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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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Innovative rehabilitation lifts – mechanics in medical devices
PublikacjaMechanical devices are now widely used in physiotherapy and other rehabilitation processes. Particular importance is attached to devices enabling easy and effective transport of disabled people. The article presents innovative designs of rehabilitation lifts offered by the Polish manufacturer of lifts and medical accessories, LeviCare company. Moreover, the main assumptions of the research and development project implemented by...
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System Supporting Speech Perception in Special Educational Needs Schoolchildren
PublikacjaThe system supporting speech perception during the classes is presented in the paper. The system is a combination of portable device, which enables real-time speech stretching, with the workstation designed in order to perform hearing tests. System was designed to help children suffering from Central Auditory Processing Disorders.
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Multi agent grid systems
PublikacjaThis chapter presents an idea of merging grid and volunteer systemswith multi agent systems. It gives some basics concerning multi agentsystem and the most followed standard. Some deliberations concerningsuch an existing systems were made in order to finally present possibilities of introducing agents into the Comcute system.
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On the existence of homoclinic type solutions of inhomogenous Lagrangian systems
PublikacjaWe study the existence of homoclinic type solutions for a class of inhomogenous Lagrangian systems with a potential satisfying the Ambrosetti-Rabinowitz superquadratic growth condition and a square integrable forcing term. A homoclinic type solution is obtained as a limit of periodic solutions of an approximative sequence of second order differential equations.
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Determination of energy-transfer distributions in ionizing ion-molecule collisions
PublikacjaThe main objective of this study is to determine the energy transfer occuring in ion-molecule collisions. In order to solve this problem, we followed two approaches; the first one by validating a purely experimental method and the second one by testing a new theoretical model M3C (Microcanonical Metropolis Monte Carlo).
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Thermographic imaging of electrochemical double layer capacitors during cycling charging - discharging 0 - 2,7 V at 534 mA. Sample J53, run #2.
Dane BadawczeDataset contains thermal images of prototype electrochemical double layer capacitor taken during cyclic charging - discharging. The sample was charged to 2,7 V and discharged to 10 mV by constant current 534 mA. Sample J53, experiment run #2. The period of images is 30 minutes in order to observe slow temperature fluctuations.The images were taken...
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Thermographic imaging of electrochemical double layer capacitors during cycling charging - discharging 0 - 2,7 V at 534 mA. Sample J53, run #5.
Dane BadawczeDataset contains thermal images of prototype electrochemical double layer capacitor taken during cyclic charging - discharging. The sample was charged to 2,7 V and discharged to 10 mV by constant current 534 mA. Sample J53, experiment run #5. The period of images is 30 minutes in order to observe slow temperature fluctuations.The images were taken...
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Thermographic imaging of electrochemical double layer capacitors during cycling charging - discharging 0 - 2,7 V at 534 mA. Sample J52.
Dane BadawczeDataset contains thermal images of prototype electrochemical double layer capacitor taken during cyclic charging - discharging. The sample was charged to 2,7 V and discharged to 10 mV by constant current 534 mA. Sample J52. The period of images is 30 minutes in order to observe slow temperature fluctuations. The images were taken with thermographic...
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Thermographic imaging of electrochemical double layer capacitors during cycling charging - discharging 0 - 2,7 V at 534 mA. Sample J53, run #3.
Dane BadawczeDataset contains thermal images of prototype electrochemical double layer capacitor taken during cyclic charging - discharging. The sample was charged to 2,7 V and discharged to 10 mV by constant current 534 mA. Sample J53, experiment run #3. The period of images is 30 minutes in order to observe slow temperature fluctuations.The images were taken...
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Thermographic imaging of electrochemical double layer capacitors during cycling charging - discharging 0 - 2,7 V at 534 mA. Sample J53, run #7.
Dane BadawczeDataset contains thermal images of prototype electrochemical double layer capacitor taken during cyclic charging - discharging. The sample was charged to 2,7 V and discharged to 10 mV by constant current 534 mA. Sample J53, experiment run #7. The period of images is 30 minutes in order to observe slow temperature fluctuations.The images were taken...
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Thermographic imaging of electrochemical double layer capacitors during cycling charging - discharging 0 - 2,7 V at 534 mA. Sample J53, run #6.
Dane BadawczeDataset contains thermal images of prototype electrochemical double layer capacitor taken during cyclic charging - discharging. The sample was charged to 2,7 V and discharged to 10 mV by constant current 534 mA. Sample J53, experiment run #6. The period of images is 30 minutes in order to observe slow temperature fluctuations.The images were taken...
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Korozja w środowisku ropy naftowej. Czynniki i monitorowanie
PublikacjaPrzedstawiono analizy właściwości ropy naftowej z punktu widzenia zawartych w niej czynników korozyjnych oraz ich wpływu na korozję stali w trakcie procesu destylacji ropy naftowej. Krytycznej analizie poddane zostały możliwości oferowane przez współczesne techniki pomiarowe. Wskazano na istotność prowadzenia kompleksowego programu oceny ropy, monitorowania korozji oraz stosowania ochrony inhibitorowej w celu ochrony instalacji...
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Photoelectron-photoabsorption (PePa) database
PublikacjaIn this paper a recently launched Photoelectron-Photoabsorption Database is presented. The database was developed in order to gather all the photoelectron and photoabsorption spectra measured by various collaborators over the years as well as to ease the access to the data to the potential users. In the paper the main features of the database were described and its outline explained.
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Investigation of electrocatalytic gas sensor properties in presence of chlorine
PublikacjaIn this paper performance of an electrocatalytic sensor in presence of chlorine is investigated. Presented studies concern sensor prepared in ceramic technology based on NASICON as a solid electrolyte with two round shaped platinum electrodes. Measurements in different temperatures have been performed in order to determine optimal sensor working temperature.
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Bending of a Three-Layered Plate with Surface Stresses
PublikacjaWe discuss here the bending deformations of a three-layered plate taking into account surface and interfacial stresses. The first-order shear deformation plate theory and the Gurtin-Murdoch model of surface stresses will be considered and the formulae for stiffness parameters of the plate are derived. Their dependence on surface elastic moduli will be analyzed.
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ANALIZA STANU TECHNICZNEGO RUROCIĄGÓW: WODY PRZeMYSŁOWEJ I SOLANKI
PublikacjaPracę wykonano na zlecenie Przedsiębiorstwa Badawczo-Wdrożeniowego "HYDRO-POMP" Sp. z o.o. ul. Wróblewskiego 19, 93-578 Łódź. Wykonawcą zlecenia jest Politechnika Gdańska, Wydział Chemiczny, Katedra Elektrochemii, Korozji i Inżynierii Materiałowej, 80-233 Gdańsk, ul. G. Narutowicza 11/12. Celem pracy była analiza stanu technicznego i badania dwóch rurociągów: solanki oraz wody przemysłowej. Badania wykonywano w warunkach terenowych...
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Symulacja skrócenia procesu kompletacji z wykorzystaniem karty przebiegu czynności na przykładzie wybranego marketu DIY
PublikacjaW artykule przeanalizowano zagadnienia dotyczące gospodarki magazynowej, wykorzystania infrastruktur magazynowej i manipulacyjnej oraz zagospodarowania przestrzeni magazynowej w zakresie realizowanych procesów w magazynie wybranego marketu budowlanego DIY (ang. Do-It-Yourself). Z wykorzystaniem takich narzędzi, jak mapa procesu oraz karta przebiegu czynności przeprowadzono analizę procesu kompletacji towarów dla wybranego zamówienia...
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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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Evolution of the nanostructure of Pt and Pt–Co polymer electrolyte membrane fuel cell electrocatalysts at successive degradation stages probed by X-ray photoemission
PublikacjaWe present a set of XPS (X-ray photoemission spectroscopy) measurements and detailed data-analysis of electrodes for polymer electrolyte membrane fuel cell (PEMFC) based on carbon supported catalysts (Pt and Pt–Co) subjected to a step-like potential cycling (accelerated degradation test). The results of the measurements complete and corroborate parallel TEM (transmission electron microscopy), XRD (X-ray diffraction) and XAS (X-ray...
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The supramolecular organization of self-assembling chlorosomal bacteriochlorophyll c, d, or e mimics
PublikacjaBacteriochlorophylls (BChls) c, d, and e are the main light-harvesting pigments of green photosynthetic bacteria that self-assemble into nanostructures within the chlorosomes forming the most efficient antennas of photosynthetic organisms. All previous models of the chlorosomal antennae, which are quite controversially discussed because no single crystals could be grown so far from these organelles, involve a strong hydrogen-bonding...
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Mechanism of antifreeze protein functioning and the “anchored clathrate water” concept
PublikacjaIn liquid water, there is a natural tendency to form aggregates that consist of water molecules linked by hydrogen bonds. Such spontaneously formed aggregates are surrounded by a "sea" of disordered water molecules, with both forms remaining in equilibrium. The process of creating water aggregates also takes place in the solvation water of proteins, but in this case the interactions of water molecules with the protein surface shift...
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Ti/TiO2 nanotubes sensitized PbS quantum dots as photoelectrodes applied for decomposition of anticancer drugs under simulated solar energy
PublikacjaOne of the challenges in research into photoelectrocatalytic (PEC) degradation of pollutants is finding the appropriate photoanode material, which has a significant impact on the process efficiency. Among all others, photoelectrodes based on an ordered TiO2 nanotube arrays are a promising material due to well-developed surface area and efficient charge separation. To increase the PEC activity of this material, the SILAR method was...
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On Dynamic Extension of a Local Material Symmetry Group for Micropolar Media
PublikacjaFor micropolar media we present a new definition of the local material symmetry group considering invariant properties of the both kinetic energy and strain energy density under changes of a reference placement. Unlike simple (Cauchy) materials, micropolar media can be characterized through two kinematically independent fields, that are translation vector and orthogonal microrotation tensor. In other words, in micropolar continua...
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A 3D-FEM mesh technique for fast analysis of waveguide problems containing rotatable tuning elements
PublikacjaIn this paper a meshing technique for 3D Finite Element Method is presented. It allows for fast analysis and optimization of the waveguide structures, which contain rotatable tuning elements. In the proposed procedure a thin layer of varying cylindrical mesh buffer is introduced in order to reuse unchanged mesh and FEM matrices in the rest of the domain.
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Niskonapięciowy filtr analogowy CMOS wykorzystujący konwerter ujemnoimpedancyjny
PublikacjaA low-voltage 3-order low-pass CMOS filter based on the novel current inversion type negative impedance converter (CNIC) is presented. It shows a badwidth of 10 MHz at 400 uW power consumption and 2 V supply voltage when realized in a 0.35 um CMOS process.
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Niskonapięciowy filtr analogowy CMOS oparty o konwerter ujemno-impedancyjny
PublikacjaA low-voltage 3-order low-pass CMOS filter based on the novel current inversion type negative impedance converter (CNIC) is presented. It shows a badwidth of 10 MHz at 400 uW power consumption and 2 V supply voltage when realized in a 0.35 um CMOS process.
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Healthier and Environmentally Responsible Sustainable Cities and Communities. A New Design Framework and Planning Approach for Urban Illumination
PublikacjaAlthough sustainability and sustainable development are both considered necessary practices in various fields today, a recent analysis showed that the Sustainable Development Goal SDG11: Sustainable Cities and Communities established by the United Nations does not address urban illumination and its impact. This oversight is of concern because research carried out in the last 20+ years indicates artificial light at night (ALAN)...
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Low-Loss 3D-Printed Waveguide Filters Based on Deformed Dual-Mode Cavity Resonators
PublikacjaThis paper introduces a new type of waveguide filter with smooth profile, based on specially designed dual-mode (DM) cavity resonators. The DM cavity design is achieved by applying a shape deformation scheme. The coupling between the two orthogonal cavity modes is implemented by breaking the symmetry of the structure, thus eliminating the need for additional coupling elements. The modes operating in the cavity are carefully analyzed...
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Temperature influences on shear stability of a nanosize plate with piezoelectricity effect
PublikacjaPurpose The purpose of this paper is to predict the mechanical behavior of a piezoelectric nanoplate under shear stability by taking electric voltage into account in thermal environment. Design/methodology/approach Simplified first-order shear deformation theory has been used as a displacement field. Modified couple stress theory has been applied for considering small-size effects. An analytical solution has been taken into account...
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A Compact Basis for Reliable Fast Frequency Sweep via the Reduced-Basis Method
PublikacjaA reliable reduced-order model (ROM) for fast frequency sweep in time-harmonic Maxwell’s equations by means of the reduced-basis method is detailed. Taking frequency as a parameter, the electromagnetic field in microwave circuits does not arbitrarily vary as frequency changes, but evolves on a very low-dimensional manifold. Approximating this low-dimensional manifold by a low dimension subspace, namely, reduced-basis space, gives...
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Morse decompositions for a non-linear Leslie population model with 2 varying parameters
Dane BadawczeThis dataset contains selected results of rigorous numerical computations conducted in the framework of the research described in the paper "A database schema for the analysis of global dynamics of multiparameter systems" by Z. Arai, W. Kalies, H. Kokubu, K. Mischaikow, H. Oka, P. Pilarczyk, published in SIAM Journal on Applied Dynamical Systems (SIADS),...
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Morse decompositions for a non-linear Leslie population model with 3 varying parameters
Dane BadawczeThis dataset contains selected results of rigorous numerical computations conducted in the framework of the research described in the paper "A database schema for the analysis of global dynamics of multiparameter systems" by Z. Arai, W. Kalies, H. Kokubu, K. Mischaikow, H. Oka, P. Pilarczyk, published in SIAM Journal on Applied Dynamical Systems (SIADS),...
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Melody Harmonization with Interpolated Probabilistic Models
PublikacjaMost melody harmonization systems use the generative hidden Markov model (HMM), which model the relation between the hidden chords and the observed melody. Relations to other variables, such as the tonality or the metric structure, are handled by training multiple HMMs or are ignored. In this paper, we propose a discriminative means of combining multiple probabilistic models of various musical variables by means of model interpolation....
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Security and Anonymity in Agent Systems
PublikacjaMany agent systems have been developed and suggested for commercial application. However, in spite of the significant potential offered by the agent paradigm, the lack of such important properties as security, anonymity and untracebility especially in open dynamical environment, such as the Internet, has blocked the active implementation of agent technologies. Protecting agent systems poses a more demanding challenge comparing...
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Azimuth estimator for a rotating array radar with wide beam
PublikacjaThe problem of estimating azimuth in rotating array radar with a beam, wide in the azimuth plane, is considered. Under such setup the echo signal usually has a very low signal to noise ratio, but the number of observations is large, because of long dwell times. The proposed solution is based on the maximum likelihood approach, but it employs simplifications which facilitate its implementation in real time systems. Results, obtained...
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Green Lean in Services
PublikacjaThe study presents the basic aspects of the improvement of the company useing Green Lean concept. The authors refer to the basics of the concept, present its theoretical aspects together with a revew of possible actions to eliminate the green waste. All these considerations refer to the service activities of any kind in order to maintain holistic approach of the research.
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Robust unsupervised georeferencing algorithm for aerial and satellite imagery
PublikacjaIn order to eliminate a human factor and fully automate the process of embedding the spatial localization information in a remote sensed image the integrated georeferencing method was proposed. The paper presents this unsupervised and robust approach which is comprised of pattern recognition, using SIFT-based detector, and RANSAC based outlier removal with matching algorithm.
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Moment resistance of I-section end-plate roof girder splices; a case study
PublikacjaThis article deals with the problem of determining the resistance of end-plate connections. A nonlinear FEM model of the joint was constructed in order to predict its carrying capacity. A standard code procedure was done as well. The analyses have been done to assess atypical end-plate joints designed and constructed as a part of roof structures.
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Charge dependence of fragmentation process induced by ion collisions with furan molecule
PublikacjaThe goal of this work is to describe the system evolution after ion-molecule interaction. We combine different quantum chemistry and statistical mechanics approaches in order to give extended description of the process. Herein we report on a recent study of the fragmentation mechanism of neutral, singly- and doubly-ionized furan molecule in the gas phase.
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A Stabilized Complex LOBPCG Eigensolver for the Analysis of Moderately Lossy EM Structures
PublikacjaThis letter proposes a stabilized locally optimal block preconditioned conjugate gradient method for computing selected eigenvalues for complex symmetric generalized non-Hermitian eigenproblems. Effectiveness of the presented approach is demonstrated for a moderately lossy dual-mode dielectric resonator, modeled using finite-element method with higher order elements
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Identification of the mechanical properties of the skin by electromechanical impedance analysis of resonant piezoelectric actuator
PublikacjaThis paper is devoted to the analysis and verification of developed piezoelectric sensor/actuator for measuring the mechanical properties of soft tissues, especially human skin. The key element of the measurement structure is an electromechanical system that uses both the reverse piezoelectric effect (vibration generation – stimulation of the tissues in the appropriate frequency range) and direct piezoelectric effect (system response...
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A Self-Equalized Waveguide Filter With Frequency-Dependent (Resonant) Couplings
PublikacjaThis letter presents a design of a fifth-order linear phase filter with frequency-dependent couplings. The filter is composed of a triplet that is directly coupled to two resonators at the input and output. To provide group delay flattening a cross-coupling in the trisection has a strongly dispersive character with a negative slope parameter. To achieve this, an E-plane stub with a septum was used. To further improve the filter...
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Smart experience engineering to support collaborative design problems based on constraints modelling
PublikacjaEngineering design is a knowledge intensive process. Experts' experiences from different product life-cycle stages play a key role in problem solving during design decision making by linking up knowledge to find better solutions for a specific design problem. Different approaches have been used to support Collaborative and Concurrent Product Design, such as Constraint Satisfaction Problem (CSP) modelling. Additionally, due to the...
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PLANOWANIE BEZPIECZNYCH I „ZIELONYCH” SYSTEMÓW KOMUNIKACYJNYCH
PublikacjaIn order to achieve balanced forms of urban infrastructure, which ensure comfort, safety and spatial order, when designing new solutions it is necessary to adopt a multi-facet approach which will combine everything that the local residents need but will respond harmoniously to the existing cultural landscape. It is therefore necessary to work out complex undertakings for the sake of planning and developing urban space. Coherent...
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Electroelastic biaxial compression of nanoplates considering piezoelectric effects
PublikacjaIn the present theoretical work, it is assumed that a piezoelectric nanoplate is connected to the voltage meter which voltages have resulted from deformation of the plate due to in-plane compressive forces whether they are critical buckling loads or arbitrary forces. In order to derive governing equations, a simplified four-variable shear deformation plate theory has been employed using Hamilton’s principle and Von-Kármán...
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A New Type of Macro-Elements for Efficient Two-Dimensional FEM Analysis
PublikacjaThis letter deals with a model order reduction technique applicable for driven and eigenvalue problems solved using the finite element method (FEM). It allows one to efficiently compute electromagnetic parameters of structures comprising small features that require strong local mesh refinement. The subdomains of very fine mesh are separated from the global domain as so called macro-elements that undergo model reduction. The macro-elements...
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Investigation of the 16-year and 18-year ZTD Time Series Derived from GPS Data Processing
PublikacjaThe GPS system can play an important role in activities related to the monitoring of climate. Long time series, coherent strategy, and very high quality of tropospheric parameter Zenith Tropospheric Delay (ZTD) estimated on the basis of GPS data analysis allows to investigate its usefulness for climate research as a direct GPS product. This paper presents results of analysis of 16-year time series derived from EUREF Permanent Network...
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A selectively reduced degree basis for efficient mixed nonlinear isogeometric beam formulations with extensible directors
PublikacjaThe effect of higher order continuity in the solution field by using NURBS basis function in isogeometric analysis (IGA) is investigated for an efficient mixed finite element formulation for elastostatic beams. It is based on the Hu–Washizu variational principle considering geometrical and material nonlinearities. Here we present a reduced degree of basis functions for the additional fields of the stress resultants and strains...
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Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following
PublikacjaIn this paper, we demonstrate a method for self-organization and leader following of nonholonomic robotic swarm based on spring damper mesh. By self-organization of swarm robots we mean the emergence of order in a swarm as the result of interactions among the single robots. In other words the self-organization of swarm robots mimics some natural behavior of social animals like ants among others. The dynamics of two-wheel robot...