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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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Reduced-cost electromagnetic-driven optimisation of antenna structures by means of trust-region gradient-search with sparse Jacobian updates
PublikacjaNumerical optimisation plays more and more important role in the antenna design. Because of lack of design-ready theoretical models, electromagnetic (EM)-simulation-driven adjustment of geometry parameters is a necessary step of the design process. At the same time, traditional parameter sweeping cannot handle complex topologies and large number of design variables. On the other hand, high computational cost of the conventional...
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Problems with microprocessor voltage-to-frequency and frequency-to-voltage converters implementation
PublikacjaThe article presents the problems of digital voltage-to-frequency and frequency-to-voltage processing. Transducer systems implemented in microprocessor technology are presented, the timing of signals and functioning algorithms are discussed. An analysis of processing errors has been performed and the results of experimental studies of realized systems are presented.
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Układy napędowe pojazdów elektrycznych
PublikacjaW artykule omówiono nowe technologie stosowane w układach napędowych pojazdów elektrycznych. Praca zawiera zależności teorii ruchu pojazdu, nowe rozwiązania w konstrukcji silników trakcyjnych. Przedstawiono również zagadnienia układów zasilania bateryjnego i magazynów energii z superkondensatorami. Pokazano metody sterowania zapewniające optymalizacje rozdziału energii pomiędzy akumulatorami a magazynem energii. Zaprezentowano...
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ALGORYTMY STEROWANIA SILNIKA WYSOKOPRĘŻNEGO Z UKŁADEM COMMON RAIL
PublikacjaRozwój wiedzy i technologii związanej z procesami spalania paliwa w silniku i prowadzeniem kontrolowanego procesu spalania, skutkuje wzrostem sprawności silników i lepszą ochroną środowiska. Ciekawym rozwiązaniem technicznym jest silnik z zapłonem samoczynnym pracujący z bardzo wysokim ciśnieniem wtrysku paliwa i często z recyrkulacją spalin – silnik z układem Common Rail. Do sterowania silnika stosowane są złożone układy mechatroniczne...
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Design of a Multidomain IMS/NGN Service Stratum
PublikacjaThe paper continues our research concerning the Next Generation Network (NGN), which is standardized for delivering multimedia services with strict quality and includes elements of the IP Multimedia Subsystem (IMS). A design algorithm for a multidomain IMS/NGN service stratum is proposed, which calculates the necessary CSCF servers CPU message processing times and link bandwidths with respect to the given maximum values of mean...
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Incremental construction of Minimal Tree Automata [online]
PublikacjaWe describe an algorithm that allows the incremental addition or removal of unranked ordered trees to minimal frontier-to-root deterministic tree automaton (DTA). The algorithm takes a tree t and a minimal DTA A as input; it outputs a minimal DTA A' which accepts the language L(A) accepted by A incremented (or decremented) with the tree t. The algorithm can be used to efficiently maintain dictionaries which store large collections...
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A quaternion-based modified feistel cipher for multimedia transmission
PublikacjaIn this paper a quaternion-based modified Feistel Cipher is proposed. The algorithm is based on the scheme proposed by Sastry and Kumar (2012). Our algorithm uses special properties of quaternions to perform rotations of data sequences in 3D space for each of the cipher rounds. The plaintext (image in gray-tone) is divided into two square matrices of equal size which consist of Lipschitz quaternions. A modular arithmetic was implemented...
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METHOD OF ROUTING SHIPS SAILING IN DEDICATED ENVIRONMENT
PublikacjaThe method for determining the suboptimal route of sailing vessels operating in a restricted area of the sea are proposed in the paper. The dynamics of the environment including weather conditions and speed characteristics of ships sailing are considered. As optimiza-tion criterion, measure sailing time T, and the number of maneuvers performed ω, are taken into account. An heuristic algorithm, and the appropriate application routing...
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Trees having many minimal dominating sets
PublikacjaWe provide an algorithm for listing all minimal dominating sets of a tree of order n in time O(1.4656^n). This leads to that every tree has at most 1.4656^n minimal dominating sets. We also give an infinite family of trees of odd and even order for which the number of minimal dominating sets exceeds 1.4167^n, thus exceeding 2^{n/2}. This establishes a lower bound on the running time of an algorithm for listing all minimal dominating...
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Wideband Model Order Reduction for Macromodels in Finite Element Method
PublikacjaAbstract: This paper presents a novel algorithm for accelerating 3D Finite Element Method simulations by introducing macromodels created in local model order reduction in the selected subdomains of the computational domain. It generates the projection basis for a compact system of equations associated with a separate subdomain. Due to non-linear frequency dependency in the Right Hand Side (RHS), the standard reduction methods do...
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Multi-objective Tabu-based Differential Evolution for Teleportation of Smart Virtual Machines in Private Computing Clouds
PublikacjaWe propose a multi-objective approach for using differential evolution algorithm with tabu search algorithm as an additional mutation for live migration (teleportation) of virtual machines. This issue is crucial in private computing clouds. Teleportation of virtual machines is supposed to be planned to determine Pareto-optimal solutions for several criteria such as workload of the bottleneck host, communication capacity of the...
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Multibeam data processing for 3D object shape reconstruction
PublikacjaThe technology of hydroacoustic scanning offers an efficient and widely-used source of geospatial information regarding underwater environments, providing measurement data which usually have the structure of irregular groups of points known as point clouds. Since this data model has known disadvantages, a different form of representation based on representing surfaces with simple geometric structures, such as edges and facets,...
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Visual Content Learning in a Cognitive Vision Platform for Hazard Control (CVP-HC)
PublikacjaThis work is part of an effort for the development of a Cognitive Vision Platform for Hazard Control (CVP-HC) for applications in industrial workplaces, adaptable to a wide range of environments. The paper focuses on hazards resulted from the nonuse of personal protective equipment (PPE). Given the results of previous analysis of supervised techniques for the problem of classification of a few PPE (boots, hard hats, and gloves...
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A NOTE ON ON-LINE RAMSEY NUMBERS FOR QUADRILATERALS
PublikacjaWe consider on-line Ramsey numbers defined by a game played between two players, Builder and Painter. In each round Builder draws an the edge and Painter colors it either red or blue, as it appears. Builder’s goal is to force Painter to create a monochromatic copy of a fixed graph H in as few rounds as possible. The minimum number of rounds (assuming both players play perfectly) is the on-line Ramsey number \widetilde{r}(H) of...
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Explainable AI for Inspecting Adversarial Attacks on Deep Neural Networks
PublikacjaDeep Neural Networks (DNN) are state of the art algorithms for image classification. Although significant achievements and perspectives, deep neural networks and accompanying learning algorithms have some important challenges to tackle. However, it appears that it is relatively easy to attack and fool with well-designed input samples called adversarial examples. Adversarial perturba-tions are unnoticeable for humans. Such attacks...
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Wykorzystanie klasyfikacji funkcjonalnej usług do efektywnego zarządzania zasobami chmurowymi
PublikacjaWykazano jak istotnym problemem jest zarzadzanie chmurą obliczeniową, w tym alokacja zasobów do wykonania usług (workloadów) zgłoszonych przez użytkownika. Przeanalizowano problem podziału usług wdrażanych w środowiskach chmurowych na klasy określające ich funkcjonalność. Zaproponowano oryginalną metodę alokacji workloadów wykorzystującą wprowadzoną klasyfikację funkcjonalną oraz identyfikację tych klas na podstawie wielkości generowanego...
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On a Recurrence Arising in Graph Compression
PublikacjaIn a recently proposed graphical compression algorithm by Choi and Szpankowski (2012), the following tree arose in the course of the analysis. The root contains n balls that are consequently distributed between two subtrees according to a simple rule: In each step, all balls independently move down to the left subtree (say with probability p) or the right subtree (with probability 1p). A new node is created as long as...
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Algorytmy przetwarzania widm Ramana w procesie detekcji substancji chemicznych
PublikacjaRozprawa przedstawia szczegółowo algorytmy, jakie są stosowane podczas przetwarzania widm Ramana, rejestrowanych przenośnym spektrometrem o skończonej rozdzielczości. Pracę podzielono na osiem rozdziałów. W pierwszym określono cel i tezy pracy. Rozdział drugi opisuje podstawowe pojęcia dotyczące zjawiska Ramana oraz zasady budowy urządzeń do pomiarów widm Ramana. W rozdziale trzecim scharakteryzowano błędy występujące podczas pomiarów...
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On-line Search in Two-Dimensional Environment
PublikacjaWe consider the following on-line pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown network. Their goal is to execute a search strategy that guarantees capturing a fast and invisible intruder regardless of its movements using as few searchers as possible. We require that the strategy is connected and monotone, that is, at each point of the execution the part of the graph...
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Distributed graph searching with a sense of direction
PublikacjaIn this work we consider the edge searching problem for vertex-weighted graphs with arbitrarily fast and invisible fugitive. The weight function w provides for each vertex v the minimum number of searchers required to guard v, i.e., the fugitive may not pass through v without being detected only if at least w(v) searchers are present at v. This problem is a generalization of the classical edge searching problem, in which one has...
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Scheduling on Uniform and Unrelated Machines with Bipartite Incompatibility Graphs
PublikacjaThe problem of scheduling jobs on parallel machines under an incompatibility relation is considered in this paper. In this model, a binary relation between jobs is given and no two jobs that are in the relation can be scheduled on the same machine. We consider job scheduling under the incompatibility relation modeled by a bipartite graph, under the makespan optimality criterion, on uniform and unrelated machines. Unrelated machines...
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Designing of Track Axis Alignment with the Use of Satellite Measurements and Particle Swarm Optimization
PublikacjaDesigning of the track’s alignment is a key issue from the point of view of maintaining of proper geometries. The paper presents a design method for sections of railway line located in the horizontal arch. The method is adapted to the technique of mobile satellite measurements. The general principles of this measurement method have been described in the article. A project's solution has been presented using mathematical notation...
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Equitable colorings of some variation of corona products of cubic graphs
PublikacjaThe problem of determining the value of equitable chromatic number for multicoronas of cubic graphs is studied. We provide some polynomially solvable cases of cubical multicoronas and give simple linear time algorithms for equitable coloring of such graphs which use almost optimal number of colors in the remaining cases.
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Efficiency of IEEE 802.15.4a UWB Impulse Radio Spectrum Shaping
PublikacjaThis paper presents results of impulse radio signal spectrum shaping efficiency investigations. Basic parameters of IEEE 802.15.4a UWB signal and outline of proposed spectrum shaping methods are briefly described. The main part of the paper presents influence of signal and algorithms parameters on the results of spectrum shaping.
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Projektowanie układów geometrycznych toru z zastosowaniem optymalizacji wielokryterialnej
PublikacjaW pracy przedstawiono metodę projektowania odcinków trasy kolejowej położonych w łuku, dostosowaną do techniki mobilnych pomiarów satelitarnych. Rozwiązanie problemu projektowego wykorzystuje zapis matematyczny i polega na wyznaczeniu uniwersalnych równań opisujących całość układu geometrycznego. Odbywa się to sekwencyjnie, obejmując kolejne fragmenty tegoż układu. Procedura projektowania ma charakter uniwersalny, gdyż w ogólnym...
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Application of virtual gate for counting people participating in large public events
PublikacjaThe concept and practical application of the developed algorithm forpeople counting in crowded scene is presented. The aim of the work is to estimatethe number of people passing towards entrances of a large sport hall. Thedetails of implemented the Virtual Gate algorithm are presented. The video signalfrom the camera installed in the building constituted the input for the algorithm.The most challenging problem was the unpredicted...
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A Point Set Connection Problem for Autonomous Mobile Robots in a Grid
PublikacjaConsider an orthogonal grid of streets and avenues in a Manhattan-like city populated by stationary sensor modules at some intersections and mobile robots that can serve as relays of information that the modules exchange, where both module-module and module-robot communication is limited to a straight line of sight within the grid. The robots are oblivious and move asynchronously. We present a distributed algorithm that, given...
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Designing a ship course controller by applying the adaptivebackstepping method
PublikacjaThe article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoingship based on the adaptive backstepping method. The proposed controller in the design stage takes into account thedynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parametersof the achieved nonlinear control structure were tuned up by using the...
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Application of Support Vector Machine for Determination of Impact of Traffic-Induced Vibrations on Buildings
PublikacjaThe aim of the article is to present an algorithm of Support Vector Machine created to forecast the impact of traffic-induced vibrations on residential buildings. The method is designed to classify the object into one of two classes. The classification into the first class means that there is no impact of vibrations on the building, while classification to the second class indicates the possible influence and suggests the execution...
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Multichannel self-optimizing narrowband interference canceller
PublikacjaThe problem of cancellation of a nonstationary sinusoidal interference, acting at the output of an unknown multivariable linear stable plant, is considered. No reference signal is assumed to be available. The proposed feedback controller is a nontrivial extension of the SONIC (self-optimizing narrowband interference canceller) algorithm, developed earlier for single-input, single-output plants. The algorithm consists of two loops:...
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Combining Road Network Data from OpenStreetMap with an Authoritative Database
PublikacjaComputer modeling of road networks requires detailed and up-to-date dataset. This paper proposes a method of combining authoritative databases with OpenStreetMap (OSM) system. The complete route is established by finding paths in the graph constructed from partial data obtained from OSM. In order to correlate data from both sources, a method of coordinate conversion is proposed. The algorithm queries road data from OSM and provides...
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Further developments of parameterization methods of audio stream analysis for secuirty purposes
PublikacjaThe paper presents an automatic sound recognition algorithm intended for application in an audiovisual security monitoring system. A distributed character of security systems does not allow for simultaneous observation of multiple multimedia streams, thus an automatic recognition algorithm must be introduced. In the paper, a module for the parameterization and automatic detection of audio events is described. The spectral analyses...
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Image Segmentation of MRI image for Brain Tumor Detection
Publikacjathis research work presents a new technique for brain tumor detection by the combination of Watershed algorithm with Fuzzy K-means and Fuzzy C-means (KIFCM) clustering. The MATLAB based proposed simulation model is used to improve the computational simplicity, noise sensitivities, and accuracy rate of segmentation, detection and extraction from MR...
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Unsupervised Learning for Biomechanical Data Using Self-organising Maps, an Approach for Temporomandibular Joint Analysis
PublikacjaWe proposed to apply a specific machine learning technique called Self-Organising Maps (SOM) to identify similarities in the performance of muscles around human temporomandibular joint (TMJ). The performance was assessed by measuring muscle activation with the use of surface electromyography (sEMG). SOM algorithm used in the study was able to find clusters of data in sEMG test results. The SOM analysis was based on processed sEMG...
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Self-optimizing narrowband interference canceller - can reference signal help?
PublikacjaSONIC (Self-Optimizing Narrowband Interference Canceller) is an acronym of the recently proposed active noise control algorithm with interesting adaptivity and robustness properties. SONIC is a purely feedback controller, capable of rejecting nonstationary sinusoidal disturbances (with time-varying amplitudes and/or frequencies) in the presence of plant (secondary path) uncertainties. We show that even though SONIC can work reliably...
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Efficient Multi-Fidelity Design Optimization of Microwave Filters Using Adjoint Sensitivity
PublikacjaA simple and robust algorithm for computationally efficient design optimiza-tion of microwave filters is presented. Our approach exploits a trust-region (TR)-based algorithm that utilizes linear approximation of the filter response obtained using adjoint sensitivity. The algorithm is sequentially executed on a family of electromagnetic (EM)-simulated models of different fidelities, starting from a coarse-discretization one, and...
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Utilization of fuzzy rules in computer character animation
PublikacjaThe chapter presents a method for automatic enhancement of computer character animation utilizing fuzzy inference. First the user designs a prototype version of animation, with keyframes only for important poses, roughly describing the action. Then animation is enriched with new motion phases calculated by the fuzzy inference system using descriptors given by the user. Various degrees of motion fluency and naturalness are possible...
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Constrained aerodynamic shape optimization using neural networks and sequential sampling
PublikacjaAerodynamic shape optimization (ASO) involves computational fluid dynamics (CFD)-based search for an optimal aerodynamic shape such as airfoils and wings. Gradient-based optimization (GBO) with adjoints can be used efficiently to solve ASO problems with many design variables, but problems with many constraints can still be challenging. The recently created efficient global optimization algorithm with neural network (NN)-based prediction...
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Adaptive identification of sparse underwater acoustic channels with a mix of static and time-varying parameters
PublikacjaWe consider identification of sparse linear systems with a mix of static and time-varying parameters. Such systems are typical in underwater acoustics (UWA), for instance, in applications requiring identi- fication of the acoustic channel, such as UWA communications, navigation and continuous-wave sonar. The recently proposed fast local basis function (fLBF) algorithm provides high performance when identi- fying time-varying systems....
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Multimodal Particle Swarm Optimization with Phase Analysis to Solve Complex Equations of Electromagnetic Analysis
PublikacjaIn this paper, a new meta-heuristic method of finding roots and poles of a complex function of a complex variable is presented. The algorithm combines an efficient space exploration provided by the particle swarm optimization (PSO) and the classification of root and pole occurrences based on the phase analysis of the complex function. The method initially generates two uniformly distributed populations of particles on the complex...
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Adaptacyjny system oświetlania dróg oraz inteligentnych miast
PublikacjaPrzedmiotem rozprawy jest zbadanie praktycznej możliwości wykrywania w czasie rzeczywistym anomalii w systemie oświetlenia drogowego w oparciu o analizę danych ze inteligentnych liczników energii. Zastosowanie inteligentnych liczników energii elektrycznej (Smart Meter) w systemach oświetlenia drogowego stwarza nowe możliwości w zakresie automatycznej diagnostyki takich niepożądanych zjawisk jak awarie lamp, odstępstwa od harmonogramu...
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Path integrals formulations leading to propagator evaluation for coupled linear physics in large geometric models
PublikacjaReformulating linear physics using second kind Fredholm equations is very standard practice. One of the straightforward consequences is that the resulting integrals can be expanded (when the Neumann expansion converges) and probabilized, leading to path statistics and Monte Carlo estimations. An essential feature of these algorithms is that they also allow to estimate propagators for all types of sources, including initial conditions....
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“The Guardians of the Truth”: Journalists’ Resistance to the Algorithmization of Journalism
PublikacjaRegardless of the term used, be it “robot journalism,” “automated journalism,” “algorithmic journalism” or “machine-written journalism,” the process of automatic content creation and distribution is progressing in the newsrooms. Meanwhile, exercising control over the creation and distribution of news is considered a fundamental element of journalists’ professional identity. The article presents the results of research on the perception...
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Integration in Multichannel Emotion Recognition
PublikacjaThe paper concerns integration of results provided by automatic emotion recognition algorithms. It presents both the challenges and the approaches to solve them. Paper shows experimental results of integration. The paper might be of interest to researchers and practitioners who deal with automatic emotion recognition and use more than one solution or multichannel observation.
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Localization in wireless sensor networks using switched parasitic antennas
PublikacjaA switched parasitic monopole antenna for 2.4 GHz ISM applications is design and investigated in this paper. One of the most promising applications for such switched-beam antennas is localization in wireless sensor networks (WSN). It is demonstrated that the use of this antenna improves accuracy of localization algorithms and allows for reduction of the number of reference nodes in localization system.
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New RFID readers for scalable RFID system
PublikacjaRFID systems gives the opportunity to have wide access control integrated with the monitoring of people and goods flow. System's scalability is one of the most important features in such systems as they enable large scale deployments. The concept of the proposed reader's architecture employs new RFID transceivers and microcontrollers, security algorithms which gives very high functionality at low price. Special treatment of system's...
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Buckling and shape control of prestressable trusses using optimum number of actuators
PublikacjaThis paper describes a method to control the nodal displacement of prestressable truss structures within the desired domains. At the same time, the stress in all members is unleashed to take any value between the allowable tensile stress and critical buckling stress. The shape and stresses are controlled by actuating the most active members. The technique considers the members’ initial crookedness, residual stresses, and slenderness...
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An electronic nose for quantitative determination of gas concentrations
PublikacjaThe practical application of human nose for fragrance recognition is severely limited by the fact that our sense of smell is subjective and gets tired easily. Consequen tly, there is considerable need for an instrument that can be a substitution of the human sense of smell. Electronic nose devices from the mid 1980s are used in growing number of applications. They comprise an array of several electrochemical gas sensors...