Wyniki wyszukiwania dla: BATCH PROCESS
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Towards Understanding the Health Aspects of the Processing of Lignocellulosic Fillers
PublikacjaHealth and safety issues should be addressed during the development and investigation of the industrial processes. In order to develop a sustainable process and fully evaluate its benefits and drawbacks for its optimization, it is crucial to determine its impact on the surrounding environment. This study aimed to assess the emission of volatile organic compounds during the modification of lignocellulosic fillers with passive dosimetry....
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Active Annotation in Evaluating the Credibility of Web-Based Medical Information: Guidelines for Creating Training Data Sets for Machine Learning
PublikacjaMethods Results Discussion References Abbreviations Copyright Abstract Background: The spread of false medical information on the web is rapidly accelerating. Establishing the credibility of web-based medical information has become a pressing necessity. Machine learning offers a solution that, when properly deployed, can be an effective tool in fighting medical misinformation on the web. Objective: The aim of this study is to...
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A new procedure for the determination of distillation temperature distribution of high-boiling petroleum products and fractions
PublikacjaThe distribution of distillation temperatures of liquid and semi-fluid products, including petroleum fractions and products, is an important process and practical parameter. It provides information on properties of crude oil and content of particular fractions, classified on the basis of their boiling points, as well as the optimum conditions of atmospheric or vacuum distillation. At present, the distribution of distillation temperatures...
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The role of the combined nitrogen-sulfur-carbon cycles for efficient performance of anammox-based systems
PublikacjaThe combined anammox/mixotrophic denitrification process was conducted in two granular sequencing batch reactors (SBRs) during a 200-day operation. Both reactors were fed with synthetic medium, but SBR2 was enriched with additional sulfate (SO4 2 ) which influenced sulfate reduction ammonium oxidation (SRAO) and heterotrophic reduction of SO4 2 by sulfate reducing bacteria. It was hypothesized that the addition of SO4 2 could...
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Kinetic characterization of hydrogen sulfide inhibition of suspended anammox biomass from a membrane bioreactor
PublikacjaThe inhibition effects of hydrogen sulfide (H2S) on anammox-enriched biomass from a laboratory membrane reactor were analyzed in a series of batch respirometric experiments. The determined half maximal inhibitory concentration (IC50) was 4.67 mg H2S-S L−1 at the constant pH = 7.0 and the total sulfide concentration varying between 1 and 15 mg TS-S L−1. In another test, the IC50 was found to be 4.25 mg H2S-S L−1 under a constant...
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An optimized dissolved oxygen concentration control in SBR with the use of adaptive and predictive control schemes
PublikacjaThis paper addresses the problem of optimizing control of the aeration process in a water resource recovery facility (WRRF) using sequencing batch reactor (SBR), one that affects the efficiency of wastewater treatment by stimulating metabolic reactions of microorganisms through dissolved oxygen (DO) level control, and accounts for the predominant part of operating costs. Two independent approaches to DO control algorithm design...
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Adsorptive Removal of Aqueous Phase Crystal Violet Dye by Low-Cost Activated Carbon Obtained from Date Palm (L.) Dead Leaflets
PublikacjaUp to now, water pollution is still one of the important issues and challenges worldwide, due to its environmental, economic and human life impacts. It is also remains a challenge to environment scientists and technologists. Nowadays, the textile dyeing industry is considered one of the largest water consuming industries and produces large volumes of colored wastewater in its dyeing and finishing process. In this study, date palm...
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Synergism of floated paperboard sludge cake /sewage sludge for maximizing biomethane yield and biochar recovery from digestate: A step towards circular economy
PublikacjaAnaerobic digestion of floated paperboard sludge (PS) cake suffers from volatile fatty acids (VFAs) accumulation, nutrient unbalanced condition, and generation of digestate with a risk of secondary pollution. To overcome these drawbacks, sewage sludge (SS) was added to PS cake for biogas recovery improvement under a co-digestion process followed by the thermal treatment of solid fraction of digestate for biochar production. Batch...
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A comprehensive approach to SBR modelling for monitoring and control system design
PublikacjaThe aim of this research is to provide a comprehensive description of the Sequencing Batch Reactor (SBR) modelling for monitoring, control, and plant operational optimisation validation. The paper provides a detailed modelling of the SBR, its components and constituent processes. For this purpose, the mass balance principle and continuity equations were provided with a reactive term implemented using Activated Sludge Model (ASM)....
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Structural Adaptive, Self-Separating Material for Removing Ibuprofen from Waters and Sewage
Publikacja-cyclodextrin nanosponge (CDM) was used for the adsorption of ibuprofen (IBU) from water and sewage. The obtained material was characterized by scanning electron microscopy (SEM), Fourier transform infrared spectroscopy (FTIR), Brunauer–Emmett–Teller (BET), Barrett– Joyner–Halenda (BJH), Harkins and Jura t-Plot, zeta potential, thermogravimetric analysis (TGA), differential scanning calorimetry (DSC) and elementary analysis (EA)....
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Corncob-supported calcium oxide nanoparticles from hen eggshells for cadmium (Cd-II) removal from aqueous solutions; Synthesis and characterization
PublikacjaThis study investigated the efficient removal of cadmium ions from aqueous solutions using calcium oxide nanoparticles (CaO NPs) synthesized from waste hen eggshells using a Sol-gel method and supported on corncob bio-adsorbent. The synthesized CaO NPs were characterized using FT-IR, XRD, specific surface area, and TGA. Batch adsorption experiments were conducted to examine the influence of process parameters such as adsorbent...
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Influence of Phosphorus Speciation on Its Chemical Removal from Reject Water from Dewatering of Municipal Sewage Sludge
PublikacjaThe aim of the presented research was the assessment of phosphorus speciation impact on the precipitation of phosphorus in reject water using Ca(OH)2. To achieve this, phosphorus speciation (organic and inorganic phosphorus in suspension and in dissolved form) in reject water that is produced during sludge dewatering, after methane digestion in wastewater treatment plants (WWTPs), was determined. This study covered the materials...
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Gasification of Densified Biomass (DB) and Municipal Solid Wastes (MSW) Using HTA/SG Technology
PublikacjaThe necessity of economical and rational use of natural energy sources caused a rapid development of research on the possibilities of using non‐conventional energy resources. Taking the above into account, a new technological process of thermochemical conversion of biomass and communal waste, commonly known as High Temperature Air/Steam Gasification (HTA/SG) and Multi‐Staged Enthalpy Extraction Technology (HTAG‐MEET), was developed....
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An experimental assessment on a diesel engine powered by blends of waste-plastic-derived pyrolysis oil with diesel
PublikacjaThe utilization of plastic solid wastes for sustainable energy production is a crucial aspect of the circular economy. This study focuses on pyrolysis as an effective method to convert this feedstock into renewable drop-in fuel. To achieve this, it is essential to have a comprehensive understanding of feedstock composition, pyrolysis process parameters, and the physicochemical characteristics of the resulting fuel, all correlated...
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Application of Eco-innovative Technologies of Nutrients Removal in Wastewater – Case Study BARITECH Project
PublikacjaEco-innovative technologies in wastewater treatment should provide not only stringent standards for the quality of treated wastewater but also ensure maximum recovery of energy and raw materials from wastewater. One of the ways to improve the removal efficiency of nitrogen and phosphorus compounds in existing conventional wastewater treatment plants is pretreatment of reject water generated during the mechanical...
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Modeling organic nitrogen conversions in activated sludge bioreactors
PublikacjaFor biological nutrient removal (BNR) systems designed to maximize nitrogen removal, the effluent total nitrogen (TN) concentration may range from 2.0 to 4.0 g N/m3 with about 25-50% in the form of organic nitrogen (ON). In this study, current approaches to modeling organic N conversions (separate processes vs. constant contents of organic fractions) were compared. A new conceptual model of ON conversions was developed and combined...
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Cyclodextrin polymers as efficient adsorbents for removing toxic non-biodegradable pimavanserin from pharmaceutical wastewaters
PublikacjaPresence of even small amount of active pharmaceutical ingredients in the environment carries risks tohuman and animal health, presenting an important issue. The paper presents issues related to the newdrug - pimavanserin (PMV). Biological treatment efficiency of pimavanserin (PMV) was evaluated usinglab-scale Sequencing Batch Reactor (SBR). It has been shown to have a negative effect on aquatic or-ganisms by classifying it as...
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Application of mechanistic and data-driven models for nitrogen removal in wastewater treatment systems
PublikacjaIn this dissertation, the application of mechanistic and data-driven models in nitrogen removal systems including nitrification and deammonification processes was evaluated. In particular, the influential parameters on the activity of the Nitrospira activity were assessed using response surface methodology (RSM). Various long-term biomass washout experiments were operated in two parallel sequencing batch reactor (SBR) with a different...
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Zastosowanie addytywów w separacji pianowej białek serwatkowych i białek mlecznych
PublikacjaZaproponowano proces separacji pianowej do wydzielania białek ze strumieni poprodukcyjnych przemysłu mleczarskiego Ponadto zaproponowano zastosowanie w separacji pianowej białek serwatkowych i mlecznych addytywów dopuszczonych ustawą do stosowania w żywności. Jako cel pracy przyjęto uzyskanie wyników uzasadniających wybór takich addytywów, które intensyfikują przebieg i polepszają wynik procesu separacji pianowej białek. W części...
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Stochastic optimisation algorithm for optimisation of controller parameters for control of dissolved oxygen in wastewater treatment plant
PublikacjaWastewater treatment plants (WWTPs) are very important facilities for mankind. They enable the removal and neutralisation of man-made pollutants. Therefore, it is important for wastewater treatment plants to operate as efficiently as possible so that the level of pollutants in the treated wastewater meets specific requirements. This paper concerns the design of a hierarchical nonlinear adaptive control system for dissolved oxygen...
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Maximizing Bio-Hydrogen and Energy Yields Obtained in a Self-Fermented Anaerobic Bioreactor by Screening of Different Sewage Sludge Pretreatment Methods
PublikacjaEgypt faces significant challenges in managing its sewage sludge generated in large quantities from wastewater treatment plants. This study investigates the feasibility of utilizing sewage sludge as a renewable resource for hydrogen production through anaerobic digestion at the 100 L bioreactor level. Hydrogen is considered a promising alternative energy source due to its high energy content and environmental benefits. To optimize...
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The metabolic activity of denitrifying microorganisms accumulating polyphosphate in response to addition of fusel oil
PublikacjaThe effect of distillery waste product (fusel oil) as an alternative external organic carbon source (EOCS) was investigated in terms of the metabolic properties of denitrifying polyphosphate accumulating organisms (DPAOs). Samples of the non-acclimated biomass were collected from a local full-scale wastewater treatment plant employing A2/O type bioreactors. The acclimated biomass was obtained after cultivation (with fusel oil added)...
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The advanced monitoring as a key factor for appropriate optimization and control of full-scale activated sludge systems – case study Debogorze WWTP.
PublikacjaComputer simulation has become a helpful tool in wastewater treatment systems performance and effectiveness analysis. Advanced monitoring, by using appropriate software, enables to create a mathematical model of a real wastewater treatment plant (WWTP), run a simulation and subsequently interpret results under various conditions. An operation of WWTP is usually controlled by global parameters such as flow, solids retention time,...
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Comparison of nitrogen and VFA removal pathways in autotrophic and organotrophic anammox reactors
PublikacjaOrganotrophic anammox is a promising process for treating both nitrogen and organic containing wastewater than that of the traditional autotrophic anammox for sole nitrogen removal. However pathways of nitrogen removal particularly at metagenomic level in both processes are still unknown. Here we report, metabolic pathways of nitrogen removal in two lab-scale sequencing batch reactors (SBR), one autotrophic and another organotrophic...
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Influence of temperature on the activity of anammox granular biomass.
PublikacjaThe aim of this study was to determine a short-term and long-term effect of temperature on the anammox rate and determination of temperature coefficients in the Arrhenius and Ratkowsky equations. The short-term effects of temperature on the anammox granular biomass were investigated in batch tests at ten different temperatures in the range of 10–55 °C. The maximum overall nitrogen removal rate of 1.3 gN gVSS−1·d−1 was observed...
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Food Classification from Images Using a Neural Network Based Approach with NVIDIA Volta and Pascal GPUs
PublikacjaIn the paper we investigate the problem of food classification from images, for the Food-101 dataset extended with 31 additional food classes from Polish cuisine. We adopted transfer learning and firstly measured training times for models such as MobileNet, MobileNetV2, ResNet50, ResNet50V2, ResNet101, ResNet101V2, InceptionV3, InceptionResNetV2, Xception, NasNetMobile and DenseNet, for systems with NVIDIA Tesla V100 (Volta) and...
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New LED photoreactor with modulated UV–vis light source for efficient degradation of toluene over WO3/TiO2 photocatalyst
PublikacjaThe efficiencies of prepared WO3/TiO2 photocatalysts with varying amounts of WO3 were evaluated for gas-phase photocatalytic degradation of toluene. The obtained results revealed that the best photocatalytic properties were characteristic for samples calcined at 500ºC, which can be associated with high crystalline phase content (> 97%) and favourable BET surface area. The photocatalytic degradation tests were performed in two photoreactors...
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Benchmarking Performance of a Hybrid Intel Xeon/Xeon Phi System for Parallel Computation of Similarity Measures Between Large Vectors
PublikacjaThe paper deals with parallelization of computing similarity measures between large vectors. Such computations are important components within many applications and consequently are of high importance. Rather than focusing on optimization of the algorithm itself, assuming specific measures, the paper assumes a general scheme for finding similarity measures for all pairs of vectors and investigates optimizations for scalability...
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Analysis the Parameters of the Adaptive Controller for Quality Control of Dissolved Oxygen Concentration
PublikacjaThe wastewater treatment plant can be considered a dynamic large scale complex system, in which the most important control parameter is the dissolved oxygen concentration in the aerobic zone. The air is supplied to this zone by the aeration system. In the paper, both the sequencing batch reactor and the aeration system are modelled and used as plant of control performed by the cascade nonlinear adaptive control system extended...
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Modeling and simulation of tool cycle in manufacturing cell
PublikacjaThe paper addresses issues concerning modeling and analysis of tool flow within a three-machine manufacturing cell used for small batch manufacturing of a definite spectrum of prismatic parts. The approach utilizes a method for job and tool allocation to work centers with limited number of machines and capacity of tool resources, based on the analysis of formalized relations: job - tool sets required. Selected tool flow control...
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Przydział narzędzi obróbkowych a efektywność szeregowania zadań produkcyjnych
PublikacjaThe paper addresses issues concerning the analysis of tool flow within a multi-machine machining cell, designated to small batch manufacturing a definite spectrum of prismatic parts. The approach utilises a method for job and tool allocation to work centres with limited number of machines and capacity of tool resources, based on the analysis of formalised relations: job - tool sets required. Selected allocation strategies are considered...
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A mechanistic model for fate and removal of estrogens in biological nutrient removal activated sludge systems
PublikacjaTwo estrogen fate and transformation models were integrated with a comprehensive activated sludge model (ASM) to predict estrogen removal based on biomass and solids production. Model predictions were evaluated against published full-scale plant data as well as results from a laboratory-scale sequencing batch reactor (SBR) fed synthetic wastewater. The estrogen fate model relating the rate of total estrogen degradation to soluble...
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Benchmarking Deep Neural Network Training Using Multi- and Many-Core Processors
PublikacjaIn the paper we provide thorough benchmarking of deep neural network (DNN) training on modern multi- and many-core Intel processors in order to assess performance differences for various deep learning as well as parallel computing parameters. We present performance of DNN training for Alexnet, Googlenet, Googlenet_v2 as well as Resnet_50 for various engines used by the deep learning framework, for various batch sizes. Furthermore,...
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Designing control strategies of aeration system in biological WWTP
PublikacjaThe paper presents the complete design processes of a novel aeration control systems in the SBR (Sequencing Batch Reactor) wastewater treatment plant (WWTP). Due to large energy expense and high influence on biological processes, the aeration system plays a key role in WWTP operation. The paper considers the aeration system for a biological WWTP located in the northeast of Poland. This system consists of blowers, the main collector...
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Exploration of optical fibres as a carrier for new benzene and toluene matrix-free reference materials
PublikacjaTo meet high expectations concerning precision and accuracy of reference materials, preparation of matrixfree reference materials using thermal decomposition-gas chromatography-mass spectrometry (TD-GC-MS) was proposed in this study. In the paper, the results obtained in preparation of the new reference materials for benzene and toluene are presented, based on the thermal decomposition technique of compounds chemically bound to...
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Remote Spatial Database Access in the Navigation System for the Blind
PublikacjaThe article presents the problem of a database access in the navigation systems. The authors were among the main creators of the prototype navigation system for the blind - “Voice Maps”. In the implemented prototype only exemplary, limited spatial data were used, therefore they could be stored in the mobile device’s memory without any difficulties. Currently the aforementioned system is being prepared for commercialization - the...
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Multistage treatment wetland for treatment of reject waters from digested sludge dewatering
PublikacjaThe paper presents the influence of sewage composition on treatment in pilot-scale facility for reject waters (RW) from sewage sludge centrifugation. The facility consisted of mechanical (two tanks with 10 d retention each) and biological parts composed of three subsurface flow reed beds working in batch. Two years of monitoring of the facility proved high efficiency removal of predominant pollutants: COD 75–80%, BOD 82.2–95.5%...
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Modeling the effect of external load variations on single, serie and parallel connected microbial fuel cells
PublikacjaThis paper presents a microbial fuel cell (MFC) model designed to analyze the effect of the external load on MFC performance. The model takes into account the voltage and the chemical oxygen demand (COD) dependence on the external load. The value of the model parameters were calibrated by means of the voltage relaxation method tests using a controlled load current. Laboratory measurements and MATLAB Simulink model computations...
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Wear in siding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specim. sets #20-#21, #22-#23, #24-#25, #26-#27, #28-#29,#30 - #31. Run time: 4-8h.
Dane BadawczeWear in sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer.Running time: 4-8h.Specimen sets:Specim. sets (# [upper, rotating] - #[lower, non-rotating]):#20-#21, #22-#23, #24-#25, #26-#27,...
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Wear in siding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specim. sets #20-#21, #22-#23, #24-#25, #26-#27, #28-#29,#30 - #31. Run time: 0-4h.
Dane BadawczeWear in sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer.Running time: 0 - 4h.Specimen sets:Specim. sets (# [upper, rotating] - #[lower, non-rotating]):#20-#21, #22-#23, #24-#25, #26-#27,...
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Specimen running-in. Prep. to sliding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specimen set #24 - #25.
Dane BadawczeSpecimen running-in procedure. Preparation to sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. Specimen set #24 (upper, rotating), #25 (lower, non-rotating)CZ_PRZYS.MAT - accelerometerMOM_TAR.MAT...
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Specimen running-in. Prep. to sliding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specimen set #28 - #29.
Dane BadawczeSpecimen running-in procedure. Preparation to sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. Specimen set #28 (upper, rotating), #29 (lower, non-rotating)CZ_PRZYS.MAT - accelerometerMOM_TAR.MAT...
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Specimen running-in. Prep. to sliding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specimen set #30 - #31.
Dane BadawczeSpecimen running-in procedure. Preparation to sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. Specimen set #30 (upper, rotating), #31 (lower, non-rotating)CZ_PRZYS.MAT - accelerometerMOM_TAR.MAT...
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Specimen running-in. Prep. to sliding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specimen set #20 - #21.
Dane BadawczeSpecimen running-in procedure. Preparation to sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. Specimen set #20 (upper, rotating), #21 (lower, non-rotating)CZ_PRZYS.MAT - accelerometerMOM_TAR.MAT...
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Specimen running-in. Prep. to sliding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specimen set #22 - #23.
Dane BadawczeSpecimen running-in procedure. Preparation to sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. Specimen set #22 (upper, rotating), #23 (lower, non-rotating)CZ_PRZYS.MAT - accelerometerMOM_TAR.MAT...
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Specimen running-in. Prep. to sliding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specimen set #28 - #29.
Dane BadawczeSpecimen running-in procedure. Preparation to sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. Specimen set #28 (upper, rotating), #29 (lower, non-rotating)CZ_PRZYS.MAT - accelerometerMOM_TAR.MAT...
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Specimen running-in. Prep. to sliding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specimen set #26 - #27.
Dane BadawczeSpecimen running-in procedure. Preparation to sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. Specimen set #26 (upper, rotating), #27 (lower, non-rotating)CZ_PRZYS.MAT - accelerometerMOM_TAR.MAT...
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Wear in siding friction tests. Ring-on-ring contact. Sintered alumina ceramics (98%). Paraffin oil lubrication. Specim. sets #20-#21, #22-#23, #24-#25, #26-#27, #28-#29,#30 - #31. Run time: 0-4h. High frequency burst recording.
Dane BadawczeWear in sliding friction tests in ring-on-ring contact. Sintered alumina ceramics (98%) in self-mated contact. Lubrication: paraffin oil. Sliding velocity: 0.2 m/s. Mean contact stress: 10 MPa. Test rig: PT-3 Tribometer. High frequency burst recording.Running time: 0 - 4h.Specimen sets:Specim. sets (# [upper, rotating] - #[lower, non-rotating]):#20-#21,...
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Systematic comparison of a biotrickling filter and a conventional filter for the removal of a mixture of hydrophobic VOCs by Candida subhashii
PublikacjaThis work systematically compared the potential of a conventional fungal biofilter (BF) and a fungal biotrickling filter (BTF) for the abatement of a mixture of hydrophobic volatile organic compounds (VOCs). Candida subhashii was herein used for the first time, to the best of the author's knowledge, to remove n-hexane, trichloroethylene, toluene and α-pinene under aerobic conditions. C. subhashii immobilized on polyurethane foam...
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Smartphone application supporting independent movement of the blind
PublikacjaImproving comfort of life of blind people is a problem of great importance. Neither a white canenor a guide dog, although both very useful, can be considered as a tool for achieving fullindependence in everyday movement around the city. On the market there are some navigation toolsinspired by car navigation systems, but they have many flaws, ranging from positioninginaccuracies to high prices. The authors present their own solution...