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Wyniki wyszukiwania dla: simultaneous localization and mapping
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Automatic Identification System (AIS) Dynamic Data Integrity Monitoring and Trajectory Tracking Based on the Simultaneous Localization and Mapping (SLAM) Process Model
PublikacjaTo enhance the safety of marine navigation, one needs to consider the involvement of the automatic identification system (AIS), an existing system designed for ship-to-ship and shipto- shore communication. Previous research on the quality of AIS parameters revealed problems that the system experiences with sensor data exchange. In coastal areas, littoral AIS does not meet the expectations of operational continuity and system availability,...
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Towards Precise Visual Navigation and Direct Georeferencing for MAV Using ORB-SLAM2
PublikacjaA low accuracy of positioning using Global Navigation Satellite System (GNSS) are not meet geodetic requirements for direct images georeferencing for Unmanned Aerial Vehicle (UAV) photogrammetry. A majority of UAVs are equipped with a monocular or stereo non-metric cameras for either visual data gathering or live video feed for operator. A cheap positioning techniques used on board commercial UAVs are not that precise as geodetic...
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O zbieżności rozwiązań w nieliniowym mikropolarnym ośrodku sprężysto-plastycznym - zastosowanie elementów skończonych wyższego rzędu.
PublikacjaEfekty lokalizacji w nieliniowym geometrycznie sprężysto-plastycznym mikropolarnym ośrodku z osłabieniem materiału. Hipotezy Hubera-Misesa-Hencky’ego i Druckera-Pragera. Rozwiązanie równań sprężysto-plastycznych przy użyciu algorytmu powrotnego. Opis zastosowanych elementów skończonych. Przykłady numeryczne obliczeń w geotechnice.
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Three-dimensional mapping for data collected using variable stereo baseline
PublikacjaThe paper describes a system of 3D mapping of data collected with due regard for variable baseline. This solution constitute an extension to a VisRobot sub-system developed as a subsystem, necessary for implementing the generic idea of using mobile robots to explore an indoor static environment. This subsystem is to acquire stereo images, calculate the depth in the images and construct the sought 3D map. Stereo images are obtained...
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AFM-assisted investigation of conformal coatings in electronics
PublikacjaPurpose – This paper aims to presents a new method of investigation of local properties of conformal coatings utilized in microelectronics. Design/methodology/approach – It is based on atomic force microscopy (AFM) technique supplemented with the ability of local electrical measurements, which apart from topography acquisition allows recording of local impedance spectra, impedance imaging and dc current mapping. Potentialities...
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COMPARISION OF TWO WIND FARMS CONSTRUCTION PROJECTS USING F-AHP METHODP
PublikacjaReferat przedstawia porównanie projektów dwóch farm wiatrowych. Częścią referatu jest opis kryteriów, które muszą zostać uwzględnione w trakcie analizy porównawczej projektów budowy FW. Tego typu analiza znajduje zastosowanie w przypadku zakupu projektów inwestycyjnych będących w fazie przygotowania. Spowodowane jest to koniecznością uwzględnienia wymogów określonych w ustawodawstwie polskim...
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Recent advances in rapid multiobjective optimization of expensive simulation models in microwave and antenna engineering by Pareto front exploration
PublikacjaPractical engineering design problems are inherently multiobjective, that is, require simultaneous control of several (and often conflicting) criteria. In many situations, genuine multiobjective optimization is required to acquire comprehensive information about the system of interest. The most popular solution techniques are populationbased metaheuristics, however, they are not practical for handling expensive electromagnetic...
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Objectivization of Audio-Visual Correlation analysis
PublikacjaSimultaneous perception of audio and visual stimuli often causes the concealment or misrepresentation of information actually contained in these stimuli. Such effects are called the ''image proximity effect'' or the ''ventriloquism effect'' in literature. Until recently, most research carried out to understand their nature was based on subjective assessments. The Authors of this paper propose a methodology based on both subjective...
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An automated, low-latency environment for studying the neural basis of behavior in freely moving rats
PublikacjaBackground Behavior consists of the interaction between an organism and its environment, and is controlled by the brain. Brain activity varies at sub-second time scales, but behavioral measures are usually coarse (often consisting of only binary trial outcomes). Results To overcome this mismatch, we developed the Rat Interactive Foraging Facility (RIFF): a programmable interactive arena for freely moving rats with multiple feeding...
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DYNAMIC ANALYSIS OF THE RAILWAY BRIDGES IN POLAND WITH REGARDS TO HIGH-SPEED TRAINS PASSAGE ADJUSTMENT
PublikacjaThe dynamic analysis of the railway bridge in Tczew was carried out in the article as an example of such bridges adaptation suitability to handle high-speed trains. Calculations of railway bridges are greatly complicated and labor-consuming. The bridge model and a rolling stock passage simulation were developed in the SOFISTIK software. Three types of elements were used for the correct mapping of the structure in the calculation...
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Evaluating aerial laser scanning for seafloor mapping automation Shallow seabed mapping based on airborne Lidar bathymetry
PublikacjaThis article presents a novel methodological approach to understand and assess the suitability of ALB for the automatic classification and mapping of the seabed. ALB allows recording of the depth below the Secchi disk.
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Zero-Pole Space Mapping for CAD of Filters
PublikacjaIn this paper, we propose a new space-mapping technique tailored to the CAD of microwave filters. The goal of space mapping is to achieve a satisfactory design with the minimal number of fine model evaluations. In our approach, the filter is represented by a rational function. To quickly align the coarse and fine models, and to speed up the direct optimization of the coarse model, we propose matching the zeros and poles of a rational...
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Testbed for development and verification of hybrid localization systems
PublikacjaIn this paper a testbed for development and verification of hybrid localization systems is presented. It allows for systematic analysis of hybrid localization methods and speed up the development of new schemes. The proposed testbed platform is composed of subsystem for sequential data collection and testing infrastructure that can be used for investigating the localization mechanisms in controllable environment.
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Wireless multimodal localization sensor for industrial applications
PublikacjaThis paper presents the concept and design of a wireless multimodal localization sensor for hybrid localization systems combining vision-based, radio-based and inertial techniques in order to alleviate problems in harsh and complex industrial environments. It supports two radio technologies, 868 MHz UHF RFID and 2.4 GHz WSN, for positioning purposes and communications. The sensor includes LED light transmitters for vision-based...
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Localization and Orientation of Xanthophylls in a Lipid Bilayer
PublikacjaXanthophylls (polar carotenoids) play diverse biological roles, among which are modulation of the physical properties of lipid membranes and protection of biomembranes against oxidative damage. Molecular mechanisms underlying these functions are intimately related to the localization and orientation of xanthophyll molecules in lipid membranes. In the present work, we address the problem of localization and orientation of two xanthophylls...
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Localization in wireless sensor networks using switched parasitic antennas
PublikacjaA switched parasitic monopole antenna for 2.4 GHz ISM applications is design and investigated in this paper. One of the most promising applications for such switched-beam antennas is localization in wireless sensor networks (WSN). It is demonstrated that the use of this antenna improves accuracy of localization algorithms and allows for reduction of the number of reference nodes in localization system.
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A novel architecture of Web-GIS for mapping and analysis of echinococcosis in Poland
PublikacjaEchinococcosis is an infectious disease transferred through ingestion of food or water which have been contaminated with eggs of the Echinococcus tapeworm, which are spread by intermediate parasite hosts. Because the latter are primarily territorial, research related to diagnosis and prevention of echinococcosis requires investigation of environmental factors, which can be supported with the use of a Geographical Information System...
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Innovative method of localization airplanes in VCS (VCS-MLAT) distributed system
PublikacjaThe article presents the concept and the structure of the localization module. The prototype module is the part of the VCS (VCS-MLAT) localization distributed system. The device receives the audio signal transmitted in airplanes band (118 MHz – 136 MHz). Received data with the timestamps are send to the main server. The data from multiple devices estimates the localization of the airplane. The main aim of the project is the analysis...
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Single-Anchor Indoor Localization Using ESPAR Antenna
PublikacjaIn this paper a new single-anchor indoor localization concept employing Electronically Steerable Parasitic Array Radiator (ESPAR) antenna has been proposed. The new concept uses a simple fingerprinting algorithm adopted to work with directional main beam and narrow minimum radiation patterns of ESPAR antenna that scans 360° area around the base station, while the signal strength received from a mobile terminal is being recorded...
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Substrate-integrated waveguide (SIW) filter design using space mapping
PublikacjaIn this paper, we present a fast technique for an automated design of microwave filters in substrate integrated wave (SIW) technology. The proposed methodology combines the space mapping technique with a cost function defined using the location of complex zeros and poles of filter’s transfer and reflection function and uses a rectangular waveguide as a surrogate model. The effectiveness of the proposed technique is presented with...
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Al(III) and Cu(II) simultaneous foam separation: Physicochemical problems
PublikacjaSimultaneous removal of Al(III) and Cu(II) from dilute aqueous solutions by ion and precipitate flotation methods is investigated. Influence of the pH of the initial solution, the surface active collector concentration and the gas flow rate on the final removal ratio and the course of ion and precipitate flotations is presented. Results show that simultaneous flotations of Al(OH)3 and Cu(OH)2 insoluble species occur allowing to...
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Extractive detoxification of hydrolysates with simultaneous formation of deep eutectic solvents
PublikacjaThe hydrolysis of lignocellulosic biomass results in the production of so-called fermentation inhibitors, which reduce the efficiency of biohydrogen production. To increase the efficiency of hydrogen production, inhibitors should be removed from aqueous hydrolysate solutions before the fermentation process. This paper presents a new approach to the detoxification of hydrolysates with the simultaneous formation of in-situ deep eutectic...
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Dynamic Signal Strength Mapping and Analysis by Means of Mobile Geographic Information System
PublikacjaBluetooth beacons are becoming increasingly popular for various applications such as marketing or indoor navigation. However, designing a proper beacon installation requires knowledge of the possible sources of interference in the target environment. While theoretically beacon signal strength should decay linearly with log distance, on-site measurements usually reveal that noise from objects such as Wi-Fi networks operating in...
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Effect of Simultaneous Valve Closures in Hydraulic Piping Systems
PublikacjaThe paper investigates wave interference (between pressure waves) occurring in simple hydraulic systems. Water hammer was induced by simultaneous closure of three valves located at the reservoirs of a “Y” type hydraulic system. Numerical simulations were carried out with the help of the freeware computer package Allievi enabling the reader to replicate results in a direct manner. The influence of the following quantities has been...
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The accuracy of a new approach to order determination for the Modified Prony method in swath mapping application
PublikacjaThis article presents the performance of a new approach to determine the model order for the modified Prony method applied to swath acoustic mapping. Key requirements for any mapping application are depth determination accuracy and angular resolution. Depth determination accuracy is strictly related to angular accuracy and geometrical relations between receiver and sources of the backscattered signal. Angular resolution determines...
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Multi-agent systems registration and maintenance of address mapping without agent self-registation
PublikacjaMonitoring of dynamic multi-agent systems, here agents are allowed to appear and disappear, and can migrate between network nodes is a complex tasks. Applying the traditional monitoring methods is not effective, as little can be assumed in advance about such environments. It is necessary to track changes in addressing and availability of agents to create and maintain mapping between agents and their network addresses. The...
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Depth Determination Accuracy of the Modified Prony Method in a Swath Mapping Application
PublikacjaThis article presents the performance of the modified Prony method in a swath mapping application. Depth determination accuracy is assessed by processing raw signal acquired by an EdgeTech 6205 swath bathymetry system over flat seafloor. An updated version of the method, proposed previously by the authors, is used to determine the number of signal echoes. The number of signal echoes is essential for performing the low-rank approximation...
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Calibration-Free Single-Anchor Indoor Localization Using an ESPAR Antenna
PublikacjaIn this paper, we present a novel, low-cost approach to indoor localization that is capable of performing localization processes in real indoor environments and does not require calibration or recalibration procedures. To this end, we propose a single-anchor architecture and design based on an electronically steerable parasitic array radiator (ESPAR) antenna and Nordic Semiconductor nRF52840 utilizing Bluetooth Low Energy (BLE)...
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Floodsar: Automatic mapping of river flooding extent from multitemporal SAR imagery
PublikacjaFloodsar is an open-source tool for automatic mapping of the flood extent from a time series of synthetic aperture radar (SAR) imagery. Floodsar is unsupervised, however, it requires defining the parameters search space, geographical area of interest, and some river gauge observations (e.g. water levels or discharges) time series that overlap temporarily with the SAR imagery. Applications of Floodsar are mainly in real-time monitoring...
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A Test-Bed Analysis of Simultaneous PMIPv6 Handover in 802.11 WLANs Environment
PublikacjaProviding mobility in access networks is a challenge that we have to deal with. Due to networks’ convergence and migration to all-IP networks, mobility management at the network layer is required. However, there is a need for cooperation mechanisms between the network layer and lower layers to support multimedia services and make handover more efficient. This paper presents experimental research on simultaneous handover performance...
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Road noise mapping in the city area: measurements compared to model-based estimations
PublikacjaThe paper presents an approach to the verification of noise prediction models in selected localization in the city of Gdansk. The experiments described include a comparison between environmentalmeasurement results performed in the terrain and the noise level prediction results. The NMPB-96 (Nouvelle Méthode de Prévision du Bruit) and Harmonoise models outcomes provide the subject ofthe analysis. The proposed solution of continuous...
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Automatic classification and mapping of the seabed using airborne LiDAR bathymetry
PublikacjaShallow coastal areas are among the most inhabited areas and are valuable for biodiversity, recreation and the economy. Due to climate change and sea level rise, sustainable management of coastal areas involves extensive exploration, monitoring, and protection. Current high-resolution remote sensing methods for monitoring these areas include bathymetric LiDAR. Therefore, this study presents a novel methodological approach to assess...
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Multiple sound sources localization in free field using acoustic vector sensor
PublikacjaMethod and preliminary results of multiple sound sources localization in free field using the acoustic vector sensor were presented in this study. Direction of arrival (DOA) for considered source was determined based on sound intensity method supported by Fourier analysis. Obtained spectrum components for considered signal allowed to determine the DOA value for the particular frequency independently. The accuracy of the developed...
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Multiple sound sources localization in real time using acoustic vector sensor
PublikacjaMethod and preliminary results of multiple sound sources localization in real time using the acoustic vector sensor were presented in this study. Direction of arrival (DOA) for considered source was determined based on sound intensity method supported by Fourier analysis. Obtained spectrum components for considered signal allowed to determine the DOA value for the particular frequency independently. The accuracy of the developed...
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Simultaneous handover scheme for IEEE 802.11 WLANs with IEEE 802.21 tiggers
PublikacjaHandover performance in wireless networks is important, especially nowadays, when multimedia services are becoming increasingly available over the wireless devices. However, users expect uncompromised mobility when using the service. Thus, the support of multimedia services is not possible if handover is inefficient. At the same time it is clear that a strict separation between IP Layer and the Link Layer results in built-in sources...
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Nested Space Mapping Technology for Expedite EM-driven Design of Compact RF/microwave Components
PublikacjaA robust simulation-driven methodology for rapid and reliable design of RF/microwave circuits comprising compact microstrip resonant cells (CMRCs) is presented. We introduce a nested space mapping (NSM) technology, in which the inner space mapping layer is utilized to improve the generalization capabilities of the equivalent circuit model corresponding to a constitutive element of the circuit under consideration. The outer layer...
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Potentiometric Solid-Contact Multisensor System for Simultaneous Measurement of Several Ions
PublikacjaThe design and performance of potentiometric multisensor system made in solid-contact technology is described. Both, the measuring electrodes as well as the reference electrode are in a compact cell. The system allows for simultaneous measurement of various ions. The characteristics of the electrodes for Na+, K+ and Ca2+ ions were determined using the designed system and compared with ISEs of the same membrane composition in classical...
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Detection, classification and localization of acoustic events in the presence of background noise for acoustic surveillance of hazardous situations
PublikacjaEvaluation of sound event detection, classification and localization of hazardous acoustic events in the presence of background noise of different types and changing intensities is presented. The methods for discerning between the events being in focus and the acoustic background are introduced. The classifier, based on a Support Vector Machine algorithm, is described. The set of features and samples used for the training of the...
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Enhancing Performance of Switched Parasitic Antenna for Localization in Wireless Sensor Networks
PublikacjaThis paper presents an Electronically Steerable Parasitic Array Radiator (ESPAR) antenna with enhanced performance of estimating the incoming signal direction. Designed antenna is dedicated for 2.4 GHz ISM applications with emphasis on Wireless Sensor Networks (WSN). The limitations of the existing design approach are illustrated, as well as perspectives and challenges of the proposed solution in relation to the localization in...
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Reliable low-cost surrogate modeling and design optimisation of antennas using implicit space mapping with substrate segmentation
PublikacjaAbstract: In this work, a reliable methodology for fast simulation-driven design optimisation of antenna structures is proposed. The authors’ approach exploits implicit space mapping (ISM) technology. To adopt it for handling antenna structures, they introduce substrate segmentation with separate dielectric permittivity value assigned for each segment as ISM preassigned parameters. At the same time, the coarse model for space mapping...
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Nested Space Mapping Technique for Design and Optimization of Complex Microwave Structures with Enhanced Functionality
PublikacjaIn this work, we discuss a robust simulation-driven methodology for rapid and reliable design of complex microwave/RF circuits with enhanced functionality. Our approach exploits nested space mapping (NSM) technology, which is dedicated to expedite simulation-driven design optimization of computationally demanding microwave structures with complex topologies. The enhanced func-tionality of the developed circuits is achieved by means...
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Active dynamic thermography method for TRAM flap blood perfusion mapping in breast reconstruction
PublikacjaThis paper presents the new method of the transverse rectus abdominis musculocutaneous flap blood perfusion mapping based on the active dynamic thermography. The method is aimed at aiding a surgeon during breast reconstruction procedure. A pair of dTnorm and t90_10 parameters were used as parametric image descriptors of the flap blood perfusion. The method was tested on 38 patients that were subjected to breast reconstruction procedure....
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INTEGRATION OF THE MOBILE PLATFORMS BASED ON SOCIAL NETWORK SERVICE DIRECTED AT USERS LOCALIZATION
PublikacjaThis paper presents an architecture overview and some aspects of implementation of the social network service directed at users localization. It shows how web services can be used as a tool for integrating different mobile platforms with a web application. The main focus is set on communication between system elements and related problems.
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Fast Calibration-Free Single-Anchor Indoor Localization Based on Limited Number of ESPAR Antenna Radiation Patterns
Publikacja— In this article, we investigate how the calibrationfree single-anchor indoor localization algorithm developed for base stations equipped with electronically steerable parasitic array radiator (ESPAR) antennas can further be improved. By reducing the total number of ESPAR antenna radiation patterns used in localization process, one can significantly reduce the time needed for an object localization. Performed localization measurements...
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Mapping of the Covid-19 Vaccine Uptake Determinants From Mining Twitter Data
PublikacjaOpinion polls on vaccine uptake clearly show that Covid-19 vaccine hesitancy is increasing worldwide. Thus, reaching herd immunity not only depends on the efficacy of the vaccine itself, but also on overcoming this hesitancy of uptake in the population. In this study, we revealed the determinants regarding vaccination directly from people’s opinions on Twitter, based on the framework of the 6As taxonomy. Covid-19 vaccine acceptance...
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Rapid EM-Driven Design of Compact RF Circuits By Means of Nested Space Mapping
PublikacjaA methodology for rapid design of RF circuits constituted by compact microstrip resonant-cells (CMRCs) is presented. Our approach exploits nested space mapping (NSM) technology, where the inner SM layer is used to correct the equivalent circuit model at the CMRC level, whereas the outer layer enhances the coarse model of the entire structure under design. We demonstrate that NSM dramatically improves performance of surrogate-based...
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Scalable Maintenance of Address Mapping and Autodetecion in Environments Where Agents are Uncapable of Self-Registration
PublikacjaWhen working with multi-agent systems it is often desirable to manage the agent set. The existing methods of central monitoring stems from two different fields of application. The first has its roots in in computer network monitoring, the other in mutli-agent simulation environments. Both approaches are not general enough to cater for loosely controlled environments, where the total agent population is not known and often fluctuating,...
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Implicit Space Mapping for Variable-Fidelity EM-Driven Design of Compact Circuits
PublikacjaSpace mapping (SM) belongs to the most successful surrogate-based optimization (SBO) methods in microwave engineering. Among available SM variations, implicit SM (ISM) is particularly attractive due to its simplicity and separation of extractable surrogate model parameters and design variables of the circuit/system at hand. Unlike other SM approaches, ISM exploits a set of preassigned parameters to align the surrogate with the...
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The Application Of A Noise Mapping Tool Deployed In Grid Infrastructure For Creating Noise Maps Of Urban Areas
PublikacjaThe concept and implementation of the system for creating dynamic noise maps in PL-Grid infrastructure are presented. The methodology of dynamic acoustical maps creating is introduced. The concept of noise mapping, based on noise source and propagation models, was developed and employed in the system. The details of incorporation of the system to the PL-Grid infrastructure are presented. The results of simulations performed by...
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Person Tracking in Ultra-Wide Band Hybrid Localization System Using Reduced Number of Reference Nodes
PublikacjaIn this article a novel method of positional data integration in an indoor hybrid localization system combining inertial navigation with radio distance measurements is presented. A point of interest is the situation when the positional data and the radio distance measurements are obtained from less than thee reference nodes and it is impossible to unambiguously localize the moving person due to undetermined set of positional equations....