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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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Wear estimation of current collector contact strips by analysis of a 3D scanning results
PublikacjaThe technical condition of current collector contact strips is very important when operational reliability of railway transportation is considered. The authors proposed a novel measurement system based on a 3D camera to register the shape and dimensions of the current collector contact strips surface. The system was installed above the railway track for tests in target ambient. During the trial operation a few dozen of contact...
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Hazardous material-related propagation of the effects of train accidents in the subgrade
PublikacjaA large part of the transport of hazardous materials is carried out by rail. Therefore, the security of these transports is becoming increasingly important. Every catastrophe involving dangerous materials has a negative impact on the participants of the incident and the surrounding environment, because its range is generally not local. It follows that in the event of a catastrophe, its effects should be minimized and remediation...
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A New Critical Risk on the Block: Cyber Risks as an Example of Technical Knowledge Risks in Organizations
PublikacjaThe breakout of the COVID-19 pandemic has intensified the appearance of many additional technical knowledge risks in organizations. Cyber risks in particular are becoming a great challenge for organizations. At the same time, academic research on cyber risks, their costs, consequences and ability of overcoming them is still scarce and fragmented. In order to fill this gap, the paper is aimed to identify different types of cyber...
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Degradacja stali chromowo-molibdenowych pod wpływem procesów technologicznych w reaktorach wodorowych
PublikacjaPrzedstawiono charakterystyki materiałów przeznaczonych do budowy wysokociśnieniowych reaktorów wodorowych: konwencjonalnych stali chromowo-molibdenowych 2,25/3Cr-1Mo i stali zmodyfikowanych wanadem 2,25/3Cr-1Mo-0,25V. Szczególną uwagę zwrócono na procesy degradacji struktury i właściwości stali w wyniku długotrwałej eksploatacji w środowisku reaktorów: kruchość odpuszczania i przemiany węglików, wysokotemperaturowy atak wodorowy,...
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Projekt optymalnego łuku poziomego jako element nauczania kształtowania układów geometrycznych toru
PublikacjaAspekt geometryczny stanowi ważny element w nauczaniu projektowania dróg szynowych na studiach 1-go i 2-go stopnia na Wydziale Inżynierii Lądowej i Środowiska Politechniki Gdańskiej. Podstawowym, najczęściej spotykanym w praktyce elementem linii kolejowej w planie jest łuk poziomy z krzywymi przejściowymi. Z tego względu na Wydziale Inżynierii Lądowej i Środowiska Politechniki Gdańskiej wdrożono ćwiczenie projektowe ujmujące to...
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Projektowanie poszerzeń międzytorzy w aspekcie zmian dopuszczalnych wartości parametrów geometrycznych i kinematycznych
PublikacjaW latach 2014–2015 w Polsce wprowadzono długo oczekiwane nowelizacje warunków technicznych, jakim powinny odpowiadać budowle kolejowe i ich usytuowanie (zawartych w Dzienniku Ustaw nr 151 poz. 987 z 1998 r.) oraz Warunków technicznych Id-1. Wprowadziły one istotne zmiany w dopuszczalnych wartościach parametrów geometrycznych i kinematycznych, mających bezpośredni wpływ na projektowanie geometrii toru kolejowego. Z uwagi na duże...
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Obliczanie robót ziemnych przy modernizacji linii kolejowych
PublikacjaW artykule omówiono kolejny etap prac nad programem MUGO dotyczący obliczeń robót ziemnych. Program jest związany z modernizacją układów geometrycznych toru kolejowego. W pracy pokazano metodykę obliczania pól powierzchni nasypów na linii jednotorowej.
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Testing of Software for the Planning of a Linear Object GNSS Measurement Campaign under Simulated Conditions
PublikacjaThe precision of a linear object measurement using satellite techniques is determined by the number and the relative position of the visible satellites by the receiver. The status of the visible constellation is described by DOP. The obtained geometric coefficient values are dependent on many variables. When determining these values, field obstacles at the receiver location and satellite positions changing with time must be taken...
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Experimental validation of the rolling resistance measurement method including updated draft standard
PublikacjaThe main objective of ROSANNE is the harmonisation and standardisation of the measurement of skid resistance, noise emission and rolling resistance of road pavements. Regarding rolling resistance characterisation, a draft for standardization of a harmonized procedure for classification of road surfaces across Europe has been prepared within WP3 (deliverable 3.5). The procedure deals with the direct measurement on real roads of...
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Ochrona odbiorników GNSS przed zakłóceniami celowymi
PublikacjaArtykuł dotyczy zastosowania algorytmów przestrzennego cyfrowego przetwarzania sygnałów dla potrzeb selektywnej eliminacji sygnałów zakłócających pracę odbiorników nawigacji satelitarnej GNSS. Omówiono podatność tych odbiorników na ataki elektroniczne typu zagłuszanie oraz spoofing. Polegają one na celowej emisji sygnałów niepożądanych w paśmie pracy systemu. Następnie przedstawiono koncepcję przeciwdziałania tego rodzaju zakłóceniom...
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Zarządzanie zaufaniem w bezprzewodowych sieciach czujników - studium przypadku
PublikacjaW artykule przedstawiono studium przypadku dotyczące zastosowania bezprzewodowej sieci czujników do wspomagania pacjenta z nadwagą w jego środowisku domowym. Przyjęto, że sieć wykorzystuje metodę rozproszonego zarządzania zaufaniem i pokazano, że metoda ta umożliwia wykrycie i izolację czujników realizujących działania sprzeczne z polityką sieci. Ilościowe oszacowanie czasu niezbędnego do wykrycia takich...
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Using Minimum Actuators to Control Shape and Stress of a Double Layer Spherical Model Under Gravity and Lateral Loadings
PublikacjaSpherical domes are picturesque structures built in developed countries to attract tourists. Due to horizontal and vertical overloading, the structures’ attractive shapes may be disturbed, and some members' stress may exceed the elastic level. In this paper, the shape and stress of a deformed double-layer spherical numerical model due to simultaneous lateral and vertical loadings are controlled, meanwhile, the number of actuators...
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Biophotonic low-coherence sensors with boron-doped diamond thin layer
PublikacjaLow-coherence sensors using Fabry-Perot interferometers are finding new applications in biophotonic sensing, especially due to the rapid technological advances in the development of new materials. In this paper we discuss the possibility of using boron-doped nanodiamond layers to protect mirror in a Fabry-Perot interferometer. A low-coherence sensor using Fabry-Perot interferometer with a boron-doped nanodiamond (B-NCD) thin protective...
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A Geometrically Simple Compact Wideband Circularly Polarized Antenna
PublikacjaA compact broadband wide-slot circular polarization (CP) antenna is proposed. An inverted L-shape parasitic strip at the open end of a microstrip line extension and a slot modification is applied to attain wideband CP. The advantage of this technique is simplicity which makes it readily re-designable for different frequency bands. To demonstrate the concept, three designs working at different frequencies are obtained. The redesign...
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Modelowanie zmiennej krzywizny na długości toru zwrotnego rozjazdu
PublikacjaW pracy została przedstawiona analityczna metoda wyznaczania krzywizny toru zwrotnego rozjazdu kolejowego posiadającego na swojej długości odcinki zmiennej krzywizny. Taki rozjazd jest dedykowany w głównym stopniu kolejom dużych prędkości. Rozpatrzono dwa odrębne przypadki obejmujące liniowy przebieg krzywizny oraz przebieg nieliniowy, w postaci wielomianowej. Uzyskane rozwiązania problemu pozwalają na przyjmowanie dowolnych wartości...
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Analityczna weryfikacja dokładności komercyjnych programów komputerowych wspomagających projektowanie układów geometrycznych toru
PublikacjaW pracy podjęto próbę wyjaśnienia kwestii uzyskiwanej dokładności w projektowaniu układów geometrycznych toru z wykorzystaniem komercyjnych programów komputerowych typu CAD. Użytkownikowi najczęściej nie są znane zasady działania tych programów, w tym również wykorzystywane algorytmy obliczeniowe. Opisano w sposób ogólny funkcjonowanie dwóch wiodących programów. Przedstawiono własną, analityczną metodę projektowania układów torowych,...
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QUEUE I
WydarzeniaFaculty of Applied Physics and Mathematics of Gdańsk Tech invites international students to the next summer school - Quantum and Molecules I (QUEUE I), organized within the ScienceApp project.
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CyberEye: New Eye-Tracking Interfaces for Assessment and Modulation of Cognitive Functions beyond the Brain
PublikacjaThe emergence of innovative neurotechnologies in global brain projects has accelerated research and clinical applications of BCIs beyond sensory and motor functions. Both invasive and noninvasive sensors are developed to interface with cognitive functions engaged in thinking, communication, or remembering. The detection of eye movements by a camera offers a particularly attractive external sensor for computer interfaces to monitor,...
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Molecular Imaging and Nanotechnology—Emerging Tools in Diagnostics and Therapy
PublikacjaPersonalized medicine is emerging as a new goal in the diagnosis and treatment of diseases. This approach aims to establish differences between patients suffering from the same disease, which allows to choose the most effective treatment. Molecular imaging (MI) enables advanced insight into molecule interactions and disease pathology, improving the process of diagnosis and therapy and, for that reason, plays a crucial role in personalized...
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Mobile wireless measurement system for potatoes storage management
PublikacjaThe paper discusses the idea and the design of a remote control system for a storage management of agricultural products which temperature may rise in a result of biological processes during the storage. Exemplary potatoes storehouse is discussed as an application of the automation system. Because of existing buildings and infrastructure in the farm, wireless data transfer system has been proposed for both sensors to data acquisition...
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MATCHED FILTER APPROACH FOR MICROSEISMIC SIGNAL PROCESSING OF REAL DATA FROM EAST POMERANIA SHALE GAS
PublikacjaThe microseismic monitoring is a method of monitoring of fracture propagation during hydraulic fracturing (HF)process. An array of several hundred geophones is placed on the surface to record little ground tremors induced by fracturing process. Filtration and summation of signals from geophones is essential to identify and locate fracturing events from underground. Authors propose a method of matched filtering, that is usually...
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Network society: a concept of smart information management
PublikacjaAutomatic enhancement of Internet broadcasted news has been recently gaining increasing importance and interest. Existing applications and models of textual Event Detection in online media are based on the analysis of news distributed via RSS (Rich Site Summary called also Really Simple Syndication) channels or available at news websites. It assumes that each piece of news is equally available to the reader and, therefore, describes...
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Agricultural products' storage control system
PublikacjaThe paper discusses the idea and the design of a remote control system for storage management of agricultural products which temperature may rise as the result of biological processes during the storage. An actual potatoes storehouse is discussed as an application for the proposed automation system. Because of existing buildings and infrastructure at the farm, wireless data transfer system has been proposed for communication between...
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New transition curve adapted to railway operational requirements
PublikacjaThe paper points to the limited possibilities of improving the existing situation in the area of transition curves used in geometrical layouts of the railway track. Difficulties in the practical implementation and maintenance of very small horizontal ordinates of the transition curve and the ordinates of the gradient due to cant in the initial section, appearing on smooth transition curves, were indicated. The main reason for this...
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Evolutionary Planning of Safe Ship Tracks in Restricted Visibility
PublikacjaThe paper presents the continuation of the author's research on ship track planning by means of Evolutionary Algorithms (EA). The presented method uses EA to search for an optimal set of safe tracks for all ships involved in an encounter. Until now the method assumed good visibility – compliance with standard rules of the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS, 1972). However, in restricted...
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Objectivization of Audio-Visual Correlation analysis
PublikacjaSimultaneous perception of audio and visual stimuli often causes the concealment or misrepresentation of information actually contained in these stimuli. Such effects are called the ''image proximity effect'' or the ''ventriloquism effect'' in literature. Until recently, most research carried out to understand their nature was based on subjective assessments. The Authors of this paper propose a methodology based on both subjective...
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Fashion Games, Fashion in Games and Gamification in Fashion. A First Map
PublikacjaFashion companies have been using different forms of entertainment such as film and television, sport, music, museums, and photography as inspiration sources and as communication and marketing channels for decades. However, in recent years, they have also started to consider the gaming world. While gaming offers a potential revenue stream from sales of physical and digital clothing, change in it is also the gateway to access new...
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Exergy analysis of the Szewalski cycle with a waste heat recovery system
PublikacjaThe conversion of a waste heat energy to electricity is now becoming one of the key points to improve the energy efficiency in a process engineering. However, large losses of a low-temperature thermal energy are also present in power engineering. One of such sources of waste heat in power plants are exhaust gases at the outlet of boilers. Through usage of a waste heat regeneration system it is possible to attain a heat rate of approximately...
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MSRL and the Real-Life Processes of Capturing and Implementing the "Urban Innovation"
PublikacjaResult of the MSRL workshop, five research projects, reflect on a broader process of exchange of the ideas between the cities, that is occurring in the real life and became one of the driving factors of the urban development nowadays. The objective of the MSRL research - concepts, which help to advance the development of the cities, support the improvement of the quality of urban environment or meet the future challenges, can be...
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Analysis of the relationship between the length of eye fixation and the parameters of advertisements visible from the road
PublikacjaIn Poland, many advertising signs addressed to motorists are located along the roadside. Advertisements do not serve any traffic related purpose and can distract drivers making them less reliable and as a consequence, reduce road safety. The existing regulations only apply to the carriageway. The research is conducted as part of the RID project. The objective of the RID project is to create a "Manual for positioning roadside advertising...
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Jolanta Kowal dr hab.
OsobyJolanta Kowal has a Post-doctoral Degree in Social Sciences (dr hab., DSc) in the field of economics and finance, an assistant professor, researcher, and lecturer in the Institute of Psychology of Wroclaw University, and a professor of the Gdańsk University of Technology, Poland, a Jungian analyst. Jolanta from 2014 held functions in the Board of the Polish Chapter of the Association for Information Systems (PLAIS) (President 2015-2018,...
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Towards spectroscopic monitoring of photoelectrodes: In-situ Raman photoelectrochemistry of a TiO2/prussian blue photoanode
PublikacjaHere, novel in-situ Raman photoelectrochemical measurements are performed. The obtained results have proved that it is possible to track the progress of a photoelectrochemical reaction that takes place on a semiconducting electrode using the spectroscopic method. As an exemplary system, the Ti/TiO2/Prussian blue electrode is investigated. Since TiO2 is an n-type semiconductor, it cannot act as an efficient anode in dark conditions....
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Investigating Noise Interference on Speech Towards Applying the Lombard Effect Automatically
PublikacjaThe aim of this study is two-fold. First, we perform a series of experiments to examine the interference of different noises on speech processing. For that purpose, we concentrate on the Lombard effect, an involuntary tendency to raise speech level in the presence of background noise. Then, we apply this knowledge to detecting speech with the Lombard effect. This is for preparing a dataset for training a machine learning-based...
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Release Kinetics Studies of Early-Stage Volatile Secondary Oxidation Products of Rapeseed Oil Emitted during the Deep-Frying Process
PublikacjaThe research concerns the use of proton transfer reaction mass spectrometer to track real-time emissions of volatile secondary oxidation products released from rapeseed oil as a result of deep-frying of potato cubes. Therefore, it was possible to observe a sudden increase of volatile organic compound (VOC) emissions caused by immersion of the food, accompanied by a sudden release of steam from a potato cube and a decrease of the...
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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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DYNAMIC ANALYSIS OF HISTORIC RAILWAY BRIDGES IN POLAND IN THE CONTEXT OF ADJUSTING THEM TO PENDOLINO TRAINS
PublikacjaThe article presents the dynamic analysis of the historic railway bridge in Tczew as an example of the usefulness of such type of bridge for high-speed trains. The model of the bridge and the simulation of rolling stock passage was performed in SOFISTIK program. The scope of work includes experimental studies, the solution of the problem concerning the correct solution features dynamic model takes into account the dependencies...
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Distributed Framework for Visual Event Detection in Parking Lot Area
PublikacjaThe paper presents the framework for automatic detection of various events occurring in a parking lot basing on multiple camera video analysis. The framework is massively distributed, both in the logical and physical sense. It consists of several entities called node stations that use XMPP protocol for internal communication and SRTP protocol with Jingle extension for video streaming. Recognized events include detecting parking...
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Considerations of Adaptive Digital Communications in Underwater Acoustic Channel
PublikacjaDown-link communication (DLC) and air transportable communication (ATAC) buoys as well as autonomous underwater vehicles (AUV) use acoustic links for gathering oceanographic data from underwater monitoring systems. The underwater channel propagation conditions are diverse in nature and require a special adaptive approach to the communication system design. The article presents a methodology for the communication systems design,...
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Mechanical and structural investigations of wings of selected insect species
PublikacjaThis paper presents research and measurements leading to obtaining the Young’s modulus of wing bearing structures of selected insect species. A small testing machine intended for three-point bending and equipped with instruments registering low forces was constructed for the needs of the experiment. The machine was used to perform numerous bending tests of wings of three species of insects (obtained from a breeding farm): Attacus...
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A few steps more towards NPT bound entanglement
PublikacjaIn this paper, existence of bound entangled states with nonpositive partial transpose (NPT) is considered. As one knows, existence of such states would in particular imply nonadditivity of distillable entanglement. Moreover, it would rule out a simple mathematical description of the set of distillable states. The particular state, known to be 1-copy nondistillable and supposed to be bound entangled, is considered. The problem of...
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Dobre praktyki w zarządzaniu jakością kształcenia na studiach doktoranckich uczelni technicznych - na przykładzie Politechniki Gdańskiej
PublikacjaW pierwszej części opracowania zaprezentowano europejskie standardy w zakresie zarządzania jakością kształcenia przyjęte przez europejskie gremia zajmujące się szkolnictwem wyższym oraz omówiono poziom zaawansowania ich implementacji w polskim systemie szkolnictwa wyższego. W części drugiej omówiono znaczenie zorientowanego procesowo systemu zarządzania dla organizacji i realizowania przez nią celów strategicznych. Rozdział trzeci...
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Ergonomia we współczesnej architekturze
PublikacjaArtykuł stanowi refleksję nad współczesną architekturą w ujęciu rozwiązań ergonomicznych. Analizą objęto nieprawidłowości wybranych obiektów użyteczności publicznej. Szczególnie zwrócono uwagę na części wspólne: strefa wejściowa – w terenie i w budynku, klatka schodowa, recepcja (pomieszczenia do przyjmowania klientów, sekretariaty, poczekalnie), sanitariat. Przedstawiane przestrzenie przeznaczone m.in. dla osób w różnym wieku,...
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Wpływ zmian dopuszczalnych wartości parametrów geometrycznych i kinematycznych na podatność modernizacyjną układów torowych
PublikacjaPodatnością modernizacyjną nazywamy stopień przystosowania analizowanego odcinka linii kolejowej do zmiany prędkości eksploatacyjnej. Skala możliwych zmian prędkości (w sensie jej zwiększenia) jest wypadkową istniejącego układu geometrycznego linii w planie, ograniczeń lokalizacyjnych oraz dopuszczalnych wartości parametrów geometrycznych i inematycznych. Jakiekolwiek zmiany tych ostatnich wpływają bezpośrednio na obliczenie elementarnych...
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The significance of the properties of water for the working cycle of the kinesin molecular motor
PublikacjaExplicit solvent molecular dynamics simulations were performed in this study to investigate and discuss several aspects of the influence of the properties of water on the working cycle of a molecular motor from the kinesin superfamily. The main objects of attention were: the binding of the neck linker and the association of the kinesin and the tubulin. The docking of the neck linker is considered a crucial event during the working...
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Maximum Power Point Technique (MPPT) for PV System Based on Improved Pert and Observe (P&O) Method with PI Controller
PublikacjaPhotovoltaic power generation system has key rule in electricity production. Although, it is clean renewable energy with unlimited resources but it has some drawbacks in efficiency. In order to maximize the efficiency, PV array must drive at maximum power point. For the reason so, several algorithms are used in PV system to track MPP and reduce the...
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Fault Diagnostics in PEMFC Stacks by Evaluation of Local Performance and Cell Impedance Analysis
PublikacjaStarvation, flooding, and dry‐out phenomena occur in polymer electrolyte membrane fuel cells (PEMFCs), due to heterogeneous local conditions, material inhomogeneity, and uneven flow distribution across the single cell active area and in between the individual cells. The impact of the load level and air feed conditions on the performance was identified for individual single cells within a 10‐cell stack. Analysis of the current density...
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IR-THERMAL IMAGING IN CARDIOSURGERY
PublikacjaA method for monitoring the state of the myocardium during cardiosurgical interventions based on thermal IR imaging is presented. These methods called Static Thermography and Active Dynamic Thermography (ADT) uses information about distribution of temperature on the surface and an external excitation source to induce thermal transient processes in a tested object. Recording time series of thermograms allows to calculate parametric...
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Assessment of the Steering Precision of a Hydrographic Unmanned Surface Vessel (USV) along Sounding Profiles Using a Low-Cost Multi-Global Navigation Satellite System (GNSS) Receiver Supported Autopilot
Publikacjahe performance of bathymetric measurements by traditional methods (using manned vessels) in ultra-shallow waters, i.e., lakes, rivers, and sea beaches with a depth of less than 1 m, is often difficult or, in many cases, impossible due to problems related to safe vessel maneuvering. For this reason, the use of shallow draft hydrographic Unmanned Surface Vessels (USV) appears to provide a promising alternative method for performing...
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CERTIFICATION SYSTEM AS A TOOL FOR IMPROVING THE SAFETY AND SUSTAINABILITY OF SCHOOL-RELATED TRAVELS
PublikacjaDespite the well-established physical, social, emotional, cognitive, and spatial benefits of active and autonomous school commuting of children and adolescents', many are driven by car. Pilot surveys and field research held in 2019 in 10 Gdansk primary schools confirmed this trend. The article presents a certification system for schools, commissioned by the City of Gdańsk, which is an element of a systemic solution shaping patterns...