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Wyniki wyszukiwania dla: REMOTELY OPERATED ROBOT VEHICLE, CHEMICAL WARFARE AGENT, UNEXPLODED ORDNANCE DISPOSAL
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Taking advantage of symmetries: gathering of asynchronous oblivious robots on a ring
PublikacjaW pracy rozważano problem rendezvous (spotkania, zebrania) dla zbioru bezpamięciowych robotów umieszczonych na wierzchołkach cyklu nieskierowanego, niewyposażonych w urządzenia komunikacyjne. Przyjęto model systemu rozproszonego występujący w literaturze pod nazwą asynchronicznego systemu z cyklami Look-Compute-Move. Problem istnienia rozwiązania rozwiązano dla wszystkich konfiguracji poczatkowych składających się z więcej niż...
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Wyznaczanie położenia trójwymiarowego sita w przestrzeni roboczej robota
PublikacjaSystemy wizyjne są coraz częściej stosowane w różnego rodzaju zrobotyzowanych stanowiskach produkcyjnych do sterowania, nadzorowania oraz kontroli pracy robotów spawających. Niniejsza praca opisuje dalszy rozwój systemu wizyjnego powstałego w firmie AIC w Gdyni, którego zadaniem jest integracja danych otrzymywanych z obrazu uzyskanego z kamery oraz pochodzących z laserowego czujnika odległości. Przedstawiono sposób dopasowania...
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Projekt i wykonanie zdalnie sterowanego inspekcyjnego robota podwodnego
PublikacjaArtykuł dotyczy zagadnień związanych z projektowaniem i wykonaniem zdalnie sterowanego inspekcyjnego robota podwodnego. Przedstawiony został proces projektowania kadłuba robota oraz dobór części elektronicznej, a także zaimplementowane algorytmy sterowania i sposób komunikacji dedykowanej aplikacji z robotem. Na koniec przedstawiono wyniki badań testowych.
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Roboty mobilne o kinematyce wzorowanej na kinematyce węży
PublikacjaRoboty mobilne znajdują zastosowanie w wielu dziedzinach. W zależności od pełnionych funkcji, rodzaju i ukształtowania podłoża, po którym się poruszają oraz warunków pracy, w ich konstrukcjach wykorzystywane są różne sposoby lokomocji przy czym coraz częściej konstrukcje są wzorowane na anatomii zwierząt. Jednym z ich typów są roboty wzorowane na kinematyce ruchu węży. Jest ona odmienna od typowych rozwiązań stosowanych w rozwiązaniach...
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Occurrence of Surface Active Agents in the Environment
PublikacjaDue to the specific structure of surfactants molecules they are applied in different areas of human activity (industry, household). After using and discharging from wastewater treatment plants as effluent stream, surface active agents (SAAs) are emitted to various elements of the environment (atmosphere, waters, and solid phases), where they can undergo numerous physic-chemical processes (e.g., sorption, degradation) and freely...
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Document Agents with the Intelligent Negotiations Capability
PublikacjaThe paper focus is on augmenting proactive document-agents with built -in intelligence to enable them to recognize execution context provided by devices visited durning the business process, and to reach collaboration agreement despite of their conflicting requirements. We propose a solution based on neural networks to improve simple multi-issue negotiation between the document and the device, practically with no excessive cost...
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Algebra of ontology modules for semantic agents
PublikacjaW środowisku Sieci Semantycznej problem precyzyjnego manipulowania jednostkami wiedzy nabiera szczególnego znaczenia. W tej publikacji dyskutujemy możliwość zaadaptowania do tego celu elastycznego aparatu algebry relacyjnej. Na bazie dysksji szkicujemy pewną szczególną analogię pomiędzy bazami danych a bazami wiedzy i używamy tej analogii do wprowadzenia algebry modułów semantycznych.
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Software Agents for Computer Network Security
PublikacjaThe chapter presents applications of multi-agent technology for design and implementation of agent-based systems intended to cooperatively solve several critical tasks in the area of computer network security. These systems are Agent-based Generator of Computer Attacks (AGCA), Multi-agent Intrusion Detection and Protection System (MIDPS), Agent-based Environment for Simulation of DDoS Attacks and Defense (AESAD) and Mobile Agent...
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Approaches Towards Better Immunosuppressive Agents
PublikacjaSeveral classes of compounds are applied in clinics due to their immunosuppressive properties in transplantology and the treatment of autoimmune diseases. Derivatives of mycophe-nolic acid, corticosteroids and chemotherapeutics bearing heterocyclic moieties like methotrexate, azathioprine, mizoribine, and ruxolitinib are active substances with investigated mechanisms of action. However, improved synthetic approaches of known drugs...
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Clearing directed subgraphs by mobile agents
PublikacjaWe study several problems of clearing subgraphs by mobile agents in digraphs. The agents can move only along directed walks of a digraph and, depending on the variant, their initial positions may be pre-specified. In general, for a given subset S of vertices of a digraph D and a positive integer k, the objective is to determine whether there is a subgraph H=(V,A) of D such that (a) S is a subset of V, (b) H is the union of k directed...
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Multi-Camera Vehicle Tracking Using Local Image Features and Neural Networks
PublikacjaA method for tracking moving objects crossing fields of view of multiple cameras is presented. The algorithm utilizes Artificial Neural Networks (ANNs). Each ANN is trained to recognize images of one moving object acquired by a single camera. Local image features calculated in the vicinity of automatically detected interest points are used as object image parameters. Next, ANNs are employed to identify the same objects captured...
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An Intergrated Model of Motion, Steering, Positioning and Stabilization of an Unmanned Autonomous Maritime Vehicle
PublikacjaIn the paper the aim of an interdisciplinary research is presented. The research method is introduced. An object the unmanned autonomous maritime vehicle is briefly described. The key research problem concerns a combined model of the vehicle motion including the loads of lift and hydrodynamic nature. The model takes into account the gravity and displacement forces, resistance and thrust forces, lift and other hydrodynamic forces....
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Comparison of Different Course Controllers of Biomimetic Underwater Vehicle with Two Tail Fins
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Analysis of the possibility of determining the general characteristics using the operational data of a vehicle engine
PublikacjaThe paper presents an analysis of the possibility of determining the general characteristics using the operational data of an engine of refuse collection vehicle. Data acquisition was done by reading information from the CAN network using FMS standard (Fleet Management System), which is widely used in heavy duty vehicles since year 2002. The paper presents the analysis of the expected measurement uncertainties resulting from the...
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Evaluation of the energy efficiency of electric vehicle drivetrains under urban operating conditions
PublikacjaIn electric vehicles, as in hybrids vehicles, a very important factor affecting the energy efficiency of the powertrain is the ability to use the regenerative braking energy. Depending on the settings available in electric vehicles, the driver can choose different modes of operation: switch off the regenerative braking mode altogether, select the intensity of regenerative braking, or leave the control system in automatic mode....
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Terminal charging scheduling of battery electric buses based on vehicle routing problem
PublikacjaElectric buses are considered to be a viable solution for reducing emission in dense urban areas. However, the greater charging time is a huge challenge for operators. In this paper, charging scheduling method was elaborated based on vehicle routing problem using mixed-integer linear programming model. The main novelty of the paper is the combination of modelling aspect, namely flexible turn sequence and heterogeneous shared charging...
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Innovative Bidirectional Isolated High-Power Density On-Board Charge for Vehicle-to-Grid
PublikacjaThis paper deals with developing and implementing a bidirectional galvanically isolated on-board charger of a high-power density. The power density of the new charger was 4 kW/kg and 2.46 kW/dm3, and the maximum efficiency was 96.4% at 3.4 kW. Due to the requirement to achieve a high-power density, a single-stage inverter topology was used. Regarding switching losses, due to the topology of the circuit with so-called hard switching,...
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Examining the Impact of Distance Between VSL Road Signs on Vehicle Speed Variance
PublikacjaVariable speed limit (VSL) is an intelligent transportation system (ITS) solution for traffic management. The speed limits can be changed dynamically to adapt to traffic conditions such as visibility and traffic volume, curvature, and grip coefficient of the road surface. The VSL traffic sign location problem and attempts to solve it using computer simulation are presented in this paper. Experiments on a selected road segment,...
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COMPARISON OF NOISE EMISSION OF HCT AND CLASSIC VEHICLE COMBINATIONS FOR TIMBER TRANSPORTATION IN SWEDEN
PublikacjaBy means of a special simulation tool, the noise emission of a high-capacity heavy vehicle (11 axles) was compared to that of a classic heavy vehicle (a truck-dolly-semitrailer with 8 axles). The two cases are designated “Extended vehicle” versus “Classic vehicle” in this study, having total lengths of 34 and 25 m, respectively. The Classic vehicle represents the most common articulated heavy vehicle configuration for transport...
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Suppression of distortions in signals received from Doppler sensor for vehicle speed measurement
PublikacjaDoppler sensors are commonly used for movement detection and speed measurement. However, electromagnetic interference and imperfections in sensor construction result in degradation of the signal to noise ratio. As a result, detection of signals reflected from moving objects becomes problematic. The paper proposes an algorithm for reduction of distortions and noise in the signal received from a simple, dual-channel type of a Doppler...
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Frequency and time domain characteristics of digital control of electric vehicle in-wheel drives
PublikacjaIn-wheel electric drives are promising as actuators in active safety systems of electric and hybrid vehicles. This new function requires dedicated control algorithms, making it essential to deliver models that reflect better the wheel-torque control dynamics of electric drives. The timing of digital control events, whose importance is stressed in current research, still lacks an analytical description allowing for modeling its...
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Shore Construction Detection by Automotive Radar for the Needs of Autonomous Surface Vehicle Navigation
PublikacjaAutonomous surface vehicles (ASVs) are becoming more and more popular for performing hydrographic and navigational tasks. One of the key aspects of autonomous navigation is the need to avoid collisions with other objects, including shore structures. During a mission, an ASV should be able to automatically detect obstacles and perform suitable maneuvers. This situation also arises in near-coastal areas, where shore structures like...
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Heavy duty vehicle fuel consumption modelling using artificial neural networks
PublikacjaIn this paper an artificial neural network (ANN) approach to modelling fuel consumption of heavy duty vehicles is presented. The proposed method uses easy accessible data collected via CAN bus of the truck. As a benchmark a conventional method, which is based on polynomial regression model, is used. The fuel consumption is measured in two different tests, performed by using a unique test bench to apply the load to the engine. Firstly,...
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Model Predictive Super-Twisting Sliding Mode Control for An Autonomous Surface Vehicle
PublikacjaThis paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been...
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Method of estimating the rolling resistance coefficient of vehicle tyre using the roller dynamometer
PublikacjaThe tendency in the past few years has been to introduce tyres with lower rolling resistance coefficients to the market. This paper presents a mathematical method for determining the rolling resistance coefficients variation depending on the speed. The method uses power balance which results from automobile dynamics while rolling on chassis dynamometer. The rolling resistance coefficients of tyres obtained through ‘drum test method’,...
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Possiblities of application of recombined lysostaphin as an alternative agent in the therapy of Staphylococcus aureus mastitis
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Investigation of polyurethane elastomer–steel joints using glass lacquer as an adhesive agent
PublikacjaThis article describes an innovative method of coupling polyurethane elastomer (based on polyurethane glycolysate) with constructional steel, by implementation of a Glaspur®—glass lacquer containing latent polyurethanes and monosilane adhesion promoters. The commonly applied coupling agent is Cilbond® 45SF glue or its derivatives. Additionally, glycolysate was synthesised from polyurethane waste and 1,3-propylene glycol in 6:1...
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Eradication of LIG4-deficient glioblastoma cells by the combination of PARP inhibitor and alkylating agent
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Agent System for Managing Distributed Mobile Interactive Documents in Knowledge-Based Organizations
PublikacjaThe MIND architecture of distributed mobile interactive document is a new processing model defined to facilitate obtaining a proper solution in knowledge processes carried out by knowledge-based organizations. Such organizations have an established structure that defines document templates and knowledge process. The aim of the MIND architecture is to change the static document to mobile agents, which are designed to implement the...
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Characterization of a Unique Bordetella bronchiseptica vB_BbrP_BB8 Bacteriophage and Its Application as an Antibacterial Agent
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Phytotoxic Metabolites Produced by Diaporthella cryptica, the Causal Agent of Hazelnut Branch Canker
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Examining the Impact of Squaric Acid as a Crosslinking Agent on the Properties of Chitosan-Based Films
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Influence of the glycolysis agent on the structure of the glycolysates obtained from polyether-urethane wastes
PublikacjaW pracy zaprezentowano wybrane wyniki badań wpływu środków glikolizujących na strukturę glikolizatów otrzymywanych w procesie glikolizy odpadowych pianek polietero-uretanowych.
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Behavior Based Complete Coverage Task of Unknown Area by an Autonomous Mobile Robot SCORPION with Static Obstacles in Environment
PublikacjaIn the paper the behavior based control system of an autonomous mobile robot SCORPION is presented to execute the one of the most difficult navigation task, which is the complete coverage task of unknown area with static obstacles in the environment. The main principle assumed to design control system was that the robot should cover all area only once, if it possible, to optimize the length of path and energy consumption. All commercial...
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The Behaviour Based Area Coverage of Unknown Environment by Autonomous Mobile Robot Using Modified ''The Way of the Ox'' Algorithm
PublikacjaPrzedstawiono propozycję rozwiązania zagadnienie całkowitego pokrycia terenu w układzie autonomicznego robota mobilnego. W tym celu zmodyfikowano algorytm "siewcy" oraz opracowano odpowiedni model układu, w środowisku Matlab-Simulink. Wykonano serię badań symulacyjnych, których najistotniejsze wyniki opisano w artykule.
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Chemical fingerprint ofPotentillaspecies by using HPTLC method
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Fluorescence Measurements for chemical optical sensor of cobalt
PublikacjaW pracy zaproponowano i opisano optoelektroniczny fluorescencyjny sensor do pomiaru stężenia kobaltu w wodzie.
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A history of the physical and chemical stability of pharmaceuticals : a review
Publikacja: There is a great need for a broad range review of stability tests of active pharmaceutical ingredients (APIs) in comparison with current requirements contained in the pharmacopoeia. This review focuses on a pharmaceutical history of physical and chemical stability determination. Traditional knowledge must be considered in the context of physical stability, while new knowledge must be applied and acquired in terms of identification...
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POULTRY MANURE AS A SUBSTRATE FOR AGRICULTURE AND THE CHEMICAL INDUSTRY
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Chemical, biological and functional aspects of food lipids
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Review of ionic liquids applications in chemical processes
PublikacjaCiecze jonowe stały się obiektem zainteresowania naukowców. Składają się one z dużego organicznego kationu i małego anionu. Modyfikacje kationu i anionu pozwalają na dostosowanie ich właściwości do aktualnych potrzeb. Rozpuszczają one szerokie spektrum związków organicznych i nieorganicznych związków. Mogą zatem z powodzeniem zastąpić dotychczas stosowane tradycyjne rozpuszczalniki. Znajdują zastosowanie jako medium reakcyjne,...
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Chemical pretreatment of feed water for membrane distillation
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Application of nonlinearity measures to chemical sensor signals
PublikacjaSzumy rezystancji sensorów gazu zawierają istotną informację, która może być przedstawiona nie tylko przez ich gęstość widmową mocy. Analiza tych szumów za pomocą różnych miar nieliniowości może prowadzić do znacznego wzrostu selektywności i czułości czujników gazu. Stwierdzono, że dla dostępnych na rynku czujników gazu zastosowanie funkcji bispektrum dostarcza dodatkowej informacji, potrzebnej do detekcji różnych gazów. Analizując...
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Succinite, Baltic Amber: A Chemical Masterpiece of Nature
PublikacjaSuccinite, Baltic amber, is one of the most appreciated fossil resins. Its beauty has fascinated people since prehistoric times. It is a substance, and also gemstone, whose uniqueness is due to its compelling, though still not fully understood, physicochemical nature. In this article, some facts about the physical and chemical properties of succinite in order to find an answer for questions about the unique properties of this resin,...
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Selected Methods for the Chemical Phosphorylation and Thiophosphorylation of Phenols
PublikacjaThis Focus Review gathers together a selection of methods for the chemical phosphorylation of phenols that employ three‐ and four‐coordinate phosphorus compounds. Phosphorylated scaffolds can exhibit enhanced properties compared to their non‐phosphorylated analogues, such as increased biological activity and increased/decreased solubility; as such, phosphorus compounds have gained more and more interest in organic and medicinal...
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On the joint time-frequency characteristics of chemical oscillations
PublikacjaZaprezentowano rezultaty analizy czasowo-częstotliwościowej rejestrów potencjałowych oscylacyjnej reakcji Biełousowa-Żabotyńskiego (BŻ). Wybraną reprezentację czasowo-częstotliwościową w postaci algorytmu STFT zastosowano do analizy typowych przebiegów reakcji BŻ, prowadzonej w układzie zamkniętym. Zaprezentowano spektrogramy STFT ukazujące czasowo-częstotliwościową strukturę oscylacji regularnych, mieszanych i chaotycznych. Na...
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Square root RC Nyquist filter of fractional delay
PublikacjaIn this paper we propose a discrete-time FIR (finite impulse response) filter which couples the role of square root Nyquist filter with fractional delay filter. This filter enables to substitute for a cascade of square root RC (SRRC) Nyquist filter and fractional delay filter in one device/algorithm. The aim is to compensate for transmission delay in communication system. Statistically defined performances, e.g. BER (bit error...
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Carrot root size distribution in response to biostimulant application
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Complex Root Finding Algorithm Based on Delaunay Triangulation
PublikacjaA simple and flexible algorithm for finding zeros of a complex function is presented. An arbitrary-shaped search region can be considered and a very wide class of functions can be analyzed, including those containing singular points or even branch cuts. The proposed technique is based on sampling the function at nodes of a regular or a self-adaptive mesh and on the analysis of the function sign changes. As a result, a set of candidate points...
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On root finding algorithms for complex functions with branch cuts
PublikacjaA simple and versatile method is presented, which enhances the complex root finding process by eliminating branch cuts and branch points in the analyzed domain. For any complex function defined by a finite number of Riemann sheets, a pointwise product of all the surfaces can be obtained. Such single-valued function is free of discontinuity caused by branch cuts and branch points. The roots of the new function are the same as the...