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Design of weighted PID controllers for control of the Stewart-Gough platform
PublikacjaStewart-Gough platform (SGP) is a popular parallel type manipulator that involves a 6 degrees of freedom (DOF) motion. In this paper, the process of mathematical modelling of SGP is presented. Two selected control algorithms that use PID controllers and weighted PID controllers are designed. Both control systems using these algorithms are implemented in MATLAB environment as well as on the actual SGP. Parameters of the controllers...
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A multiparameter simulation-driven analysis of ship response when turning concerning a required number of irregular wave realizations
PublikacjaThe growing implementation of Decision Support Systems on modern ships, digital-twin technology, and the introduction of autonomous vessels cause the marine industry to seek accurate modeling of vessel response. Despite the contemporary 6DOF models can be used to predict ship motions in irregular waves, the impact of their stochastic realization is usually neglected and remains under-investigated. Especially in the case of turning, differences...
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Dynamic mechanical properties and flexing fatigue resistance of tire sidewall rubber as function of waste tire rubber reclaiming degree
PublikacjaA stepwise downsizing method of gel particles in reclaimed rubber to a micro-nano scale and its excellent dynamic performance in tire sidewall were introduced by this work. The results showed that the size of gel particles decreased from several micrometers to micro-nanometers with the increase of reclaiming degree, accompanied by reduced molecular weight and widened molecular weight distribution of sol fraction. The addition of...
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Heave Plates with Holes for Floating Offshore Wind Turbines
PublikacjaThe paper presents an innovative solution which is heave plates with holes. The long-known heave plates are designed to damp the heave motion of platforms. They are most often used for Spar platforms. The growing interest in this type of platform as supporting structures for offshore wind turbines makes it necessary to look for new solutions. Based on the available literature and the authors’ own research, it was concluded that...
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Polymer Modified Bitumen
PublikacjaIn this paper we present the benefits of using polymers as an asphalt modifiers, especially the low molecular weight reactive compounds, which are capable of forming an polymer network with bitumen "in situ" in the process of its modification.
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Analysis and improvement attempt of prof. Alan Fowler’s negotiation game
PublikacjaThe main goal of the following article is to design an improved version of the negotiation game created by prof. Alan Fowler (Fowler, 1997). I have tried to achieve this by constructing four separate versions of the game which represent different approaches while preserving rules, chosen basic technical assumptions and the simplicity of the base game. Each version of the game is supposed to i.a. make it less obvious, create new...
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NIEKONWENCJONALNE BADANIA SKUTECZNOŚCI HAMOWANIA W STACJI KONTROLI POJAZDÓW
PublikacjaW artykule przedstawiono niekonwencjonalne badania skuteczności hamowania samochodu na stanowisku diagnostyczny. Na podstawie przeprowadzonych badań określono wpływ ciężaru samochodu na skuteczność hamowania. Dokonano analizy porównania zmierzonego wskaźnika skuteczności hamowania i rzeczywistego wskaźnika skuteczności hamowania dla różnego obciążenia samochodu użytego do badań.
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Linear revitalization - problems and challenges. Discursive article
PublikacjaThe aim of the article, defined by the author as discursive, is to give the answer as to whether within ‘revitalization’ we should distinguish the notion of ‘linear revitalization’ – not yet defined in Polish and English-language literature. The author presents the thesis that we should do so by presenting the idea, its specific character and its role. This kind of action seems to have, in the author’s opinion, a positive influence...
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Highly Conserved Homotrimer Cavity Formed by the SARS-CoV-2 Spike Glycoprotein: A Novel Binding Site
PublikacjaAn important stage in severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) life cycle is the binding of the spike (S) protein to the angiotensin converting enzyme-2 (ACE2) host cell receptor. Therefore, to explore conserved features in spike protein dynamics and to identify potentially novel regions for drugging, we measured spike protein variability derived from 791 viral genomes and studied its properties by molecular...
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Adaptive filtering approach to dynamic weighing: a checkweigher case study
PublikacjaDynamic weighing, i.e., weighing of objects in motion, with out stopping them on the weighing platform, allows one to increase the rate of operation of automatic weighing systems used in industrial production processes without compromising their accuracy. The paper extends and compares two approaches to dynamic weighing, based on system identification and variable-bandwidth filtering, respectively. Experiments, carried on a conveyor...
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Numerical studies on the influence of selected construction features and road conditions on the performance of road cable barriers
PublikacjaCable barriers are commonly used on Polish roads, including motorways and local roads. Their main elements are pre-stressed wire ropes, which are usually anchored at two ends in concrete blocks buried in the soil. In this work numerical studies concerning the influence of selected construction features and parameters of the vehicle motion on the performance of cable barriers were performed. Numerical simulations are a useful tool...
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Study of the Flow Dynamics of Surface Water Masses in the Area of the Coastal Gulf of Gdansk
PublikacjaThe paper describes two methods of predicting the movement of small objects with surface water masses. One of the methods uses graph theory to describe the motion of water masses in port docks. The results of this study were compared to a simulation using the hydrodynamic numerical model M3D. The results obtained in a virtual environment were related to the experiments in the real world. In the coastal area of the Gulf of Gdansk,...
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Affect aware video games
PublikacjaIn this chapter a problem of affect aware video games is described, including such issue as: emotional model of the player, design, development and UX testing of affect-aware video games, multimodal emotion recognition and a featured review of affect-aware video games.
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Impact of Propeller Emergence on Hull, Propeller, Engine, and Fuel Consumption Performance in Regular Head Waves
PublikacjaIn this study, the impact of propeller emergence on the performance of a ship (speed), propeller (thrust, torque, and RPM), a diesel engine (torque and RPM) and fuel consumption are analysed under severe sea conditions. The goal is to describe the variation in the system variables and fuel consumption rather than analysing the motion of the ship or the phenomenon of propeller ventilation in itself. A mathematical model of the...
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Metody modelowania charakterystyk magnesowania przełączalnych silników reluktancyjnych i ich porównanie
PublikacjaW pracy przedstawiono metody stosowane do modelowania charakterystyk magnesowania przełączalnych silników reluktancyjnych oraz dokonano ich porównania biorąc pod uwagę dokładność modelowania charakterystyk oraz złożoność obliczeniową poszczególnych metod.
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Control systems with programmable controllers - teaching aspects.
PublikacjaSterowniki programowalne są obecnie podstawowymi urządzeniami wykorzystywanymi w systemach sterowania i dlatego od absolwentów uczelni technicznych, a szczególnie absolwentów wydziałów elektrycznych, oczekuje się posiadania przynajmniej podstawowej wiedzy o sterownikach programowalnych i ich zastosowaniach. W pracy przedstawiono wybrane aspekty wprowadzenia do dydaktyki przedmiotu ''Systemy sterowania ze sterownikami programowalnymi''...
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Simulation of the switched reluctance drive system
PublikacjaSwitched reluctance motors (SRM), unlike other types of motors, for their application require a control system and the supply from a power electronic converter. A method of modelling and mathematical model of an SRM in a switched reluctance drive (SRD) system is presented in the paper. Modelling is based on Lagrange's energy method. Coefficients of the Lagrange's equation have been calculated using the finite element method (FEM)....
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Metody modelowania charakterystyk magnesowania przełączalnych silników reluktancyjnych i ich porównanie
PublikacjaW pracy przedstawiono metody stosowane do modelowania charakterystyk magnesowania przełączalnych silników reluktancyjnych oraz dokonano ich porównania biorąc pod uwagę dokładność modelowania charakterystyk oraz złożoność obliczeniową poszczególnych metod.
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Tlenkowe ogniwa paliwowe ze stalowym interkonektorem
PublikacjaPraca obejmuje szeroki zakres zagadnień związanych z polepszeniem właściwości stosowanych obecnie materiałów lub konstrukcji ogniw paliwowych wykorzystujących elementy metaliczne w postaci litego interkonektora lub porowatego elementu nośnego. Wykonana praca ma charakter eksperymentalny i interdyscyplinarny, swoim zasięgiem obejmuje zagadnienia elektroniki ciała stałego, chemii, fizyki oraz inżynierii materiałowej.
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Modelowanie charakterystyk magnesowania przełączalnych silników reluktancyjnych z wykorzystaniem sieci neuronowych
PublikacjaW pracy przedstawiono możliwość wykorzystania sztucznej sieci neuronowej w jednej z metod analitycznych modelowania charakterystyk magnesowania przełączalnych silników reluktancyjnych. W szczególności przedstawiono uzasadnienie doboru zmiennych podawanych na warstwę neuronów wejściowych sieci, przygotowanie zbioru uczącego, walidacyjnego i testującego, wybór struktury i dobór parametrów sieci, proces uczenia t testowania oraz wyniki...
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Investigation of Thermoplastic Polyurethanes Synthesized via Two Different Prepolymers
PublikacjaThe man aim of this work was to investigate the effect of the molecular weight of polyols, mixture of prepolymers, and [NCO]/[OH] molar ratio used during the prepolymer chain extending step on the chemical structure, thermomechanical and mechanical properties, and thermal stability of thermoplastic poly(ether-urethane)s In this work thermoplastic poly(ether-urethane)s were synthesized by using polyols with a various molecular weight,...
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An optimal designed experiment for the alkaline hydrolysis of feather keratin
PublikacjaFeathers, burdensome waste from the poultry industry, can be a cheap source of keratin, a protein with excellent physico- chemical, biological, and mechanical properties. Acid and alkaline hydrolyses are usually adopted for isolation of keratin from its natural resources. This study aimed at assessing the statistically significant effect of input variables in the alkaline hydrolysis of keratin from chicken feathers on the process...
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Introduction to the special issue on machine learning in acoustics
PublikacjaWhen we started our Call for Papers for a Special Issue on “Machine Learning in Acoustics” in the Journal of the Acoustical Society of America, our ambition was to invite papers in which machine learning was applied to all acoustics areas. They were listed, but not limited to, as follows: • Music and synthesis analysis • Music sentiment analysis • Music perception • Intelligent music recognition • Musical source separation • Singing...
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Sustainable Chemically Modified Mater-Bi/Poly(ε-caprolactone)/Cellulose Biocomposites: Looking at the Bulk through the Surface
PublikacjaSustainable polymer composites are progressively under development in a technological paradigm shift from "just use more and more" to "convert into value-added products". The bio-based blends based on Mater-Bi bio-plastic (A) and poly(ε-caprolactone) (B), at a weight ratio of 70:30 (A:B) were developed, followed by the addition of UFC100 cellulose (C) filler to yield 70/30 (w/w) (A:B)/C sustainable biocomposites. The effects of...
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Novel analysis methods of dynamic properties for vehicle pantographs
PublikacjaTransmission of electrical energy from a catenary system to traction units must be safe and reliable especially for high speed trains. Modern pantographs have to meet these requirements. Pantographs are subjected to several forces acting on their structural elements. These forces come from pantograph drive, inertia forces, aerodynamic effects, vibration of traction units etc. Modern approach to static and dynamic analysis should...
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Column base fixity in steel moment frames: Observations from instrumented buildings
PublikacjaThe rotational fixity of column base connections in Steel Moment Resisting Frames (SMRFs) strongly influences their seismic response. However, approaches for estimating base fixity have been validated only against laboratory test data. These approaches are examined based on strong motion recordings from four instrumented SMRF buildings in California to informbest practices for seismic response simulation. These buildings represent...
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NUMERICAL ESTIMATION OF HULL HYDRODYNAMIC DERIVATIVES IN SHIP MANOUVERING PREDICTION
PublikacjaOperating in crowded waterways pose a risk of accidents and disasters due to maneuvering limitations of the ship. In order to predict ship’s maneuvering characteristics at the design stage, model tests are often executed as the most accurate prediction tool. Two approaches can be distinguished here: free running model tests and numerical simulations based on planar motion model with the use of hydrodynamic derivatives obtained...
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System pozycjonowania dynamicznego morskich jednostek pływających jako system mechatroniczny
PublikacjaW artykule przedstawiano system pozycjonowania dynamicznego półzanurzeniowej platformy wiertniczej, który jest rozpatrywany jako system mechatroniczny. W szczególności zaś zaprezentowano systemy referencyjne utrzymania stanowiska pozycyjnego na morzu, urządzenia nawigacyjne, czujniki ruchów własnych jednostki pływającej i anemometry rozważane jako czujniki systemu mechatronicznego oraz pędniki azymutalne rozważane jako nastawniki...
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Susceptibility to Degradation in Soil of Branched Polyesterurethane Blends with Polylactide and Starch
PublikacjaA very important method of reducing the amount of polymer waste in the environment is the introduction to the market of polymers susceptible to degradation under the influence of environmental factors. This paper presents the results of testing the susceptibility to degradation in soil of branched polyesterurethane (PUR) based on poly([R,S]-3-hydroxybutyrate) (R,S-PHB), modified with poly([D,L]-lactide) (PLA) and starch (St). Weight...
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Wybrane elementy nieliniowej dynamiki struktur kratowych
PublikacjaW pracy jest dyskutowany problem nieliniowej dynamiki struktur kratowych. Zastosowano stacjonarny opis Lagrange'a (ang. Total Lagrange), pokazano silne i słabe sformułowanie dla pręta kratowego, jego aplikację do MES. W zakresie całkowania równań ruchu przedstawiono metodę Newmarka i metodę-a dla problemów liniowych i nieliniowych. Załączony przykład numeryczny ilustruje cechy przedstawionych metod.
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Vibration of the bridge under moving singular loads - theoretical formulation and numerical solution
PublikacjaThe paper presents the results of the numerical analysis of a simple vehicle passing over a simply supported bridge span. The bridge is modelled by a Euler-Bernoulli beam. The vehicle is modelled as a linear, visco-elastic oscillator, moving at a constant speed. The system is described by a set of differential equations of motion and solved numerically using the Runge-Kutta algorithm. The results are compared with the solution...
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Comparative analysis of balancing of V6 engines with common- and split-pin crankshafts
PublikacjaAn analysis of balancing of V6 engines equipped with split-pin crankshafts with any cylinder bank angle based on the mathematical relations derived in the paper was carried out. A comparison of the quality of their balancing with engines equipped with common-pin crankshafts was also carried out. The bank angle ranges beneficial for balancing of moments of inertia forces in reciprocating motion were determined. A mathematical relation...
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The impact of methods the stochastic analysis on swimming safety of multihull floating units (Part 2)
PublikacjaIn part 2 the equations of the catamaran motion were divided into the system of two groups not conjugated with themselves containing the mutually conjugated equations. The feedback is obtained by the linear and nonlinear coefficients of dampening and coefficients of hydrostatic elasticity. The first group includes the symmetric movements (longitudinal movements), and the second group includes the antisymmetric movements (transverse)....
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Pin Angle Thermal Effects on Friction Stir Welding of AA5058 Aluminum Alloy: CFD Simulation and Experimental Validation
PublikacjaThe friction stir welding (FSW) of tool pin geometry plays a critical role in the final properties of the produced joint. The tool pin geometry directly affects the generation of heat and the flow of internal materials during the FSW process. The effects of the FSW tool pin angle on heat generation and internal flow have not been quantitatively investigated in detail. In this manuscript, a validated Computational Fluid Dynamic...
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Analiza ruchu drogowego z wykorzystaniem analizy akustycznej
PublikacjaTematyka pracy porusza zagadnienia dotyczące pozyskiwania informacji o ruchu drogowym z wykorzystaniem monitoringu akustycznego. Przybliżono podstawowe techniki nadzoru nad ruchem drogowym. Przedstawiono założenia akustycznego detektora ruchu i zbadano jego skuteczność na trzech płaszczyznach działania – zliczania pojazdów, klasyfikacji rodzajowej i klasyfikacji warunków pogodowych panujących na nawierzchni
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Water-mediated long-range interactions between the internal vibrations of remote proteins
PublikacjaIt is generally acknowledged that the mobility of protein atoms and the mobility of water molecules in the solvation layer are connected. In this article, we answer the question whether a similar interdependence exists between the motions of atoms of proteins separated by the hydration layers of variable thickness. The system consisted of a kinesin catalytic domain and a tubulin dimer. It was studied using molecular dynamics simulations....
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Robot Eye Perspective in Perceiving Facial Expressions in Interaction with Children with Autism
PublikacjaThe paper concerns automatic facial expression analysis applied in a study of natural “in the wild” interaction between children with autism and a social robot. The paper reports a study that analyzed the recordings captured via a camera located in the eye of a robot. Children with autism exhibit a diverse level of deficits, including ones in social interaction and emotional expression. The aim of the study was to explore the possibility...
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Losses and energy efficiency of drive motors and systems
PublikacjaLosses and energy efficiency of every drive motor must be presented as functions of physical quantities independent of losses in the motor. Such quantities are speed and load required by the machine or device driven by the motor, changing in the drive operating field. Speed and load of the motor decide of the instantaneous useful power of the motor and also in a differentiated way of kinds and values of losses occurring in the...
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Losses and energy efficiency of drive motors and systems
PublikacjaLosses and energy efficiency of every drive motor must be presented as functions of physical quantities independent of losses in the motor. Such quantities are speed and load required by the machine or device driven by the motor, changing in the drive operating field. Speed and load of the motor decide of the instantaneous useful power of the motor and also in a differentiated way of kinds and values of losses occurring in the...
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Comparison of Mathematical Models of Torque Transmitted by Multi-disc Wet Clutch with Experimental Results
PublikacjaIn this article was described the methodology for the experimental study of flows in the prototype of a satellite hydraulic motor with a rotating body. The experimental tests of the motor were carried out at a low constant rotational speed in a wide range of pressure drop in this motor. The constant rotational speed of the motor was kept by a worm gear. Based on the test results, the leakage characteristics in the flat gaps of...
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Secure Italian domination in graphs
PublikacjaAn Italian dominating function (IDF) on a graph G is a function f:V(G)→{0,1,2} such that for every vertex v with f(v)=0, the total weight of f assigned to the neighbours of v is at least two, i.e., ∑u∈NG(v)f(u)≥2. For any function f:V(G)→{0,1,2} and any pair of adjacent vertices with f(v)=0 and u with f(u)>0, the function fu→v is defined by fu→v(v)=1, fu→v(u)=f(u)−1 and fu→v(x)=f(x) whenever x∈V(G)∖{u,v}. A secure Italian dominating...
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Dynamics of Ice Jam Formation and Release
PublikacjaThe numerical model DynaRICE and its application to ice jam formation and release is presented. The model is a two-dimensional coupled flow and ice dynamic model. The ice dynamic component, which includes both the internal ice resistance and boundary friction on ice motion, uses a Lagrangian SPH method. The hydrodynamic component of the model uses a streamline upwind finite element method, which is capable of simulating trans-critical...
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Azo group(s) in selected macrocyclic compounds
PublikacjaAzobenzene derivatives due to their photo- and electroactive properties are an important group of compounds finding applications in diverse fields. Due to the possibility of controlling the trans–cis isomerization, azo-bearing structures are ideal building blocks for development of e.g. nanomaterials, smart polymers, molecular containers, photoswitches, and sensors. Important role play also macrocyclic compounds well known for...
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Theory of recognition in a historical perspective. Axel Honneth's Anerkennung: Eine europäische Ideengeschichte
PublikacjaThe article discusses Honneth excursion into the realm of the history of ideas. This time Honneth decides to laser it on the notion of "recognition" in three different cultural areas and three different traditions: French, English, and German. The article discusses Honneth's persepctive and attempts at finding the common thread that would link three aforementioned traditions.
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Study on the prevalence of mobile phone use by car drivers – the case of Poland
Publikacja: Distracted driving is a significant factor affecting road safety and it can occur as a result of using mobile phones while driving. The aim of the current research is to present the prevalence of mobile phone use by Polish car drivers, based on the roadside and online survey. The field study showed that 11.6% of 1867 drivers were using mobile phones while being in motion and 26.1% of 203 drivers when stopped in front of traffic...
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Sustainable development requires risky decisions - problematic 300 ton overweight transport passing a bridge
PublikacjaOversize load passages over bridges are one of the research issues related to sustainable development that engineering and scientific teams around the world have to deal with . The article presents the scope of activities that enabled the passage of an oversized vehicle with a total weight of over 300 tons over a reinforced concrete slab. The bridge load capacity is 30 tons. In order to assess the capacity of the bridge, detailed...
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Isocyanate-Free Polyurethanes
PublikacjaIsocyanate-free polyurethanes (also called non-isocyanate polyurethanes, or NIPUs) are alternatives to the conventional (commercially used) polyurethanes synthesized using di- or polyisocyanates, polyols, and chain extenders with low molecular weight. The major routes of NIPUs’ synthesis involve polyaddition of cyclic carbonates and di- or polyamines, polycondensation of carbamates, and diols. The most important intermediates are...
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Instantaneous impedance monitoring of synergistic effect between cavitation erosion and corrosion processes
PublikacjaThe most common method of determination of cavitation erosion resistance as well as the magnitude of erosion-corrosion synergistic interaction is based on the weight loss measurements. Nondestructive characterization of installations elements is in most cases impossible to perform. Also, such a measurement does not include local types of failure or alteration of operating conditions. There is an urge to elaborate a method for monitoring...
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Study of Phase and Chemical Composition of Bi1-xNdxFeO3 Powders Derived by Pressureless Sintering
PublikacjaIn the present paper studies on Bi1xNdxFeO3 for x =0.1-0.4 are reported. The mixed oxide method followed with pressureless sintering was employed for ceramics fabrication. Thermal behavior of stoichiometric mixtures of simple oxide powders, viz. Bi2O3, Nd2O3 and Fe2O3 was studied by simultaneous thermal analysis. It was found that with an increase in neodymium content the weight loss increased from 0.75% to 3.16% for x =0.1 and...
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Self Portrait with a Mask
PublikacjaPaweł SASIN - Self Portrait with a Mask “Every work of art is the child of its time, and, in many cases, the mother of our emotions. “ Wassily Kandynsky, Concerning the Spiritual in Art The two years 2020 and 2021 were marked by the COVID-19 pandemic – a lengthy period of time in which everyone felt in danger of losing one’s health or life. As a result, many people were experiencing negative emotion, becoming subject to psychological...