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Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator
PublikacjaThis paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance can be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPC as a known proficient nonlinear control approach should be improved by the uncertainty estimator...
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Towards a method for detecting large roll motions suitable for oceangoing ships
PublikacjaThe concept of autonomous merchant ships is quite recent. The increasing interest in autonomous vessels is nowadays calling for smart technologies that are supposed to replace the human actions on board. This involves troublesome issues related to ship safety. In the future, decision-making processes that are conventionally performed by human beings on board ship will be moved ashore to the control centre and maybe even completely...
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Bipartite theory of graphs: outer-independent domination
PublikacjaLet $G = (V,E)$ be a bipartite graph with partite sets $X$ and $Y$. Two vertices of $X$ are $X$-adjacent if they have a common neighbor in $Y$, and they are $X$-independent otherwise. A subset $D \subseteq X$ is an $X$-outer-independent dominating set of $G$ if every vertex of $X \setminus D$ has an $X$-neighbor in $D$, and all vertices of $X \setminus D$ are pairwise $X$-independent. The $X$-outer-independent domination number...
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Emotion Recognition and Its Applications
PublikacjaThe paper proposes a set of research scenarios to be applied in four domains: software engineering, website customization, education and gaming. The goal of applying the scenarios is to assess the possibility of using emotion recognition methods in these areas. It also points out the problems of defining sets of emotions to be recognized in different applications, representing the defined emotional states, gathering the data and...
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Reliable Surrogate Modeling of Antenna Input Characteristics by Means of Domain Confinement and Principal Components
PublikacjaA reliable design of contemporary antenna structures necessarily involves full-wave electromagnetic (EM) analysis which is the only tool capable of accounting, for example, for element coupling or the effects of connectors. As EM simulations tend to be CPU-intensive, surrogate modeling allows for relieving the computational overhead of design tasks that require numerous analyses, for example, parametric optimization or uncertainty...
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Objectivization of phonological evaluation of speech elements by means of audio parametrization
PublikacjaThis study addresses two issues related to both machine- and subjective-based speech evaluation by investigating five phonological phenomena related to allophone production. Its aim is to use objective parametrization and phonological classification of the recorded allophones. These allophones were selected as specifically difficult for Polish speakers of English: aspiration, final obstruent devoicing, dark lateral /l/, velar nasal...
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Active Learning Based on Crowdsourced Data
PublikacjaThe paper proposes a crowdsourcing-based approach for annotated data acquisition and means to support Active Learning training approach. In the proposed solution, aimed at data engineers, the knowledge of the crowd serves as an oracle that is able to judge whether the given sample is informative or not. The proposed solution reduces the amount of work needed to annotate large sets of data. Furthermore, it allows a perpetual increase...
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Robust Model Predictive Control for Autonomous Underwater Vehicle–Manipulator System with Fuzzy Compensator
PublikacjaThis paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order totrack desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performancecan be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPCas a known proficient nonlinear control approach should be improved by the...
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A probabilistic-driven framework for enhanced corrosion estimation of ship structural components
PublikacjaThe work proposes a probabilistic-driven framework for enhanced corrosion estimation of ship structural components using Bayesian inference and limited measurement data. The new approach for modelling measurement uncertainty is proposed based on the results of previous corrosion tests that incorporate the non-uniform character of the corroded surface of structural components. The proposed framework's basic features are outlined,...
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Information content of systems as a physical principle
PublikacjaTo explain the conceptual gap between classical and quantum and other, hypothetical descriptions of the world, several principles have been proposed. So far, all these principles have not explicitly included the uncertainty relation. Here we introduce an information content principle ( ICP ) which represents a constrained uncertainty principle. The principle, by taking into account the encoding and decoding properties of a single physical...
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NON-LINE ANALYSIS OF STIFFNESS IN COMPRESSION CONDITIONS
PublikacjaThe analyzes were aimed at demonstrating the influence of parameters describing the deformation of the structure on the uncertainty of critical force, and the impact of technological imperfections on stress uncertainty in compression conditions. In a linear buckling analysis, the problem is considered only for the initial, permanent state of the stiffness matrix. In the case of demonstrating the influence of initial deformations...
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Designing Control and Protection Systems with Regard to Integrated Functional Safety and Cybersecurity Aspects
PublikacjaThis article addresses current problems of risk analysis and probabilistic modelling for functional safety management in the life cycle of safety-related systems. Two main stages in the lifecycle of these systems are distinguished, namely the design and operation. The risk analysis and probabilistic modelling differ in these stages in view of available knowledge and data. Due to the complexity and uncertainty involved, both qualitative...
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Outlier detection method by using deep neural networks
PublikacjaDetecting outliers in the data set is quite important for building effective predictive models. Consistent prediction can not be made through models created with data sets containing outliers, or robust models can not be created. In such cases, it may be possible to exclude observations that are determined to be outlier from the data set, or to assign less weight to these points of observation than to other points of observation....
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Robust output prediction of differential – algebraic systems – application to drinking water distribution system
PublikacjaThe paper presents the recursive robust output variable prediction algorithm, applicable for systems described in the form of nonlinear algebraic-differential equations. The algorithm bases on the uncertainty interval description, the system model, and the measurements. To improve the algorithm efficiency, nonlinear system models are linearised along the nominal trajectory. The effectiveness of the algorithm is demonstrated on...
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On reliability assessment of ship machinery system in different autonomy degree; A Bayesian-based approach
PublikacjaAnalyzing the reliability of autonomous ships has recently attracted attention mainly due to epistemic uncertainty (lack of knowledge) integrated with automatic operations in the maritime sector. The advent of new random failures with unrecognized failure patterns in autonomous ship operations requires a comprehensive reliability assessment specifically aiming at estimating the time in which the ship can be trusted to be left unattended....
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Monitoring of Chlorine Concentration in Drinking Water Distribution Systems Using an Interval Estimator
PublikacjaThis paper describes the design of an interval observer for the estimation of unmeasured quality state variables in drinking water distribution systems. The estimator utilizes a set bounded model of uncertainty to produce robust interval bounds on the estimated state variables of the water quality. The bounds are generated by solving two differential equations. Hence the numerical efficiency is sufficient for on-line monitoring...
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Context-Aware Indexing and Retrieval for Cognitive Systems Using SOEKS and DDNA
PublikacjaVisual content searching, browsing and retrieval tools have been a focus area of interest as they are required by systems from many different domains. Context-based, Content-Based, and Semantic-based are different approaches utilized for indexing/retrieving, but have their drawbacks when applied to systems that aim to mimic the human capabilities. Such systems, also known as Cognitive Systems, are still limited in terms of processing...
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Szacowanie niepewności pomiarowej układu do diagnostyki łożysk opartej na analizie mocy chwilowej.
PublikacjaW artykule przedstawiono metodologię szacowania niepewności pomiarowej wykorzystanego do badań diagnostycznych łożysk silników indukcyjnych układu pomiarowego, składającego się z dzielnika napięcia oraz bocznika. Wyniki tych analiz pozwalają spre-cyzować, jakiej niepewności pomiarowej można się spodziewać, dokonując badań diagnostycznych łożysk silników indukcyjnych w określonych warunkach, na stanowisku badawczym metodą pomiaru...
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Szacowanie niepewności pomiarowej układu do diagnostyki łożysk opartej na analizie mocy chwilowej
PublikacjaW artykule przedstawiono sposób szacowania niepewności układu pomiarowego, składającego się z dzielnika napięcia oraz bocznika, który wykorzystano do badań diagnostycznych łożysk silników indukcyjnych. Wyniki analizy metrologicznej pozwalają sprecyzować, jakiej niepewności pomiarowej można się spodziewać, dokonując badań diagnostycznych łożysk silników indukcyjnych w określonych warunkach, na stanowisku badawczym metodą...
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On the partition dimension of trees
PublikacjaGiven an ordered partition Π={P1,P2,…,Pt} of the vertex set V of a connected graph G=(V,E), the partition representation of a vertex v∈V with respect to the partition Π is the vector r(v|Π)=(d(v,P1),d(v,P2),…,d(v,Pt)), where d(v,Pi) represents the distance between the vertex vv and the set Pi. A partition Π of V is a resolving partition of G if different vertices of G have different partition representations, i.e., for every...
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Application of Regression Line to Obtain Specified Number of Points in Reduced Large Datasets
PublikacjaModern measurement techniques like scanning technology or sonar measurements, provide large datasets, which are a reliable source of information about measured object, however such datasets are sometimes difficult to develop. Therefore, the algorithms for reducing the number of such sets are incorporated into their processing. In the reduction algorithms based on the...
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ANYTIME POLYNOMIAL HEURISTIC ALGORITHM FOR PARTITIONING GROUPS OF DATA WITH PRESERVING CLASS PROPORTIONS FOR CROSS-VALIDATION
PublikacjaThe article describes a problem of splitting data for k-fold cross-validation, where class proportions must be preserved, with additional constraint that data is divided into groups that cannot be split into different cross-validation sets. This problem often occurs in e.g. medical data processing, where data samples from one patient must be included in the same cross-validation set. As this problem is NP-complete, a heuristic...
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Multi-objective optimization for assessment of topological modification in UWB antennas
PublikacjaThis paper addresses an issue of systematic and rigorous assessment of effects of topological modifications on the performance of compact UWB antennas. Application of fast surrogate-assisted multi-objective optimization procedures allows us for obtaining, in a practically acceptable timeframe, a set of designs representing the best possible trade-offs between conflicting objectives (here, antenna size minimization and reduction...
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Metrological analysis of precision of the system of delivering a water capsule for explosive production of water aerosol
PublikacjaIn this paper an analysis of precision of the system controlling delivery by a helicopter of water-capsule designed for extinguishing large scale fires is presented. The analysis was performed using the numerical method of distribution propagation (Monte Carlo method) supplemented with results of application of the uncertainty propagation method. In addition the optimum conditions for the airdrop are determined to ensure achievement...
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2-bondage in graphs
PublikacjaA 2-dominating set of a graph G=(V,E) is a set D of vertices of G such that every vertex of V(G)D has at least two neighbors in D. The 2-domination number of a graph G, denoted by gamma_2(G), is the minimum cardinality of a 2-dominating set of G. The 2-bondage number of G, denoted by b_2(G), is the minimum cardinality among all sets of edges E' subseteq E such that gamma_2(G-E') > gamma_2(G). If for every E' subseteq E we have...
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Musical Instrument Identification Using Deep Learning Approach
PublikacjaThe work aims to propose a novel approach for automatically identifying all instruments present in an audio excerpt using sets of individual convolutional neural networks (CNNs) per tested instrument. The paper starts with a review of tasks related to musical instrument identification. It focuses on tasks performed, input type, algorithms employed, and metrics used. The paper starts with the background presentation, i.e., metadata...
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Scaling of numbers in residue arithmetic with the flexible selection of scaling factor
PublikacjaA scaling technique of numbers in resudue arithmetic with the flexible selection of the scaling factor is presented. The required scaling factor can be selected from the set of moduli products of the Residue Number System (RNS) base. By permutation of moduli of the number system base it is possible to create many auxilliary Mixed-Radix Systems associated with the given RNS with respect to the base, but they have different sets...
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Nowe wyzwania, nowe rozwiązania. Jak przedsiębiorstwo branży IT odnajduje się w erze VUCA?
PublikacjaZmienność, niepewność, złożoność i niejednoznaczność, określane akronimem VUCA (volatility, uncertainty, complexity, ambiguity) towarzyszą funkcjonowaniu każdego przedsiębiorstwa. Jak wykorzystać te nieodłączne cechy otoczenia przedsiębiorstw jako szanse dla ich rozwoju to wy-zwania stojące przed nimi, a zarazem pytanie badawcze artykułu. Celem artykułu jest wykazanie, na przykładzie przedsiębiorstwa branży IT, że analiza zmienności,...
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Structural optimization of microjet array cooling system
PublikacjaThe single phase heat transfer from an upward facing, horizontal copper surface to arrays of impinging water jets was experimentally investigated. Experimental configuration allows for a free-surface unconfined jets flow. Square nozzles 50 × 100 μm arranged in four different geometries were used. Additionally, for the set of two jets array geometry was varied by adjusting the nozzle to nozzle distance. The area averaged heat transfer...
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Comparison of noise reduction methods in radiometric correlation measurements of two-phase liquid-gas flows
PublikacjaTwo-phase liquid-gas flows occur frequently in the mining, energy, chemical, and petrochemical industries. One of non-contact methods used to analyse these flows is the gamma ray absorption method. However, the signals received from radiation detectors contain a significant stochastic noise, which makes them difficult to analyse. The article describes four methods of noise reduction in cross-correlation measurements of water-air...
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A Subspace-Splitting Moment-Matching Model-Order Reduction Technique for Fast Wideband FEM Simulations of Microwave Structures
PublikacjaThis article describes a novel model-order reduction (MOR) approach for efficient wide frequency band finite-element method (FEM) simulations of microwave components. It relies on the splitting of the system transfer function into two components: a singular one that accounts for the in-band system poles and a regular part that has no in-band poles. In order to perform this splitting during the reduction process, the projection...
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Design-Oriented Two-Stage Surrogate Modeling of Miniaturized Microstrip Circuits with Dimensionality Reduction
PublikacjaContemporary microwave design heavily relies on full-wave electromagnetic (EM) simulation tools. This is especially the case for miniaturized devices where EM cross-coupling effects cannot be adequately accounted for using equivalent network models. Unfortunately, EM analysis incurs considerable computational expenses, which becomes a bottleneck whenever multiple evaluations are required. Common simulation-based design tasks include...
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Double bondage in graphs
PublikacjaA vertex of a graph is said to dominate itself and all of its neighbors. A double dominating set of a graph G=(V,E) is a set D of vertices of G such that every vertex of G is dominated by at least two vertices of D. The double domination number of a graph G, denoted by gamma_d(G), is the minimum cardinality of a double dominating set of G. The double bondage number of G, denoted by b_d(G), is the minimum cardinality among all sets...
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Using the Fingerprinting Method to Customize RTLS Based on the AoA Ranging Technique
PublikacjaReal-time Locating Systems (RTLSs) have the ability to precisely locate the position of things and people in real time. They are needed for security and emergency applications, but also for healthcare and home care appliances. The research aims for developing an analytical method to customize RTLSs, in order to improve localization performance in terms of precision. The proposed method is based on Angle of Arrival (AoA), a ranging...
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The EU Tyre Noise Label: The problem with measuring the noise level of only a few of all tyre variants
PublikacjaThe STEER project, described in another Inter-Noise 2022 paper, has evaluated the performance of the noise label of the European tyre label. The major finding was that uncertainties of the tyre/road noise measurements were higher than should be accepted. One of the worst uncertainty sources was found to be the common practice to measure only some tyres of all sizes or variants within a tyre line, to save money. Generally, only...
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Interaction of low energy electrons with formic acid monomer, dimer and trimer
PublikacjaConfigurations of the formic acid monomer, dimer and trimer are presented. We have calculated the total energies for these structures. We have considered also the negatively charged clusters and discussed the possible pathways of interaction of low energy electrons with monomers and clusters. Calculations have been executed using 6-311G** and 6-311++G** basis sets. The electron affinities of monomer and clusters are presented....
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Monitoring the gas turbine start-up phase on the platform using a hierarchical model based on Multi-Layer Perceptron networks
PublikacjaVery often, the operation of diagnostic systems is related to the evaluation of process functionality, where the diagnostics is carried out using reference models prepared on the basis of the process description in the nominal state. The main goal of the work is to develop a hierarchical gas turbine reference model for the estimation of start-up parameters based on multi-layer perceptron neural networks. A functional decomposition...
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Simplified probabilistic analysis of settlement of cyclically loaded soil stratum using point estimate method
PublikacjaThe paper deals with the probabilistic analysis of settlement of a non-cohesive soil layer subjected to cyclic loading. Originally, the settlement assessment is based on deterministic compaction model which requires integration of a set of differential equations. However, making use of the Bessel functions the settlement of the soil stratum can be calculated by means of simplified algorithm. The compaction model parameters were...
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Modeling and Accuracy Assessment of Determining the Coastline Course Using Geodetic, Photogrammetric and Satellite Measurement Methods: Case Study in Gdynia Beach in Poland
PublikacjaThe coastal environment represents a resource from both a natural and economic point of view, but it is subject to continuous transformations due to climate change, human activities, and natural risks. Remote sensing techniques have enormous potential in monitoring coastal areas. However, one of the main tasks is accurately identifying the boundary between waterbodies such as oceans, seas, lakes or rivers, and the land surface....
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Robustified estimators of radar elevation angle using a specular multipath model
PublikacjaWe consider the problem of estimating the elevation angle in the presence of multipath. The proposed method belongs to the class of maximum likelihood-like estimators and employs a modified specular reflection model that accounts for the uncertainty of the steering vector by assuming that they are subject to unknown deterministic perturbations with bounded norms. The analysis, performed using convex optimization methods, allows...
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Exploring the impact of cultural context on eye-tracking studies of architectural monuments in selected European cities: Sustainable heritage management.
PublikacjaSustainable management of architectural heritage requires conducting an inclusive diagnosis of users’ opinions, considering both residents and tourists as the recipients of urban space. Given the cultural diversity within these groups, proposing the use of eye-trackers (ET) as an alternative to traditional public consultation prompts the need to assess the method’s advantages and disadvantages. It remains uncertain whether individuals...
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A model development and experimental verification for a vapour microturbine with a permanent magnet synchronous generator
PublikacjaVapour microturbines with permanent magnet synchronous generators are implemented in micropower plants for dispersed power generation systems. The dynamic model of such a microturbine set was developed and presented. The developed relations result from the generic equations. Experimental data for two different working medium were used for model verification. A microturbine set model was tested during the changes in the parameters...
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Performance-driven yield optimization of high-frequency structures by kriging surrogates
PublikacjaUncertainty quantification is an important aspect of engineering design, as manufacturing toler-ances may affect the characteristics of the structure. Therefore, quantification of these effects is in-dispensable for adequate assessment of the design quality. Toward this end, statistical analysis is performed, for reliability reasons, using full-wave electromagnetic (EM) simulations. Still, the computational expenditures associated...
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Evolutionary music composition system with statistically modeled criteria
PublikacjaThe paper concerns an original evolutionary music composition system. On the basis of available solutions, we have selected a finite set of music features which appear to have a key impact on the quality of composed musical phrases. Evaluation criteria have been divided into rule-based and statistical sub-sets. Elements of the cost function are modeled using a Gaussian distribution defined by the expected value and variance obtained...
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Non-isolating bondage in graphs
PublikacjaA dominating set of a graph $G = (V,E)$ is a set $D$ of vertices of $G$ such that every vertex of $V(G) \setminus D$ has a neighbor in $D$. The domination number of a graph $G$, denoted by $\gamma(G)$, is the minimum cardinality of a dominating set of $G$. The non-isolating bondage number of $G$, denoted by $b'(G)$, is the minimum cardinality among all sets of edges $E' \subseteq E$ such that $\delta(G-E') \ge 1$ and $\gamma(G-E')...
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Non-isolating 2-bondage in graphs
PublikacjaA 2-dominating set of a graph G=(V,E) is a set D of vertices of G such that every vertex of V(G)D has at least two neighbors in D. The 2-domination number of a graph G, denoted by gamma_2(G), is the minimum cardinality of a 2-dominating set of G. The non-isolating 2-bondage number of G, denoted by b_2'(G), is the minimum cardinality among all sets of edges E' subseteq E such that delta(G-E') >= 1 and gamma_2(G-E') > gamma_2(G)....
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Innowacje jako przedmiot obrotu rynkowego
PublikacjaW artykule podjęto problem cech innowacji jako produktów, które na świecie, coraz częściej również w Polsce, stają się przedmiotem obrotu rynkowego. Różnią się zdecydowanie od produktów, oferowanych przez przedsiębiorstwa produkcyjno-usługowe na rynkach dóbr konsumpcyjnych, także gotowych dóbr przemysłowych. Kluczowe różnice wynikają z tego, że innowacja może być produktem - przedmiotem obrotu rynkowego już jako idea i koncepcja,...
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New potent steroid sulphatase inhibitors based on 6-(1-phenyl-1H-1,2,3-triazol-4-yl)naphthalen-2-yl sulphamate derivatives
PublikacjaIn the present work, we report a new class of potent steroid sulphatase (STS) inhibitors based on 6-(1-phenyl-1H-1,2,3-triazol-4-yl)naphthalen-2-yl sulphamate derivatives. Within the set of new STS inhibitors, 6-(1-(1,2,3-trifluorophenyl)-1H-1,2,3-triazol-4-yl)naphthalen-2-yl sulphamate 3L demonstrated the highest activity in the enzymatic assay inhibiting the STS activity to 7.98% at 0.5 µM concentration. Furthermore, to verify...
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Connection matrix theory for discrete dynamical systems
PublikacjaIn [C] and [F1] the connection matrix theory for Morse decomposition is developedin the case of continuous dynamical systems. Our purpose is to study the case of discrete timedynamical systems.
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Dynamic risk assessment in autonomous vehicles motion planning
PublikacjaArguing that an autonomous mobile system is sufficiently safe to operate in presence of other vehicles and objects is an important element in development of such systems. Traditional approach to assure safety is to distinguish between safe and unsafe area and prevent the autonomous vehicle from entering the unsafe area. The paper presents a model of autonomous vehicle control system which uses risk assessment...