Open System Transferring Knowledge Platform
PublikacjaThe European policy of Open Access to scientific research is now one of the key issues discussed in public debates on the future development of scientific communication. The implementation of Open Access tools has significant impact on scientific and economic growth. On the one hand, Open Access accelerates disseminating new research findings and facilitates recognition of authors on a more global scale. On the other hand, Open...
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INFLUENCE OF MEASURING CONDITIONS ON TYRE/ROAD NOISE
PublikacjaA decisive factor for the development of tyres and road surfaces is the ability to conduct representative and reproducible measurements of selected characteristics related to the interaction of tyres and road surfaces. In terms of tyre/road noise measurements in Europe two methods described in ISO/FDIS 11819-2 and ECE Regulation No.117 are used. The latter is compulsory for assigning the tyre noise labels. The methodologies differ...
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Interactive Prototypes in Teaching User-Centred Design and Business Process Modelling
PublikacjaThis publication describes experiences gathered during the use of interactive prototyping in two areas: design of user interfaces for a touch screen information kiosk and interactive prototyping of business processes. Prototyping is promoted here as a technique useful for both visualizing design concepts and for stimulating communication within relevant teams. Developing interactive prototypes of use interfaces is discussed here...
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Metodyka badań rozwojowych nowego typu silników i pomp satelitowych
PublikacjaResearch and development of new type satellite motors and satellite pumps SM with small geometrical displacement, from 5 to 73 cm3/rev, has been conducted in cooperation with Stosowanie Maszyn company from Katowice (manufacturer of motors and pump SM). The improvement of construction of those machines, especially construction of axial compensation and construction of fluid distribution channels have been the main problem of research...
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Application of multi-criteria methods to compare different solutions of supplying buildings in electricity from photovoltaic systems
PublikacjaNowadays, the technologies of electricity generation in distributed systems are usually associated with Renewable Energy Sources (RES). The choice of the construction site depends mainly on the availability of the power system. However, energy planning, especially in case of RES, is a complex process involving multiple and often conflicting objectives. The complexity of the selection of the electricity system is typically addressed...
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The evaluation of eGlasses eye tracking module as an extension for Scratch
PublikacjaIn this paper we present the possibility of using eGlasses eye tracking module as an extension for Scratch programming tool which is a visual programming language supporting computer skills learning. The main concept behind this project is to setup the interface for rapid interaction design. Eye tracking is a powerful tool for hands free communication but for that requires a dedicated software. This software is rarely tailored...
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Planning of the green road system as an element of spatial management in suburbs and small towns
PublikacjaThe premise for the development of sustainable forms of road infrastructure in small towns is the appropriate plan at an early stage or modifi cation in the case of existing spaces. A multi-directional approach is extremely important, which takes into account the specifi city of the regional (country) road system, availability, and capacity of traffi c network, but also social and environmental factors. Effi cient management...
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REVIEW OF WEATHER FORECAST SERVICES FOR SHIP ROUTING PURPOSES
PublikacjaWeather data is nowadays used in a variety of navigational and ocean engineering research problems: from the obvious ones like voyage planning and routing of sea-going vessels, through the analysis of stability-related phenomena, to detailed modelling of ships’ manoeuvrability for collision avoidance purposes. Apart from that, weather forecasts are essential for passenger cruises and fishing vessels that want to avoid the risk...
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Technical and economic analysis of energy storage in the compressed air technology with low capacity for the production plant
PublikacjaCompressed air energy storage (CAES) system is a promising technology due to its numerous advantages, including relatively low maintenance cost, a long lifespan and high operational flexibility. This article explores the possibility of designing a CAES power plant as a source of electricity and heat for an existing industrial plant. The study involves the technical analysis of the power plant parameters and the economic analysis...
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Dependable Integration of Medical Image Recognition Components
PublikacjaComputer driven medical image recognition may support medical doctors in the diagnosis process, but requires high dependability considering potential consequences of incorrect results. The paper presentsa system that improves dependability of medical image recognition by integration of results from redundant components. The components implement alternative recognition algorithms of diseases in thefield of gastrointestinal endoscopy....
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Design of weighted PID controllers for control of the Stewart-Gough platform
PublikacjaStewart-Gough platform (SGP) is a popular parallel type manipulator that involves a 6 degrees of freedom (DOF) motion. In this paper, the process of mathematical modelling of SGP is presented. Two selected control algorithms that use PID controllers and weighted PID controllers are designed. Both control systems using these algorithms are implemented in MATLAB environment as well as on the actual SGP. Parameters of the controllers...
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On the broadband behaviour of planar elliptical dipole-modal approach
PublikacjaBroadband behavior of planar elliptical dipole structure is analyzed using Illuminatin Modes (IM) approach. The current on patch has been expanded in series of eigenfunctions in form of Mathieu radial and angular functions. The frequency behavior of current distributions and related powers have been discussed to explain the mechanism of broadband operation of the dipole. Different behavior of radiations patterns in wide frequency...
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Degradation of a nano-cutting tool: an MD simulation
PublikacjaW pracy przedstawiono wyniki symulacji wielokrotnego oddziaływania realistycznie ukształtowanego ostrza tnącego z modelowym, nieskończenie twardym ziarnem, przy zastosowaniu metody dynamiki molekularnej. Ostrze składało się z kilkuset tysięcy atomów metalu fcc, traktowanego za pomocą potencjału Suttona-Chena, przesuwane było ze stałą prędkością 20 m/s. Obserwowane deformacje plastyczne pojawiające się na skutek kontaktu ostrza...
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Real-time hybrid model of a wind turbine with doubly fed induction generator
PublikacjaIn recent years renewable sources have been dominating power system. The share of wind power in energy production increases year by year, which meets the need to protect the environment. Possibility of conducting, not only computer simulation, but also laboratory studies of wind turbine operation and impact on the power system and other power devices in laboratory conditions would be very useful. This article presents a method...
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Influence of Thermal Imagery Resolution on Accuracy of Deep Learning based Face Recognition
PublikacjaHuman-system interactions frequently require a retrieval of the key context information about the user and the environment. Image processing techniques have been widely applied in this area, providing details about recognized objects, people and actions. Considering remote diagnostics solutions, e.g. non-contact vital signs estimation and smart home monitoring systems that utilize person’s identity, security is a very important factor....
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Potencjał strategii slow city dla rozwoju miast kształtujących się metropolii polskich. Na przykładzie Pucka i Kartuz miast Obszaru Metropolitalnego Gdańsk-Sopot-Gdynia
PublikacjaW artykule wskazano możliwości wykorzystania filozofii ruchu Slow, do wykształcenia nowego modelu Metropolitalnych Slow City (MSC). Odniesiono się do założeń ruchu Cittaslow, pokazując potencjały dla alternatywnego kierunku strategii rozwojowej w duchu „miast dobrego życia” dla ośrodków w granicach obszarów metropolitalnych. W podsumowaniu założenia teoretyczne zilustrowano przykładem innowacyjnego modelu projektu rewitalizacji...
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Measurements of Path Loss in Off-Body Channels in Indoor Environments
PublikacjaThis paper presents a measurements of the path loss for validation of a statistical model for off-body radio channels in an indoor multipath environment, which considers the distance dependent mean path loss, and describes body shadowing and fast fading components in a statistical way. The measurement equipment and propagation indoor environment have been presented. Two different bodies and five static and two walking scenarios...
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Mechatronics design, modelling and controlling of the Stewart-Gough platform
PublikacjaThis paper presents a mechatronics design of a low cost Stewart-Gough platform (SGP) with rotary actuators. The designed SGP is supposed to be applied in a ball & plate control system. The synthesis of the ball & plate control system is also within the subject of the paper. A mechatronics design process of the SGP was conducted with computer-aided design (CAD) software. Unique analytical solutions of an inverse kinematics problem...
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PROJEKT STANDARDÓW DOSTĘPNOŚCI DLA OSÓB ZE SZCZEGÓLNYMI POTRZEBAMI DO TRANSPORTOWYCH WĘZŁÓW PRZESIADKOWYCH
PublikacjaW artykule opisano projekt standardów dostępności zintegrowanych węzłów przesiadkowych, które zawierają spójne dla wszystkich elementów ZWP z uwzględnieniem potrzeb i wymagań osób ze szczególnymi potrzebami zasady projektowania, budowy i utrzymania oraz minimalne parametry kluczowych dla samodzielnej realizacji podróży przez osoby ze szczególnymi potrzebami rozwiązań i udogodnień. Przedstawione standardy zawierają zasady i wymagania...
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A New Approach for Investigating the Impact of Pesticides and Nutrient Flux from Agricultural Holdings and Land-Use Structures on Baltic Sea Coastal Waters
PublikacjaKnowledge related to land-use management impacts on the Baltic Sea ecosystem is limited. The constant release of pollutants into water bodies has resulted in water quality degradation. Therefore, only the innovative approaches integrated with research will provide accurate solutions and methods for proper environment management and will enable understanding and prediction of the impacts of land-use in the Baltic Sea region. Modelling...
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Ontology Oriented Approach to Service Selection and Invocation in Complex Context Analysis
PublikacjaContext-aware applications running in the intelligent space are taken into account and their execution in the service oriented environment is considered. It has been presented where and how SOA services can be utilized during their execution: to analyze current context of the application and to support execution of strictly determined actions suitable for that context. The proposed mechanism of context-aware service selection and...
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On the influence of shell element properties on the response of car model in crash test
PublikacjaIt goes without saying that numerical simulations play important role in the modern engineering practice. Contemporary CAD environments combined with FEM solvers, along with computer power of modern processors, give the engineer fast and efficient tool. Ultimately, however it is the user alone who is responsible for the correctness of the results. As long as the FEM calculations remain in the sphere of academic exercise, the inevitable...
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Experimental and Theoretical Insights into the Intermolecular Interactions in Saturated Systems of Dapsone in Conventional and Deep Eutectic Solvents
PublikacjaSolubility is not only a crucial physicochemical property for laboratory practice but also provides valuable insight into the mechanism of saturated system organization, as a measure of the interplay between various intermolecular interactions. The importance of these data cannot be overstated, particularly when dealing with active pharmaceutical ingredients (APIs), such as dapsone. It is a commonly used anti-inflammatory and...
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Application of OFDM technique to underwater acoustic data transmission
PublikacjaPerformances of underwater acoustic communication (UAC) digital systems are strongly related to specific transmission properties of the underwater channel. Depending on the characteristics of the channel, an architecture and modulation techniques are usually implemented that are known as reliable solutions for data transmission in difficult radio channels. The OFDM technique seems to be the most promising nowadays. The parameters...
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New approach for determining the QoS of MP3-coded voice signals in IP networks
PublikacjaPresent-day IP transport platforms being what they are, it will never be possible to rule out conflicts between the available services. The logical consequence of this assertion is the inevitable conclusion that the quality of service (QoS) must always be quantifiable no matter what. This paper focuses on one method to determine QoS. It defines an innovative, simple model that can evaluate the QoS of MP3-coded voice data transported...
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The Relational Benefits and the Quality of Services in Tourism
PublikacjaIn a very competitive environment, it is highly important to identify the indicators that exert a major influence on customer satisfaction and loyalty. Based on the current relationship marketing concept of relational benefits (Gwinner, Gremler, Bitner, 1998; Hennig-Thurau, Gwinner, Gremler, 2002) and destination quality (Blazquez-Resino, Molina, Esteban-Talaya, 2015), a conceptual model was built. The present paper aims to analyse...
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Tożsamość i przestrzeń. Wokół gdańskich retoryk tożsamościowych
PublikacjaW długim procesie kształtowania tożsamości Gdańska ważną rolę odgrywają pamięć i przestrzeń. W nowym dyskursie tożsamościowym nie tracą one na znaczeniu, lecz obok stałych fundamentów narracji tożsamościowej (wielokulturowość, architektura, pamięć), pojawiają się nowe opowieści miejskie obejmujące różne wymiary refleksji wskazujące na złożoność: wielowymiarowość i wielowarstwowość gdańskich tożsamości. W pamięci zbiorowej gdańszczan...
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EKOSYSTEM PRZESTRZENI ZAMIESZKIWANIA W UJĘCIU AUTORSKICH POSZUKIWAŃ FORMY DOMU OPARTYCH O KONCEPCJĘ ZGODNOŚCI
PublikacjaCelem artykułu jest prezentacja efektów projektu autorskiego realizowanego w oparciu o koncepcję zgodności. Przeprowadzone zostały kilkuletnie studia lokalnych uwarunkowań przyrodniczych skutkujących powstaniem zbioru rysunków i rzeźb oraz fotografii dokumentujących ich aranżację in situ. Badania prowadzono na terenie Pojezierza Kaszubskiego w obszarze południowego brzegu Jeziora Wdzydzkiego. Działania artystyczno-projektowe o...
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URBAN MENTORING JAKO NOWA TECHNIKA WPRÓŁPRACY W PROCESIE PLANOWANIA PARTCYPACYJNEGO
PublikacjaW 25 lat od powrotu demokracji opierającej się o neoliberalny paradygmat rozwoju kraju, Polska przyjęła Krajową Politykę Miejską 2030. Wraz z ustawą o rewitalizacji w nowoczesny sposób określa ona pole współpracy władz samorządowych i administracji z mieszkańcami, przejście do drugiej fazy rozwoju społeczeństwa demokratycznego – mieszkańców współgospodarzy przestrzeni miast. Powolna ewolucja tej relacji, silnie obarczonej dziedzictwem...
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Dynamic GNSS Mission Planning Using DTM for Precise Navigation of Autonomous Vehicles
PublikacjaNowadays, the most widely used method for estimating location of autonomous vehicles in real time is the use of Global Navigation Satellite Systems (GNSS). However, positioning in urban environments using GNSS is hampered by poor satellite geometry due to signal obstruction created by both man-made and natural features of the urban environment. The presence of obstacles is the reason for the decreased number of observed satellites...
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The impact of thermomechanical and chemical treatment of waste Brewers’ spent grain and soil biodegradation of sustainable Mater-Bi-Based biocomposites
PublikacjaDue to the massive plastic pollution, development of sustainable and biodegradable polymer materials is crucial to reduce environmental burdens and support climate neutrality. Application of lignocellulosic wastes as fillers for polymer composites was broadly reported, but analysis of biodegradation behavior of resulting biocomposites was rarely examined. Herein, sustainable Mater-Bi-based biocomposites filled with thermomechanically-...
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Robust Model Predictive Control for Autonomous Underwater Vehicle–Manipulator System with Fuzzy Compensator
PublikacjaThis paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order totrack desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performancecan be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPCas a known proficient nonlinear control approach should be improved by the...
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Negative carbon dioxide gas power plant integrated with gasification of sewage sludge
PublikacjaOne of the primary objectives of the negative carbon dioxide gas power plant (nCO2PP) is to develop an innovative technology confirming the possibility of the use of sewage sludge to produce electricity while having a positive impact on the environment. In this paper, a mathematical model is presented to estimate thermodynamic parameters of the system in relation to the gasification process and changes in such parameters in the...