The paper presents a new geotechnical solution indicating a possibility of effective building structures protection. The presented solutions enable minimization of negative effects of underground mining operations. Results of numerical modelling have been presented for an example of design of preventive ditches reducing the influence of mining operations on the ground surface. To minimize the mining damage or to reduce its reach it is reasonable to look for technical solutions, which would enable effective protection of building structures. So far authors concentrated primarily on the development of building structure protection methods to minimize the damage caused by the underground mining. The application of geotechnical methods, which could protect building structures against the mining damage, was not considered so far in scientific papers. It should be noticed that relatively few publications are directly related to those issues and there are no practical examples of effective geotechnical protection. This paper presents a geotechnical solution indicating a possibility of effective protection of building structures. The presented solutions enable minimization of negative effects of underground mining operations. Results of numerical modelling have been presented for an example of design of preventive ditches reducing the influence of mining operations on the ground surface. The calculations were carried out in the Abaqus software, based on the finite element method.
This article describes stability issues of main excavations in deep copper mines in Poland, from the perspective of mining work safety. To protect main transportation and ventilation routes, parts of rock are left untaken to form so-called protective pillars. The problem was to determine the size of main excavations protective pillars in deep underground copper mines in which provide stability of main excavations. The results of numerical simulations of the stability of protective pillars under specific geological and mining conditions are presented, covering: underground depth and width of protective pillar, number, size and layout geometry of protected excavations, as well as the impact of parameters of surrounding gob areas. Problem was solved applying numerical simulations based on the finite element method which were performed in a plane state of strain by means of Phase2 v. 8.0 software. The behavior of the rock mass under load was described by an elastic-plastic model. The Mohr-Coulomb criterion was used to assess the stability of the rock mass. The results of numerical modeling have practical applications in the designing of protective pillars primarily in determining their width. These results were used to prepare new guidelines for protective pillars in Polish copper mines in the Legnica-Glogow Copper District.
Based on laboratory tests of selected properties of secondary waste (ashes and dusts) from municipal waste incineration plants, the possibility of recovering some properties of waste in the process of filling the post-mining voids in the salt mine was assessed. The furnace bottom ash and the waste from the flue gas treatment from one of the national incineration plants were examined. The grain curves of dry waste and the density of the prepared mixtures were characterized. Twelve variants of the compositions of ash-based mixtures with varying proportions of the individual components were considered, taking into account both fresh water and brine. For each variant of the composition, the amount of redundant liquid appeared as well as the time of solidifying of the mixture to a certain strength and the compressibility values obtained. Considering the possibility of transporting mixtures in mines by means of pipelines at relatively long distances, and allowing the filling of large salt chambers to be filled and evenly filled, flow parameters were determined. In addition, the permeability of solidified waste samples was investigated, showing the potential for reducing the strength of the waste mass due to the action of water or brine. The technical feasibility of eliminating redundant liquid in the binding process has been confirmed, which is particularly important in salt mines. Preliminary values for the amount of binder (5%÷10%) to be added to the mixtures to obtain the specified strength properties of the artificially formed mass at Rc = 0.5 MPa. Attention was paid to the important practical aspect resulting from the rapid increase of this type of waste in the comming years in Poland and at the same time vast potential for their use in salt mining, where we have a huge capacity of salt chambers available.
Development of mineral deposits located at significant depth may be carried out by means of vertical shafts. Shaft sinking technology usually requires a number of works to be carried out, including the selection of appropriate excavating techniques adapted to geological and hydrological conditions, including natural hazards. The production technology and the machines used determine the level of sinking costs and execution period. The article discusses the excavating technologies currently used across the world. Then the assumptions, concept and construction of a new generation of shaft sinking system were presented. The proposed new solution of the system and the excavating technology allow for parallel execution of key processes related to winning, loading, transport and shaft wall-side lining, which significantly increases the progress of sinking. The shaft sinking system was created by scientists from AGH in cooperation with KOPEX – Przedsiębiorstwo Budowy Szybów S. A. and Instytut Techniki Górniczej KOMAG.
Rock excavation is a basic technological operation during tunnelling and drilling roadways in underground mines. Tunnels and roadways in underground mines are driven into a rock mass, which in the particular case of sedimentary rocks, often have a layered structure and complicated tectonics. For this reason, rock strata often have highly differentiated mechanical properties, diverse deposition patterns and varied thicknesses in the cross sections of such headings. In the field of roadheader technology applied to drilling headings, the structure of a rock mass is highly relevant when selecting the appropriate cutting method for the heading face. Decidedly differentiated values of the parameters which describe the mechanical properties of a particular rock layer deposited in the cross section of the drilled tunnel heading will influence the value and character of the load on the cutting system, generated by the cutting process, power demand, efficiency and energy consumption of the cutting process. The article presents a mathematical modelling process for cutting a layered structure rock mass with the transverse head of a boom-type roadheader. The assumption was made that the rock mass being cut consists of a certain number of rock layers with predefined mechanical properties, a specific thickness and deposition pattern. The mathematical model created was executed through a computer programme. It was used for analysing the impact deposition patterns of rock layers with varied mechanical properties, have on the amount of cutting power consumed and load placed on a roadheader cutting system. The article presents an example of the results attained from computer simulations. They indicate that variations in the properties of the rock cut – as cutting heads are moving along the surface of the heading face – may have, apart from multiple other factors, a significant impact on the value of the power consumed by the cutting process.
Mining ventilation should ensure in the excavations required amount of air on the basis of determined regulations and to mitigate various hazards. These excavations are mainly: longwalls, function chambers and headings. Considering the financial aspect, the costs of air distribution should be as low as possible and due to mentioned above issues the optimal air distribution should be taken into account including the workers safety and minimization of the total output power of main ventilation fans. The optimal air distribution is when the airflow rate in the mining areas and functional chambers are suitable to the existing hazards, and the total output power of the main fans is at a minimal but sufficient rate. Restructuring of mining sector in Poland is usually connected with the connection of different mines. Hence, dependent air streams (dependent air stream flows through a branch which links two intake air streams or two return air streams) exist in ventilation networks of connected mines. The zones of intake air and return air include these air streams. There are also particular air streams in the networks which connect subnetworks of main ventilation fans. They enable to direct return air to specified fans and to obtain different airflows in return zone. The new method of decreasing the costs of ventilation is presented in the article. The method allows to determine the optimal parameters of main ventilation fans (fan pressure and air quantity) and optimal air distribution can be achieved as a result. Then the total output power of the fans is the lowest which makes the reduction of costs of mine ventilation. The new method was applied for selected ventilation network. For positive regulation (by means of the stoppings) the optimal air distribution was achieved when the total output power of the fans was 253.311 kW and for most energy-intensive air distribution it was 409.893 kW. The difference between these cases showed the difference in annual energy consumption which was 1 714 MWh what was related to annual costs of fan work equaled 245 102 Euro. Similar values for negative regulation (by means of auxiliary fans) were: the total output power of the fans 203.359 kW (optimal condition) and 362.405 kW (most energy-intensive condition). The difference of annual energy consumption was 1 742 MWh and annual difference of costs was 249 106 Euro. The differences between optimal airflows considering positive and negative regulations were: the total output power of fans 49.952 kW, annual energy consumption 547 MWh, annual costs 78 217 Euro.
The process of enrichment in a jig has usually been described and analysed using particle density as a separation feature. However, a degree of particle loosening in the jig bed is affected by, inter alia, the terminal particle free settling velocity which in turn is affected by the size, density and shape of a particle. Therefore, the terminal particle settling velocity clearly characterises the feed transferred to a jig for the enrichment process. Taking the comprehensive particle geometric (particle size and shape) and physical properties (particle density) into account comes down to the calculation of the terminal particle settling velocity. The terminal particle settling velocity is therefore a complex separation feature which comprises three basic particle features (particle density, size and shape). This paper compares the effects of enrichment of coal fines in a jig, for two cases: when the commonly applied particle density is separation feature and for the particle settling velocity. Particle settling velocities were calculated in the selected three particle size fractions: –3.15+2.00, –10.00+8.00 and –20.00+16.00 mm based on the industrial testing of a jig for coal fines and detailed laboratory tests consisting in determining particle density, projective diameter and volume and dynamic particle shape coefficient. The calculated and drawn partition curves for two variants, i.e. when particle density and particle settling velocity were taken into account as the separation argument in selected particle size fractions, allowed to calculate and compare separation precision indicator. With the use of a statistical test, the assumption on the independence of random variables of the distribution of components included in the distribution of the particle settling velocity as a separation feature during enrichment in a jig was verified.
The article discusses the validation process of a certain method of balancing gas contained in the pore space of rocks. The validation was based upon juxtaposition of the examination of rocks’ porosity and the effects of comminution in terms of assessing the possibility of opening the pore space. The tests were carried out for six dolomite samples taken from different areas of the ‘Polkowice-Sieroszowice’ copper mine in Poland. Prior to the grinding process, the rocks’ porosity fell in the range of 0.3-14.8%, while the volume of the open pores was included in the 0.01-0.06 cm3/g range. The grinding process was performed using an original device – the GPR analyzer. The SEM analysis revealed pores of various size and shape on the surface of the rock cores, while at the same time demonstrating lack of pores following the grinding process. The grain size distribution curves were compared with the cumulative pore volume curves of the cores before grinding. In order to confirm the argument put forward in this paper – i.e. that comminution of a rock to grains of a size comparable with the size of the rock’s pores results in the release of gas contained in the pore space – the amount of gas released as a result of the comminution process was studied. The results of gas balancing demonstrated that the pore space of the investigated dolomites was filled with gas in amounts from 3.19 cm3/kg to 45.86 cm3/kg. The obtained results of the rock material comminution to grains comparable – in terms of size – to the size of the pores of investigated rocks, along with asserting the presence of gas in the pore space of the studied dolomites, were regarded as a proof that the method of balancing gas in rocks via rock comminution is correct.
This article presents a case study of a large wedge failure. It took place during excavation of the last bench of storage cavern with an approximate dimension of 80 m long having a depth of 8 m. The adopted intervention followed a structured approach, which included immediate rock support, geotechnical and geological investigations in the failure zone and design modifications. Back analyses of the failure zone were also carried out to assess design parameters with observed geological conditions. Re assessment in the failure zone was carried out using modified design parameters, which included shorter benches, rock support installation schemes such as longer rock bolts, reinforced ribs of shotcrete and reduced construction advances. Geotechnical monitoring in and around failure zone were carried out for recording any alarming movements in the rock mass. Initially, geotechnical monitoring was carried out in the recently excavated zone of the cavern on a daily basis. Based on continuous monitoring data for at least one week, the frequency of subsequent monitoring can be decided. In most cases the deformation of rock mass was considerably less than the alarming values which were calculated based on detailed design for different rock classes. The paper discusses the failure, investigation, cause, assessment and remedial measures to complete the construction of cavern.
The petrographic composition of coal has a significant impact on its technological and sorption properties. That composition is most frequently determined by means of microscope quantitative analyses. Thus, aside from the purely scientific aspect, such measurements have an important practical application in the industrial usage of coal, as well as in issues related to the safety in underground mining facilities. The article discusses research aiming at analyzing the usefulness of selected parameters of a digital image description in the process of automatic identification of macerals of the inertinite group using neural networks. The description of the investigated images was based on statistical parameters determined on the basis of a histogram and co-occurrence matrix (Haralick parameters). Each of the studied macerals was described by means of a 20-element feature vector. An analysis of its principal components (PCA) was conducted, along with establishing the relationship between the number of the applied components and the effectiveness of the MLP network. Based on that, the optimum number of input variables for the investigated classification task was chosen, which resulted in reduction of the size of the network’s hidden layer. As part of the discussed research, the authors also analyzed the process of classification of macerals of the inertinite group using an algorithm based on a group of MLP networks, where each network possessed one output. As a result, average recognition effectiveness of 80.9% was obtained for a single MLP network, and of 93.6% for a group of neural networks. The obtained results indicate that it is possible to use the proposed methodology as a tool supporting microscopic analyses of coal.
This paper presents a complex study of anhydrite interbeds influence on the cavern stability in the Mechelinki salt deposit. The impact of interbeds on the cavern shape and the stress concentrations were also considered. The stability analysis was based on the 3D numerical modelling. Numerical simulations were performed with use of the Finite Difference Method (FDM) and the FLAC3D v. 6.00 software. The numerical model in a cuboidal shape and the following dimensions: length 1400, width 1400, height 1400 m, comprised the part of the Mechelinki salt deposit. Three (K-6, K-8, K-9) caverns were projected inside this model. The mesh of the numerical model contained about 15 million tetrahedral elements. The occurrence of anhydrite interbeds within the rock salt beds had contributed to the reduction in a diameter and irregular shape of the analysed caverns. The results of the 3D numerical modelling had indicated that the contact area between the rock salt beds and the anhydrite interbeds is likely to the occurrence of displacements. Irregularities in a shape of the analysed caverns are prone to the stress concentration. However, the stability of the analysed caverns are not expected to be affected in the assumed operation conditions and time period (9.5 years).
The article discusses changes in Polish regulations concerning assessment of the climate hazard in underground mines. Currently, the main empirical index representing the heat strain, used in qualification of the workplace to one of the climate hazard levels in Poland is the equivalent climate temperature. This simple heat index allows easy and quick assessment of the climate hazard. To a major extent, simple heat indices have simplifications and are developed for a specific working environments. Currently, the best methods used in evaluation of microclimate conditions in the workplace are those based on the theory of human thermal balance, where the physiological parameters characterising heat strain are body water loss and internal core temperature of the human body. The article describes the results of research on usage of equivalent climate temperature to heat strain evaluation in underground mining excavations. For this purpose, the numerical model of heat exchange between man and his environment was used, taken from PN-EN ISO 7933:2005. The research discussed in this paper has been carried out considering working conditions and clothing insulation in use in underground mines. The analyses performed in the study allowed formulation of conclusions concerning application of the equivalent climate temperature as a criterion of assessment of climate hazards in underground mines.
In this paper, flysch is presented as a representative material of a wide section of the Carpathian Mountains, with some areas in Poland highlighted. The geological structure of this area is complex due to the alternating layers of blocky rock masses and soil (Vessia et al., 2017). Such a complex pattern is seen in some Alpine flysch slopes, such as the Ingelsberg landslide area (Romeo et al., 2015). Many authors are monitored, predicted landslides (Allasia et al., 2013; Bertacchini et al., 2009; Casagli et al., 2010) by sophisticated sensors. The rock-soil flysch successions have become intensively fissured as a result of their geological history, weathering (precipitation and snowmelt), and long-term water retention, especially on the surface layers. These complex materials are characterised by heterogeneous lithologies, whose mechanical properties are largely uncertain. These geological structures have also been confirmed by monitoring and control studies performed on a large number of landslides (Bednarczyk, 2014). One of the most striking phenomena is the sudden decrease in the strength parameters in the studied rocks in the direction parallel to the layers due to watering. The process is made possible by heterogeneous fractured strong rock layers with high permeability coefficients for water. This study precisely describes the phenomena occurring at the contact area between the component layers of flysch under the wet conditions of a weak plane. An elastic-plastic analysis method that considers the developed strength model at the surfaces of the contact areas (Biernatowski & Pula, 1988; Pula, 1997) has been used to estimate the load capacity for piles working under a horizontal load. The piles are part of a reliability chain (Pula, 1997) in a given construction and are the first element of concern for monitoring (Muszynski & Rybak, 2017). A particular device intended to study the dependence of the shear stress on a fixed failure surface in a controlled consolidation condition was utilized. The study was conducted for a wide range of displacements and for different values of stabilized vertical stresses of consolidation. The complexity of the processes occurring in the shear zone, presented as a detailed study of the material crack mechanics, is highlighted. The laboratory results were used to construct the mechanical model of the slip surface between the soil and rock with the description supported by a neural network (NN) approximation. The artificial NN was created as a multi-layered, easy to use approach for interpreting results and for quick reconstruction of approximated values useful for the calculations presented in laterally loaded piles. For the calculations, long, sheared strips of material were considered in a semi-analytical procedure to solve a differential equation of stability. The calculations are intended to reveal the safety indexes for a wide range of boundary tasks as the most significant indicator for design decisions.
The frictional resistance coefficient of ventilation of a roadway in a coal mine is a very important technical parameter in the design and renovation of mine ventilation. Calculations based on empirical formulae and field tests to calculate the resistance coefficient have limitations. An inversion method to calculate the mine ventilation resistance coefficient by using a few representative data of air flows and node pressures is proposed in this study. The mathematical model of the inversion method is developed based on the principle of least squares. The measured pressure and the calculated pressure deviation along with the measured flow and the calculated flow deviation are considered while defining the objective function, which also includes the node pressure, the air flow, and the ventilation resistance coefficient range constraints. The ventilation resistance coefficient inversion problem was converted to a nonlinear optimisation problem through the development of the model. A genetic algorithm (GA) was adopted to solve the ventilation resistance coefficient inversion problem. The GA was improved to enhance the global and the local search abilities of the algorithm for the ventilation resistance coefficient inversion problem.
The article presents research on the relationship between mining and used resources on the example of Gliśno gravel pit. As regards to resources, the following issues were analyzed: employees’ working time, time of running machines, fuel consumption and electricity consumption. The aim of the publication is to examine the dependencies that exist between the analyzed variables. KPI’s (Key Performance Indicators) were calculated for individual resources. The analysis presented in the publication contains data from 2008-2014.
Szelf kontynentalny położony poza 200 milami morskimi od linii podstawowej, od której mierzona jest szerokość morza terytorialnego, stanowi istotną wartość dla państw. Rozwój technologii pozwolił na gospodarcze wykorzystanie i naukowe badania odległych części dna i podziemia oceanów. Oceaniczne szelfy kontynentalne są bogate w żywe zasoby - cenne ze względu na zasoby genetyczne i ich komercyjne zastosowania. Również wiele zasobów nieożywionych znajduje się na oceanicznych szelfach, w tym węglowodory (ropa naftowa i gaz) i minerały (np. mangan, nikiel, kobalt, złoto, diamenty, miedź, cyna, tytan, żelazo, chrom i galena). W związku z tym niektóre państwa przeznaczyły znaczne środki finansowe na przeprowadzenie badań swoich szelfów kontynentalnych. Komisja ds. Granic Szelfu Kontynentalnego otrzymała siedemdziesiąt siedem wniosków i wydała dwadzieścia dziewięć zaleceń zgodnie z art. 76 ust. 8 Konwencji Narodów Zjednoczonych o prawie morza. W nadchodzących dziesięcioleciach oczekiwana jest dalsza poprawa możliwości technologicznych, pozwalających na dokładniejsze zbadanie odległych części oceanicznych szelfów kontynentalnych.
Celem opracowania jest zbadanie znaczenia argumentacji ekonomicznej w międzynarodowych sporach morskich. W artykule wyjaśniono najpierw, czym jest międzynarodowy spór morski, jakie są jego źródła i rodzaje, jakim zasadom podlega ich rozwiązywanie. Ustalono także, co należy rozumieć przez argumenty ekonomiczne, podkreślając ich relatywną naturę, a także pokazując potencjał, jakim dysponuje Konwencja o prawie morza z 1982 r. jako podstawa formułowania argumentacji ekonomicznej. Znaczenie argumentacji ekonomicznej rozważono w odniesieniu do międzynarodowych sporów dotyczących statusu prawnego terytoriów morskich, delimitacji stref morskich, władzy nad morzem i korzystania z morza.Przeprowadzone badania prowadzą do następujących wniosków: 1) argumenty ekonomiczne występują tak w uzasadnieniu stanowisk stron, jak i w rozumowaniu organów rozstrzygających spory. Jednak ich wartość dowodowa jest ograniczona; 2) w sporach dotyczących statusu obiektów morskich (maritime features) rozumowanie ekonomiczne pojawia się w kontekście konieczności wykazania, że mogą one stanowić podstawę do delimitacji; 3) w sporach dotyczących jurysdykcji argumenty ekonomiczne są bardziej złożone i niejednorodne. Argumenty ekonomiczne są użyteczne w drugim etapie delimitacji, gdy uwzględnia się istotne okoliczności. Istniejąca praktyka pokazuje jednak, że zakres akceptacji argumentów ekonomicznych jest ograniczony (nie mogą one służyć jako podstawa korygowania naturalnych nierówności). Orzecznictwo nie aprobuje argumentów opartych na poziomie rozwoju gospodarczego czy też na gospodarczych lub finansowych trudnościach państwa (z wyjątkiem katastrofalnych skutków dla egzystencji i dobrobytu ekonomicznego (ludności), potrzebach rozwoju gospodarczego lub wykonywaniu morskiej działalności gospodarczej (wydobycie, rybołówstwo, żegluga). Pewne znaczenie ma argument związany z zapewnieniem jedności zasobów (gdy zasoby są znane lub łatwo je ustalić); 4) w sporach dotyczących władzy nad morzem pewną wagę ma argument związany z ustanowieniem władzy gospodarczej, w szczególności o charakterze regulacyjnym i kontrolnym; 5) w sporach związanych z korzystaniem z morza znaczenie rozumowania ekonomicznego jest zróżnicowane. W sporach dotyczących niezwłocznego zwolnienia statku rola argumentacji ekonomicznej jest ograniczona. Natomiast jest ona ważna w sporach związanych z naruszeniem praw i interesów ekonomicznych państw i osób, jeżeli są one chronione prawem międzynarodowym.
Opracowanie podejmuje kwestie wyzwań, przed którymi stoi prawo morza. Wprawdzie UNCLOS określana jest słusznie jako konstytucja prawa morza, ale nie daje ona i nie może dać odpowiedzi na wszystkie problemy i wątpliwości, które powstają w praktyce i są związane z ociepleniem klimatu, ochroną różnorodności biologicznej, statusem prawnym zasobów genetycznych, kontrowersjami dotyczącymi żeglugi, delimitacją obszarów morskich czy ochroną podwodnego dziedzictwa kulturalnego. Stąd powstaje pytanie, jakie są drogi i środki dalszego rozwoju prawa morza. Niewątpliwie jedną z możliwości jest wypracowanie porozumień implementacyjnych, z których trzecie poświęcone jest ochronie i zrównoważonemu korzystaniu z morskiej różnorodności biologicznej poza granicami jurysdykcji narodowej i jest przedmiotem konferencji międzynarodowej zwołanej przez Zgromadzenie Ogólne, którego rezolucje w obszarze prawa morza odgrywają istotną rolę. Niewątpliwie ważne znaczenie ma też działalność organizacji systemu Narodów Zjednoczonych, jak IMO, FAO, UNESCO, UNEP. Istnieje też możliwość przyjmowania umów podejmujących kwestie pozostawione przez UNCLOS bez rozwiązania czy zdefiniowania. Nie bez znaczenia jest też miękkie prawo oraz praktyka państw, a także stanowisko organów powołanych przez UNCLOS.
Artykuł ma na celu omówienie pojęcia szkody w środowisku na gruncie konwencji CLC 1992 oraz FUND 1992 w oparciu o nowe wytyczne dotyczące formułowania roszczeń o naprawienie szkody ekologicznej, opracowane przez Międzynarodowe Fundusze. Podejście konwencyjne skonfrontowane jest z rozwiązaniami przyjętymi w Stanach Zjednoczonych Ameryki na gruncie ustawy OPA. Szczególna uwaga poświęcona jest problemowi kompensacji utraconych wartości środowiska do czasu przywrócenia go do stanu sprzed zanieczyszczenia oraz obowiązkowi wprowadzenia środowiska alternatywnego jako środka wynagrodzenia szkody ekologicznej. Autorka wskazuje na orzeczenia sądów francuskich oraz hiszpańskich w sprawach Erika oraz Prestige, które mogą poddawać w wątpliwość aktualność systemu kompensacji szkód olejowych CLC 1992/FUND 1992.
Celem niniejszego opracowania jest analiza pierwszego warunku koniecznego do rozpoczęcia liczenia okresu ładowania statku, to jest obowiązku dopłynięcia statku do uzgodnionego miejsca przeznaczenia. Prima facie, stanowisko prawne z punktu widzenia nabrzeża miejsca załadunkowego (doku) czy portu jest stosunkowo jednoznaczne. Przyjętym jest bowiem, iż statek może zostać uznany za statek, który przybył do miejsca załadowania (arrived ship), kiedy dopłynie do określonego nabrzeża, doku czy odpowiednio portu . We wszystkich wyżej wymienionych wypadkach, ryzyko zwłoki w dopłynięciu do tak wyznaczonego miejsca ponosi armator. W wielu przypadkach armator, z oczywistych powodów, nie jest gotowy ponieść takiego ryzyka oraz wynikającej z tego szkody i w związku z tym podejmuje stosowne działania. W szczególności, domaga się on wprowadzenia do umowy czarteru, stosownych specyficznych postanowień przenoszących rozważane tu ryzyko na czarterujących. W niniejszym opracowaniu przedstawiono jedną z najbardziej rozpowszechnionych form takiego postanowienia umownego, a mianowicie „Time lost waiting for a berth clause” („klauzula utraty czasu w oczekiwaniu na nabrzeże”). Analiza ta dokonana została w oparciu i na tle szerszego spektrum aktualnego orzecznictwa angielskiego.
The proportional-integral-derivative (PID) controllers have experienced series of structural modifications and improvements. Example of such modifications are set-point weighting and fractional ordering. While the former is to achieve two-degree-of-freedom (2DOF) ability of set-point tracking and disturbance rejection, the latter is to ensure smooth control action. Therefore, this paper reviews various forms of PID controllers and provides a comparative analysis of 2DOF PID and 2DOF fractional order PID (FOPID) controllers. The paper also discusses the conversion of one PID form to another. For the comparative analysis of the various controllers, a class of unstable systems are considered. Simulation result shows that in most cases the conversion from one form to another does not significantly affect the performance of the system. It is also observed that the 2DOF controllers (2DOF PID and 2DOF FOPID) improved significantly the performance of the ordinary PID controllers.
A new method for computation of positive realizations of given transfer matrices of fractional linear continuous-time linear systems is proposed. Necessary and sufficient conditions for the existence of positive realizations of transfer matrices are given. A procedure for computation of the positive realizations is proposed and illustrated by examples.
The recently proposed q-rung orthopair fuzzy set (q-ROFS) characterized by a membership degree and a non-membership degree is powerful tool for handling uncertainty and vagueness. This paper proposes the concept of q-rung orthopair linguistic set (q-ROLS) by combining the linguistic term sets with q-ROFSs. Thereafter, we investigate multi-attribute group decision making (MAGDM) with q-rung orthopair linguistic information. To aggregate q-rung orthopair linguistic numbers ( q-ROLNs), we extend the Heronian mean (HM) to q-ROLSs and propose a family of q-rung orthopair linguistic Heronian mean operators, such as the q-rung orthopair linguistic Heronian mean (q-ROLHM) operator, the q-rung orthopair linguistic weighted Heronian mean (q-ROLWHM) operator, the q-rung orthopair linguistic geometric Heronian mean (q-ROLGHM) operator and the q-rung orthopair linguistic weighted geometric Heronian mean (q-ROLWGHM) operator. Some desirable properties and special cases of the proposed operators are discussed. Further, we develop a novel approach to MAGDM within q-rung orthopair linguistic context based on the proposed operators. A numerical instance is provided to demonstrate the effectiveness and superiorities of the proposed method.