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Wyniki wyszukiwania dla: 3d

Wyniki wyszukiwania dla: 3d

  • Praca projektowa III, P, sem.6, lato23/24, PG_00055303

    Kursy Online
    • K. Niklas
    • A. Bera

    Specjalność: Budowa Okrętów i Jachtów (WOiO), I stopnia - inżynierskie, stacjonarne, 2021/2022 - zimowy (obecnie sem. 5) Wykonanie modelu komputerowego 3D bloku statku z uwzględnieniem wybranych aspektów konstrukcyjno-technologicznych. Analiza transportu bloku. (Wykonanie projektu usztywnień transportowych, uchwytów transportowych, itp.). Wykonanie listy kompletacyjnej bloku statku.

  • Zaawansowane systemy pomiarowe, W, MiBM, niestacjonarne, sem. 2 st. II, zimowy 2023/2024

    Kursy Online
    • M. Dobrzyński
    • A. Laska

    Celem przedmiotu jest zapoznanie studentów z zaawansowaną aparaturą pomiarową stosowaną w zakładach produkcyjnych oraz trendami ich rozwoju. Zaawansowane urządzenia i systemy pomiarowe. Wizyjne systemy pomiarowe 2D i 3D. Systemy pomiaru kształtu (profilometry, konturografy). Zaawansowane systemy optyczne. Opracowanie programów z wykorzystaniem współrzędnościowych maszyn pomiarowych (CMM). Zaawansowane systemy pomiarów właściwości...

  • Research of leakage magnetic field in deenergized transformer

    The article deals with the issue of the numerical analysis of the magnetic field occurring around the transformer after it has been powered down. The main goal of this analysis was to examine if it is possible to identify the residual fluxes in the transformer legs based on this fields’ measurements. It was also intended to determine the type and the location of magnetic sensors. Numerical analysis of the magnetic field was performed....

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  • Camera Orientation-Independent Parking Events Detection

    Publikacja

    The paper describes the method for detecting precise position and time of vehicles parking in a parking lot. This task is trivial in case of favorable camera orientation but gets much more complex when an angle between the camera viewing axis and the ground is small. The method utilizes background subtraction and object tracking algorithms for detecting moving objects in a video stream. Objects are classified into vehicles and...

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  • Analysing the potential for application of the phase shift method in endoscopic examination of marine engines

    Publikacja

    The article presents theoretical principles of image processing in digital endoscopy which makes use of a miniaturised spectral scanner “PhaseProbe” designed by General Inspection Technologies LP, the producer of the measuring videoendoscope Everest XLG3. The technology of optoelectronic 3D mapping of the examined surface, which consists in measuring the phase shift between the emitted and reflected light waves, is briefly described....

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  • Preparation and X-ray structures of selected aminium thiosulfates

    Various types of aminium thiosulfates (1–6), including hydrates and mixed salts, have been obtained by the reaction of ammonium thiosulfate with amines. Tertbutylamine, cyclo-hexylamine and 1,6-diaminohexane gave crystals of (t-BuNH3)2S2O3·H2O (1), (c-C6H11NH3)2S2O3 (3) and {(NH4)2(H3NC6H12NH3)(S2O3)2} (6), respectively, which were investigated by X-ray structural analysis. Extensive hydrogen bonding of the N-H…O and N-H…S type...

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  • Analysis of the applicability of laser scanning to making an inventory of swimming pool facilities

    Publikacja
    • J. A. Pawłowicz
    • M. Zagroba
    • E. Bundz
    • M. Druszkowski
    • Z. Olek
    • A. Szymańska
    • P. Ziółkowski
    • J. Żulewski

    - Journal of Health Promotion and Recreation - Rok 2014

    3D scanning can be used in many branches of economy, e.g. reverse and prototype engineering, industrial design, quality control, pros-thetics, orthodontics, archiving of historic objects and archeological findings, examination of a scene of crime, making films and comput-er games. The technology of terrestrial laser scanning has a bright fu-ture as we are living in the time of blooming measurement tech-niques, which can provide...

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  • Buckling Analysis of Cold Formed Silo Column

    The paper is devoted to stability analysis of different models of steel cold formed silo column. The steel cylindrical silos are often composed of corrugated walls and vertical open-sectional columns uniformly placed along the silo circumference. Both the whole 3D silo, a simplified model consisting of one column with a part of the silo walls, and a single column resting on elastic foundation provided by the silo walls were analyzed....

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  • Nanoparticles displacement analysis using optical coherence tomography

    Optical coherence tomography (OCT) is a versatile optical method for cross-sectional and 3D imaging of biological and non-biological objects. Here we are going to present the application of polarization sensitive spectroscopic OCT system (PS-SOCT) for quantitative measurements of materials containing nanoparticles. The PS-SOCT combines the polarization sensitive analysis with time-frequency analysis. In this contribution the benefits...

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  • Airborne Laser Scanning Point Cloud Update by Used of the Terrestrial Laser Scanning and the Low-Level Aerial Photogrammetry

    Publikacja

    - Rok 2017

    Laser scanning technology is a spatial information gathering technique which is commonly used all over the world. Systems where the red-light beam are used, are divided into: terrestrial, mobile and airborne scanning systems. The main differences between those are the accuracy, the data acquisition solution (f. e. in ALS and MLS besides of the laser scanner, the inertial navigation system is required) and the covered area in one...

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  • Visualization of a lifeboat motion during lowering along ship’s side

    Publikacja

    This paper presents description of a computer program for motion visualization of a lifeboat lowered along ship’s side. The program is a post-processor which reads results of numerical calculations of simulated objects’ motions. The data is used to create scene composed of 3D surfaces to visualize mutual spatial positions of a lifeboat, ship’s side and water waving surface. Since the numerical data contain description of a simulation...

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  • Counting and tracking vehicles using acoustic vector sensors

    A method is presented for counting vehicles and for determining their movement direction by means of acoustic vector sensor application. The assumptions of the method employing spatial distribution of sound intensity determined with the help of an integrated 3D intensity probe are discussed. The intensity probe developed by the authors was used for the experiments. The mode of operation of the algorithm is presented in conjunction...

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  • Influence of sheet/purlin fasteners spacing on shear flexibility of the diaphragm

    The paper presents the influence of sheet/purlin fasteners location (in reference to trapezoidal profile cross section) on shear flexibility of the cladding acting as a diaphragm. Analytical procedures were presented and their limitations were discussed. Next, selected schemes of fasteners location, known from engineering practice, but not included in European codes and recommendations, were analysed numerically in order to observe...

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  • Selection of material for X-ray tomography analysis and DEM simulations: comparison between granular materials of biological and non-biological origins

    Publikacja

    - GRANULAR MATTER - Rok 2018

    Physical properties and X-ray tomography images of five different granular materials: glass bead, glass grit, short grain white rice, sorghum and clay granules (Seramis) are investigated to select the most promising materials for numerical simulations and time-lapse X-ray tomography imaging. The examined materials represent granular materials of non-biological origin (glass bead, glass grit and Seramis) and granular plant materials...

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  • LDFEM analysis of FDP auger installation in cohesive soil

    Publikacja

    - Rok 2018

    This paper deals with large deformation finite element (LDFE) preliminary modelling of Full Displacement Pile (FDP) installation in cohesive soil deposit located in Jazowa, Poland. The detailed FDP auger geometry is applied and the drilling process is modelled with full 3D Coupled Eulerian-Lagrangian (CEL) formulation. The total stress approach and elastic-perfectly plastic model with rate-dependent Mises plasticity is used. The...

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  • Polyurethanes

    Publikacja

    - Rok 2021

    Handbook of Thermoset Plastics, Fourth Edition provides complete coverage of the chemical processes, manufacturing techniques and design properties of each polymer, along with its applications. This new edition has been expanded to include the latest developments in the field, with new chapters on radiation curing, biological adhesives, vitrimers, and 3D printing. This detailed handbook considers the practical implications of using...

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  • Fractal dimension for bending–torsion fatigue fracture characterisation

    Publikacja

    - MEASUREMENT - Rok 2021

    Fracture surfaces after biaxial fatigue tests were compared using fractal dimension for three types of metallic materials in smooth and notched specimens made of S355J2 and 10HNAP steels and 2017-T4 aluminium alloy, considering both proportional and nonproportional cyclic loading. High-resolution optical 3D measurement studies were performed on the entire fracture surface. A direct correlation between fractal dimension and fatigue...

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  • A novel method of creating thermoplastic chitosan blends to produce cell scaffolds by FDM additive manufacturing

    Publikacja

    Due to its remarkable and promising biological and structural properties, chitosan has been widely studied in several potential applications in the biomedical sector. Attempts are being made to use this polymer and its properties in thermoplastics dedicated to 3D printing in FDM technology. However, chitosan can be processed only from acid solution, which limits its applications. The paper presents a new path for the production...

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  • Virtual reality technology in architectural education

    Contemporary virtual reality (VR) technology allows the recreation of non-existent architectural objects of which there may be no trace remaining. Virtual reality applications allow access to digital models, which visualise the lost architecture. The popularity of VR has resulted in it being applied not only to computer games, but also in visualising the past. Maps allow movement through historical trails and 3D models of architecture...

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  • Modification of structured bio‑carbon derived from spongin-based scaffolds with nickel compounds to produce a functional catalyst for reduction and oxidation reactions: Potential for use in environmental protection

    Publikacja
    • S. Żółtowska
    • Z. Bielan
    • J. Zembrzuska
    • K. Siwińska-Ciesielczyk
    • A. Piasecki
    • A. Zielińska-Jurek
    • T. Jesionowski

    - SCIENCE OF THE TOTAL ENVIRONMENT - Rok 2021

    Three different 3D fibrous-like NiO/Ni(OH)2/Ni‑carbonized spongin-based materials were prepared via a simple sorption–reduction method. Depending on the support used, the catalysts were composed of carbon, nickel oxide, nickel hydroxide and zero-valent nickel, with the surface content of the nickel-containing phase in the range 15.2–26.0 wt%. Catalytic studies showed promising activity in the oxidation of phenolic compounds in water...

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  • Interfejs do zdalnego sterowania ploterem z funkcją rozpoznawania obrazów

    Maszyny numeryczne takie jak obrabiarki CNC, plotery czy drukarki 3D są coraz powszechniejsze w użytku. Na Politechnice Gdańskiej przygotowano pracę magisterską [12], której rezultaty przedstawiono w niniejszym artykule. Ze względu na objętość referatu, przedstawiono jedynie wybrane aspekty budowy plotera, aplikacji na urządzenie mobilne oraz przegląd zastosowanych algorytmów optymalizacji pod kątem szybkości rysowania. Aplikacja...

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  • Influence of fasteners and connections flexibility on deflections of steel building including the stressed skin effect

    The paper presents the analysis of the influence of fasteners and connections flexibility on displacements of symmetrical single-bay pitched-roof steel building, including trapezoidal cladding acting as a diaphragm. The purpose of the article was to compare numerical models with and without taking into consideration fasteners and connections flexibility in order to observe the differences in transverse stiffness of the building...

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  • Crystal structure and electronic structure of CePt2In7

    Publikacja
    • T. Klimczuk
    • O. Walter
    • L. Müchler
    • J. W. Krizan
    • F. Kinnart
    • R. J. Cava

    - JOURNAL OF PHYSICS-CONDENSED MATTER - Rok 2014

    We report a corrected crystal structure for the CePt2In7 superconductor, refined from single crystal x-ray diffraction data. The corrected crystal structure shows a different Pt–In stacking along the c-direction in this layered material than was previously reported. In addition, all of the atomic sites are fully occupied with no evidence of atom site mixing, resolving a discrepancy between the observed high resistivity ratio of...

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  • Multibeam sonar data processing for seafloor characterisation

    Publikacja

    - Rok 2011

    The approach to seafloor characterisation was investigated. It relies on calculation of several descriptors (parameters) related to seabed type using three types of multibeam sonar data obtained during seafloor sensing: 1) the grey-level sonar images of seabed, 2) the 3D model of the seabed surface which consist of (x, y, z) points, 3) the set of time domain echo envelopes corresponding to several beams. The proposed method has...

  • Combined method of multibeam sonar signal processing and image analysis for seafloor classification

    Publikacja

    The combined approach to seafloor characterisation was investigated. It relies on calculation of several descriptors (parameters) related to seabed type using three types of multibeam sonar data obtained during seafloor sensing: 1) the grey-level sonar images (echograms) of seabed, 2) the 3D model of the seabed surface which consists of bathymetric data, 3) the set of time domain bottom echo envelopes received in the consecutive...

  • Estimating Traffic Intensity Employing Passive Acoustic Radar and Enhanced Microwave Doppler Radar Sensor

    Innovative road signs that can autonomously display the speed limit in cases where the trac situation requires it are under development. The autonomous road sign contains many types of sensors, of which the subject of interest in this article is the Doppler sensor that we have improved and the constructed and calibrated acoustic probe. An algorithm for performing vehicle detection and tracking, as well as vehicle speed measurement,...

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  • Simple smartphone-based methods for the determination of bioactive compounds in wine

    Publikacja

    - FOOD CHEMISTRY - Rok 2024

    A set of simple smartphone-based methods of bioactive compounds determination were developed for wine analysis. Procedures for smartphone-based determination of the total content of phenolic compounds, flavonoids, anthocyanins and biogenic amines, as well as measurement of antioxidant activity were developed and fully validated. The experimental setup is based on smartphone and 3D-printed device, though it is very simple and can...

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  • Rectangular Waveguide Filters Based on Deformed Dual-Mode Cavity Resonators

    Publikacja

    - Rok 2023

    In this paper, a novel design for rectangular waveguide filters with deformed dual-mode (DM) cavity resonators is demonstrated. The new resonant cavity shape is a result of applying shape deformation to the basic rectangular cavity to enable its dual-mode operation. Internal coupling between the two orthogonal cavity modes is realized by geometry deformation, eliminating the need for additional coupling elements. The designs are...

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  • Architectural education and digital tools: the challenges and opportunities

    Enriching architectural education with digital tools is the subject of this article. Such tools can create, support and visualise architecture. The focus in this article is on an interdisciplinary approach to media architecture (allowing variable visual content of architectural objects) and interactivity (user-space communication), revealing new possibilities in terms of human perception. The results of a survey on media architecture...

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  • Effect of manufacturing errors of the pad sliding surface on the performance of the hydrodynamic thrust bearing

    Publikacja

    - TRIBOLOGY INTERNATIONAL - Rok 2019

    In the present study, investigation of the effect of manufacturing errors on the performance of large tilting pad thrust bearings has been performed, following a CFD-based Thermohydrodynamic analysis of a single pad. A 3D model has been generated, including the pad, the lubricant film and the corresponding part of the collar. The pad has been assumed to be deformed about the pivot point, due to thrust loading. Manufacturing errors...

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  • Measurements of Spectral Spatial Distribution of Scattering Materials for Rear Projection Screens used in Virtual Reality Systems

    Rapid development of computing and visualisation systems has resulted in an unprecedented capability to display, in real time, realistic computer-generated worlds. Advanced techniques, including three-dimensional (3D) projection, supplemented by multi-channel surround sound, create immersive environments whose applications range from entertainment to military to scientific. One of the most advanced virtual reality systems are CAVE-type...

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  • Zastosowanie algorytmu MSA (Multiple Similar Areas) do wyznaczania map głębi w wielowidokowych systemach widzenia komputerowego

    Artykuł podejmuje temat pozyskiwania map głębi (ang. depth map) na podstawie zdjęć z wielu kamer w wyniku widzenia stereoskopowego. Mapa głębi zawierająca odległości od obiektów będących w zasięgu widzenia kamer pozyskana może zostać na podstawie zdjęć z co najmniej dwóch kamer pełniących funkcję kamery stereoskopowej. W mapach głębi pozyskanych w ten sposób występują jednak błędy. Artykuł dotyczy metod redukcji błędów dzięki zwiększeniu...

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  • Adaptacja akustyczna pomieszczenia wykładowego - studium przypadku

    Publikacja

    - Rok 2018

    W niniejszej pracy przedstawiono analizę rozkładu pola akustycznego sali wykładowej znajdującej się w budynku Wydziału Elektroniki i Telekomunikacji Politechniki Gdańskiej. Badania przeprowadzono metodą pomiarową oraz symulacyjną z wykorzystaniem programu Odeon. Wybór parametrów oceny akustyki wnętrz sugerowany jest wymaganiami stawianymi pomieszczeniom lekcyjnym z zaznaczeniem multimedialnego charakteru wykładów prowadzonych...

  • Ionic liquids for nano- and microstructures preparation. Part 2: Application in synthesis

    Publikacja

    Ionic liquids (ILs) are widely applied to prepare metal nanoparticles and 3D semiconductor microparticles. Generally, they serve as a structuring agent or reaction medium (solvent), however it was also demonstrated that ILs can also play a role of a co-solvent, metal precursor, reducing as well as surface modifying agent. The crucial role and possible types of interactions between ILs and growing particles have been presented in...

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  • Nowa metoda diagnostyki stanu technicznego nakładek stykowych

    The current collection system, which consists of the overhead contact line and a current collector, is particularly important in electric rail vehicles, where their reliability is concerned. Faultless current collection is conditioned not only by suitable construction of these elements but also by their proper maintenance. Retaining permanent electrical contact is essential in DC systems, where current demand is relatively high. In...

  • Lampa nienaftowa - FreeCAD

    Kursy Online
    • I. Garnik
    • Z. Usarek
    • A. Grabowska
    • E. Kozłowska

    FreeCAD jest uniwersalnym parametrycznym programem modelującym w przestrzeni 3D CAD, którego rozwój odbywa się wyłącznie według zasad Open Source (licencja LGPL) .FreeCAD jest przeznaczony bezpośrednio dla inżynierii mechanicznej i projektowania detali i produktów, ale mieści się również w szerszym zakresie zastosowań związanych z inżynierią, takich jak architektura, analiza elementów ukończonych, druk 3D i wiele pokrewnych. PS Kurs...

  • Antioxidant properties and bioactive constituents of some rare exotic thai fruits and comparison with conventional fruits. in vitro and in vivo studies

    Publikacja
    • S. Gorinstein
    • S. Poovarodom
    • H. Leontowicz
    • M. Leontowicz
    • J. Namieśnik
    • S. Vearasilp
    • R. Haruenkit
    • P. Ruamsuke
    • E. Katrich
    • Z. Tashma

    - FOOD RESEARCH INTERNATIONAL - Rok 2011

    Przedmiotem badań były ekstrakty uzyskane zarówno z egzotycznych owoców z terenu Tajlandii (durian, snake fruit, mangosteen) jak i owoców ''konwencjonalnych'' (mango, kiwi, awokado) w celu porównania zawartości związków bioaktywnych i aktywności przeciwutleniającej.Wyniki badań prowadzonych zarówno in vitro jak i in vivo mogą być wykorzystane przy opracowywaniu diety. W trakcie badań in vitro wykorzystano testy do określania potencjału...

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  • Modelling and diagnostics of a traction transformer - a case study

    Publikacja

    W niniejszym artykule przedstawiono wyniki badań w dziedzinie diagnostyki kolei elektrycznych. Zostały one przeprowadzone przez międzynarodowe przemysłowo-akademickie konsorcjum w ramach projektu europejskiego (6-go programu ramowego). Skupiono się na modelowaniu transformatora trakcyjnego z myślą o rozwinięciu nieinwazyjnej metody diagnostycznej w czasie rzeczywistym. Model przeznaczony do badań finalnych został rozwinięty w oparciu...

  • On jump conditions at non-material singular curves in the resultant shell thermomechanics

    Publikacja

    - Rok 2014

    The global, refined, resultant, two-dimensional (2D) balance laws of mass, linear and angular momenta, and energy as well as the entropy inequality were formulated by Pietraszkiewicz (2011) as exact implications of corresponding laws of 3D rational thermomechanics. In case of a shell with the regular base surface and all resultant surface fields differentiable everywhere on it and at any time instant, the local laws of the resultant...

  • Uruchomienie Laboratorium Zanurzonej Wizualizacji Przestrzennej

    Artykuł przedstawia koncepcję Laboratorium Zanurzonej Wizualizacji Przestrzennej (ang. Immersive 3D Visualization Laboratory), powstającego właśnie przy Wydziale Elektroniki, Telekomunikacji i Informatyki (ang. Faculty of Electronics, Telecommunications and Informatics) Politechniki Gdańskiej (ang. Gdańsk University of Technology) w ramach grantu Nowoczesne Audytoria Politechniki Gdańskiej (ang. project Gdansk University of Technology’s...

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  • Anaerobic co-digestion of white cabbage and sewage sludge

    Publikacja

    - Rok 2012

    Przedstawiono badania nad możliwością redukcji biomasy kapusty białej w procesie mezofilowej ko-fermentacji z przefermentowanym osadem ściekowym w procesie jednostopniowej fermentacji. Wykazano, że biomasę kapusty białej można poddać ko-fermentacji z osadem ściekowym przy obciążeniu komory fermentacyjnej na poziomie 1,87 kg smo m-3d-1. Zaobserwowano, że w wyniku fermentacji metanowej wsadu można uzyskać biogaz o średnim składzie...

  • Analysis of unsteady flow forces on the thermowell of steam temperature sensor

    Publikacja
    • S. Kornet
    • D. Sławiński
    • P. Ziółkowski
    • J. Badur

    - Transactions of the Institute of Fluid-Flow Machinery - Rok 2015

    In this paper, 3D numerical analysis of unsteady flow forces acting on the measuring sheath of steam temperature is presented. According to that purpose, the CFD (Computation Fluid Dynamic [1]) approach has been used. The nonstationary of fluid acting on the measuring sheath such as: Strouhal frequency, amplitude of pressure, structure of vortex, peak of pressure, field of pressure, field of velocity etc. are studied analytically...

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  • A new quaternion-based encryption method for DICOM images

    In this paper, a new quaternion-based lossless encryption technique for digital image and communication on medicine (DICOM) images is proposed. We have scrutinized and slightly modified the concept of the DICOM network to point out the best location for the proposed encryption scheme, which significantly improves speed of DICOM images encryption in comparison with those originally embedded into DICOM advanced encryption standard...

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  • UAV Design and Construction for Real Time Photogrammetry and Visual Navigation

    Publikacja

    - Rok 2018

    A unmanned aerial vehicles applications in photogrammetry have increased rapidly last years. A fast data gathering and processing in real time in some cases become crucial and desired in some application. In the paper, a real time solution is proposed. A real time photogrammetry from UAV is proposed, where image data are gathered and processed on board UAV and finally reconstructed 3D model and measurements are delivered. The paper...

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  • The efficiency of turbomachinery in the zero-and three-dimensional approaches

    Publikacja

    - Entropie - Rok 2021

    Efficiency of turbomachinery is usually defined using an isentropic process. This approach provides a reliable reference point only when pressure and temperature measurements are available, e.g. at the casing inlet and outlet. In the case of a single stage internal efficiency determination the reference point is difficult. Computational fluid dynamics allows for an exact calculation of values of losses occurring in a turbine...

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  • Testing of the longest span soil-steel bridge in Europe – new quality in measurements

    Publikacja

    The article describes interdisciplinary and comprehensive diagnostic tests of final bridge inspection and acceptance proposed for a soil – steel bridge made of corrugated sheets, being the European span length record holder (25.74 m). As an effect of an original concept a detailed and precise information about the structure response was collected. The load test design was based on the nonlinear numerical simulations performed by...

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  • Simulations of the Derecho Event in Poland of 11th August 2017 Using WRF Model

    Publikacja

    - Rok 2022

    This series contains datasets related to the forecasting of a severe weather event, a derecho, in Poland on 11 August 2017. The simulations were conducted using the Weather Research and Forecasting (WRF) model version 4.2.1 with different initial and boundary conditions of the pressure and model levels derived from 5 global models: Global Forecast System (GFS), Global Data Assimilation System (GDAS), European Centre for Medium-Range...

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  • Determination of the Bending Properties of Wire Rope Used in Cable Barrier Systems

    Publikacja

    - Materials - Rok 2020

    This paper presents research on the bending properties of 3 × 7 19-mm wire rope commonly used in road cable barriers. A total of 19 experimental tests were conducted. In addition, two nonlinear 3D numerical models of the wire rope using beam and solid finite elements were developed. Based on these models, four numerical simulations were carried out. The numerical results were validated against the experimental ones and a very good...

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  • Jumping Wave Characteristic during Low Plasticity Burnishing Process

    During the low plasticity burnishing process of soft materials such as carbon steel with a hardness of up to 40 HRC (Rockwell grade) a raised structure of the material known as the Jumping Wave forms in front of the tool roll. This phenomenon significantly disturbs the burnishing process, but is very poorly described in the literature. This article presents studies of this phenomenon on the example of burnished 1.0562 steel. The...

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  • On Algorithm Details in Multibeam Seafloor Classification

    Publikacja

    Remote sensing of the seafloor constitutes an important topic in exploration, management, protection and other investigations of the marine environment. In the paper, a combined approach to seafloor characterisation is presented. It relies on calculation of several descriptors related to seabed type using three different types of multibeam sonar data obtained during seafloor sensing, viz.: 1) the grey-level sonar images (echograms)...

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