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Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming
PublikacjaIt is generally assumed in dynamic positioning of over-actuated marine vessels that the control effectiveness matrix (input matrix) is known and constant, or, in case of fault information, it is estimated by the fault detection and diagnosis system. The purpose of the study is to develop the adaptive dynamic positioning control system for an over-actuated marine vessel in the presence of uncertainties and with emphasis on limited...
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BatchI: Batch effect Identification in high-throughput screening data using a dynamic programming algorithm
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Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming
PublikacjaIn order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming (ADP) technique based on the internal model principle (IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback, merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization...
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Initializing the EM Algorithm for Univariate Gaussian, Multi-Component, Heteroscedastic Mixture Models by Dynamic Programming Partitions
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Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm
PublikacjaThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control...
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IEEE International Symposium on Adaptive Dynamic Programming and Reinforcement Learning
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High performance super-twisting sliding mode control for a maritime autonomous surface ship (MASS) using ADP-Based adaptive gains and time delay estimation
PublikacjaThis research addresses two kinds of problems related to optimal trajectory tracking of a Maritime Autonomous Surface Ship (MASS): those caused by the time-varying external disturbances including winds, waves and ocean currents as well as those resulting from inherent dynamical uncertainties. As the paper shows, an accurate and robust optimal controller can successfully deal with both issues. An improved Optimal Adaptive Super-Twisting...
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High performance super-twisting sliding mode control for a maritime autonomous surface ship (MASS) using ADP-Based adaptive gains and time delay estimation
PublikacjaThis research addresses two kinds of problems related to optimal trajectory tracking of a Maritime Autonomous Surface Ship (MASS): those caused by the time-varying external disturbances including winds, waves and ocean currents as well as those resulting from inherent dynamical uncertainties. As the paper shows, an accurate and robust optimal controller can successfully deal with both issues. An improved Optimal Adaptive Super-Twisting...
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Objective Programming EMSS 2023
Kursy OnlineTheory and practice on object oriented programmingSoftware programming paradigms including object oriented approachEncapsulation, inheritance, abstraction and polymorphism in C++ languageSpecific features of C++ obiect-orientationDynamic memory management in C++ languagePython as a scripting object oriented languageComparison of C++ and Python languages to Java and C#
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Matching Exception Class Hierarchies between .NET, Java Environments
PublikacjaThe paper presents a methodology of exception classification and matching exception messages between .NET andJava environments. The methodology operates on existing exception class hierarchies and proposes two complementingapproaches: automated and manual matching. The automated matching uses the similarity measure to find associationsbetween exception messages from the two sets of classes for the considered programming languages....
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Scheduling with Complete Multipartite Incompatibility Graph on Parallel Machines
PublikacjaIn this paper we consider a problem of job scheduling on parallel machines with a presence of incompatibilities between jobs. The incompatibility relation can be modeled as a complete multipartite graph in which each edge denotes a pair of jobs that cannot be scheduled on the same machine. Our research stems from the works of Bodlaender, Jansen, and Woeginger (1994) and Bodlaender and Jansen (1993). In particular, we pursue the...
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Scheduling with Complete Multipartite Incompatibility Graph on Parallel Machines: Complexity and Algorithms
PublikacjaIn this paper, the problem of scheduling on parallel machines with a presence of incompatibilities between jobs is considered. The incompatibility relation can be modeled as a complete multipartite graph in which each edge denotes a pair of jobs that cannot be scheduled on the same machine. The paper provides several results concerning schedules, optimal or approximate with respect to the two most popular criteria of optimality:...
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Optymalizacja strategii sieci inteligentnych agentów za pomocą programowania genetycznego w systemie rozproszonym realizującym paradygmat volunteer computing
PublikacjaDynamicznie rosnąca złożoność i wymagania w odniesieniu do rozproszonych systemów informatycznych utrudnia zarządzanie dostępnymi zasobami sprzętowymi i programistycznymi. Z tego powodu celem rozprawy jest opracowanie wielokryterialnej metody programowania genetycznego, która pozwala na optymalizację strategii zespołu inteligentnych agentów programistycznych w zakresie zarządzania systemem realizującym paradygmat volunteer computing....
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Scheduling of compatible jobs on parallel machines
PublikacjaThe dissertation discusses the problems of scheduling compatible jobs on parallel machines. Some jobs are incompatible, which is modeled as a binary relation on the set of jobs; the relation is often modeled by an incompatibility graph. We consider two models of machines. The first model, more emphasized in the thesis, is a classical model of scheduling, where each machine does one job at time. The second one is a model of p-batching...
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Survey of Methodologies, Approaches, and Challenges in Parallel Programming Using High-Performance Computing Systems
PublikacjaThis paper provides a review of contemporary methodologies and APIs for parallel programming, with representative technologies selected in terms of target system type (shared memory, distributed, and hybrid), communication patterns (one-sided and two-sided), and programming abstraction level. We analyze representatives in terms of many aspects including programming model, languages, supported platforms, license, optimization goals,...
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DYNAMIC SYSTEMS AND APPLICATIONS
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Fast Approximate String Search for Wikification
PublikacjaThe paper presents a novel method for fast approximate string search based on neural distance metrics embeddings. Our research is focused primarily on applying the proposed method for entity retrieval in the Wikification process, which is similar to edit distance-based similarity search on the typical dictionary. The proposed method has been compared with symmetric delete spelling correction algorithm and proven to be more efficient...
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Programming Geometry as a Creative Play with Architectural Form
PublikacjaIn the twenty-first century "programming" is the key word that opens unprecedented opportunities for design and materialization of geometrically complex architectural objects. From the digital designer perspective programming geometry can be seen as a creative play with a form and a process of generation/exploration as well as the possibility of applying the computing power as a co-designer in the process of finding solutions for...
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Programming languages
Kursy OnlineThe aim of the course is to present four basic programming models (procedural, object-oriented, functional and in logic) and to demonstrate their practical use in information systems.
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Parallel Programming for Modern High Performance Computing Systems
PublikacjaIn view of the growing presence and popularity of multicore and manycore processors, accelerators, and coprocessors, as well as clusters using such computing devices, the development of efficient parallel applications has become a key challenge to be able to exploit the performance of such systems. This book covers the scope of parallel programming for modern high performance computing systems. It first discusses selected and...
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Testing for conformance of parallel programming pattern languages
PublikacjaThis paper reports on the project being run by TUG and IMAG, aimed at reducing the volume of tests required to exercise parallel programming language compilers and libraries. The idea is to use the ISO STEP standard scheme for conformance testing of software products. A detailed example illustrating the ongoing work is presented.
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Semi-definite programming and quantum information
PublikacjaThis paper presents a comprehensive exploration of semi-definite programming (SDP) techniques within the context of quantum information. It examines the mathematical foundations of convex optimization, duality, and SDP formulations, providing a solid theoretical framework for addressing optimization challenges in quantum systems. By leveraging these tools, researchers and practitioners can characterize classical and quantum correlations,...
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Realization, programming and controlling of the Stewart-Gough platform
PublikacjaThis paper presents realizaon, programming, and controlling of a low cost Stewart-Gough plaorm (SGP) with rotary actuators. The realized SGP is applied in a ball & plate control system. Developed dedicated software consists of embedded and applicaon soware for both the SGP posioning system and the ball & plate control. system. A ball posion is being obtained using computer vision. The paper contains tests results for both an SGP...
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Genetic Programming for Workload Balancing in the Comcute Grid System
PublikacjaA genetic programming paradigm is implemented for reliability optimization in the Comcute grid system design. Chromosomes are generated as the program functions and then genetic operators are applied for finding Pareto-suboptimal task assignment and scheduling. Results are compared with outcomes obtained by an adaptive evolutionary algorithm.
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Genetic Programming for Interaction Efficient Supporting in Volunteer Computing Systems
PublikacjaVolunteer computing systems provide a middleware for interaction between project owners and great number volunteers. In this chapter, a genetic programming paradigm has been proposed to a multi-objective scheduler design for efficient using some resources of volunteer computers via the web. In a studied problem, genetic scheduler can optimize both a workload of a bottleneck computer and cost of system. Genetic programming has been...
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Teaching of Robot Arm Programming - Tasks with Increasing Difficulty
PublikacjaThe article describes education techniques using robotics. For example, educational exercises on programming the Nachi MZ04 robotic arm are presented. The exercises use a wooden railroad toy model and elements printed in additive manufacturing technology. The exercises have increasing difficulty and can be used to educate young people in high school and specialized higher engineering studies (both bachelor's and master's).
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Approximate Quality Criteria for Difficult Multi-Objective Optimization Problems
PublikacjaThis paper introduces approximate analytic quality criteria useful in assessing the efficiency of evolutionary multi-objective optimization (EMO) procedures. We present a summary of extensive research into computing. In the performed comparative study we take into account the various approaches of the state-of-the-art, in order to objectively assess the EMO performance in highly dimensional spaces; where some executive criteria,...
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Approximate Quality Criteria for Difficult Multi-Objective Optimization Problems
PublikacjaThis paper introduces approximate analytic quality criteria useful in assessing the efficiency of evolutionary multi-objective optimization (EMO) procedures. We present a summary of extensive research into computing. In the performed comparative study we take into account the various approaches of the state-of-the-art, in order to objectively assess the EMO performance in highly dimensional spaces; where some executive criteria,...
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Approximate Criteria for the Evaluation of Truly Multi-Dimensional Optimization Problems
PublikacjaIn this paper we propose new improved approximate quality criteria useful in assessing the efficiency of evolutionary multi-objective optimization (EMO). In the performed comparative study we take into account the various EMO algorithms of the state-of-the-art, in order to objectively assess the EMO performance in highly dimensional spaces. It is well known that useful executive criteria, such as those based on the true Pareto...
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Programming languages 2021/22
Kursy OnlineThe aim of the course is to present four basic programming models (procedural, object-oriented, functional and in logic) and to demonstrate their practical use in information systems.
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Programming languages 2022/23
Kursy OnlineThe aim of the course is to present four basic programming models (procedural, object-oriented, functional and in logic) and to demonstrate their practical use in information systems.
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Programming languages 2023/24
Kursy OnlineThe aim of the course is to present four basic programming models (procedural, object-oriented, functional and in logic) and to demonstrate their practical use in information systems.
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Properties of dimension witnesses and their semidefinite programming relaxations
PublikacjaIn this paper we develop a method for investigating semi-device-independent randomness expansion protocols that was introduced in Li et al. [H.-W. Li, P. Mironowicz, M. Pawłowski, Z.-Q. Yin, Y.-C. Wu, S. Wang, W. Chen, H.-G. Hu, G.-C. Guo, and Z.-F. Han, Phys. Rev. A 87, 020302(R) (2013)]. This method allows us to lower bound, with semi-definite programming, the randomness obtained from random number generators based on dimension...
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Big Data Paradigm Developed in Volunteer Grid System with Genetic Programming Scheduler
PublikacjaArtificial intelligence techniques are capable to handle a large amount of information collected over the web. In this paper, big data paradigm has been studied in volunteer and grid system called Comcute that is optimized by a genetic programming scheduler. This scheduler can optimize load balancing and resource cost. Genetic programming optimizer has been applied for finding the Pareto solu-tions. Finally, some results from numerical...
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Towards increasing F-measure of approximate string matching in O(1) complexity
PublikacjaThe paper analyzes existing approaches for approximate string matching based on linear search with Levenshtein distance, AllScan and CPMerge algorithms using cosine, Jaccard and Dice distance measures. The methods are presented and compared to our approach that improves indexing time using Locally Sensitive Hashing. Advantages and drawbacks of the methods are identified based on theoretical considerations as well as empirical evaluations...
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Genetic Programming with Negative Selection for Volunteer Computing System Optimization
PublikacjaVolunteer computing systems like BOINC or Comcute are strongly supported by a great number of volunteers who contribute resources of their computers via the Web. So, the high efficiency of such grid system is required, and that is why we have formulated a multi-criterion optimization problem for a volunteer grid system design. In that dilemma, both the cost of the host system and workload of a bottleneck host are minimized. On...
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Neural network agents trained by declarative programming tutors
PublikacjaThis paper presents an experimental study on the development of a neural network-based agent, trained using data generated using declarative programming. The focus of the study is the application of various agents to solve the classic logic task – The Wumpus World. The paper evaluates the effectiveness of neural-based agents across different map configurations, offering a comparative analysis to underline the strengths and limitations...
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Approximate methods for functional differential equations
PublikacjaW pracy przedstawione są dwie klasy przybliżonych metod rozwiązywania równań różniczkowo funkcyjnych ze szczególnym uwzględnieniem równań różniczkowych z opóźnieniem. Do pierwszej klasy należą metody bezpośrednie reprezentowane w przedkładanej rozprawie przez dwukrokowe metody Rungego-Kutty. Należą one do klasy ogólnych metod liniowych rozwiązywania równań różniczkowych. Druga klasę przybliżonych metod rozwiązywania równań różniczkowo...
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Approximate search strategies for weighted trees
PublikacjaW pracy podajemy 3-przybliżony algorytm dla problemu spójnego przeszukiwania drzew ważonych.
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Existence and approximate solutions of Neumann problems
PublikacjaDyskutowany jest problem Neumanna dla równań różniczkowych drugiego rzędu.Praca dotyczy istnienia rozwiązań i zbieżnosci iteracji monotonicznych któresą przybliżonymi rozwiązaniami omawianych zagadnień. Określone zostały wa-runki zbieżności takich ciągów oraz określono rodzaj tej zbieżnosci.
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Dynamic Positioning Capability Assessment for Ship Design Purposes
PublikacjaThe article focuses on solving a problem of optimal thrust distribution over the actuators in a ship Dynamic Positioning, according to DNV-ST-0111 standard, Level 1. The classic Quadratic Programming approach is combined with the numerical solusion used to handle the propeller with the rudder constraints in the optimization task and the influence between thrusters and skeg. It is presented as an efficient method of minimizing the...
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INTERNATIONAL JOURNAL OF APPROXIMATE REASONING
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Entanglement of genuinely entangled subspaces and states: Exact, approximate, and numerical results
PublikacjaGenuinely entangled subspaces (GESs) are those subspaces of multipartite Hilbert spaces that consist only of genuinely multiparty entangled pure states. They are natural generalizations of the well-known notion of completely entangled subspaces, which by definition are void of fully product vectors. Entangled subspaces are an important tool of quantum information theory as they directly lead to constructions of entangled states,...
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Statistical analysis and robust design of circularly polarized antennas using sequential approximate optimization
PublikacjaIn the paper, reliable yield estimation and tolerance-aware design optimization of circular polarization (CP) antennas is discussed. We exploit auxiliary kriging interpolation models established in the vicinity of the nominal design in order to speed up the process of statistical analysis of the antenna structure at hand. Sequential approximate optimization is then applied to carry out robust design of the antenna, here, oriented...
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Hybrid, Approximate Models of Distributed-Parameter Systems
PublikacjaThe paper introduces the method of distributed-parameter systems modelling. It enables to obtain low order modal model of the system that experiences Coriolis acceleration component and gyroscopic effect. In such cases, corresponding system equations are non-self-adjoined. To solve this problem modal reduced model is built up for the system without Coriolis acceleration or gyroscopic effect terms. These phenomena are next included...
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MATHEMATICAL PROGRAMMING
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DYNAMIC POSITIONING CAPABILITY ASSESSMENT BASED ON OPTIMAL THRUST ALLOCATION
PublikacjaThe article presents an efficient method of optimal thrust allocation over the actuators in a dynamically positioned ship, according to the DNV-ST-0111 standard, Level 1. The optimisation task is approximated to a convex problem with linear constraints and mathematically formulated as quadratic programming. The case study is being used to illustrate the use of the proposed approach in assessing the DP capability of a rescue ship....
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Approximate Cramér–Rao bound on Doppler error in correlation-processing relatively narrowband noise radar
PublikacjaThe paper studies limitations on accuracy of Doppler estimation in continuous-wave noise radar with correlation processing. Second order properties of output of the correlation receiver are evaluated and an approximate Cram´er-Rao bound on errors of Doppler measurement is derived. The accuracy of Doppler measurements is found to be affected by the following factors: power spectral density of noise signal, frequency response of the...
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Object Programming
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Optimization of Data Assignment for Parallel Processing in a Hybrid Heterogeneous Environment Using Integer Linear Programming
PublikacjaIn the paper we investigate a practical approach to application of integer linear programming for optimization of data assignment to compute units in a multi-level heterogeneous environment with various compute devices, including CPUs, GPUs and Intel Xeon Phis. The model considers an application that processes a large number of data chunks in parallel on various compute units and takes into account computations, communication including...