Programming frameworks [1] are application generators with the following components: library of software modules (building blocks out of which the system is constructed), a method for designing new modules that can be appended to the above mentioned library, a pattern according to which ready modules can be assembled into a complete system jointly exerting control over it and realizing the task at hand. The presented transition function based formalism can be applied to specifying programming frameworks for robot controllers executing very diverse tasks. The paper deals with systems consisting of multiple embodied agents, influencing the environment through effectors, gathering information from the environment through sensors and communicating with other agents through communication channels. The presented code patterns pertain to behavioural agents. The formalism was instrumental in the design of MRROC++ robot programming framework, which has been used for producing controllers of single and two manipulator systems performing diverse tasks. The formalism introduces rigor into the discussion of the structure of embodied agent controllers. It is used as the means for the specification of the functions of the components of the control system and the structure of the communication links between them. This structures the implementation of a programming framework, and that in turn makes the coding of specific controllers much easier, both from the point of view of dealing with the hardware configuration of the system and the specific task that has to be executed.
Each bitumen has a slightly different group composition, thus bitumen modifi cation with the SBS copolymer gives slightly different results in each case. Both in the industry and construction prac-tice there is still no simple method available which would allow the evaluation of the impact of SBS content and the group composition of bitumen on the structural and rheological properties of the polymer bitumen mix. The article presents the results of the dynamic viscosity tests of three bitumen types. Based on the analysis of the results obtained, it was found that changes in the rheological properties caused by SBS additive are characteristic for each of the bitumens tested and their chemical and group composition. They are also proportionate to the amount of the modifi er added. In order to have a possibility to measure this impact, three coeffi cients rheologically charac-terizing polymer and bitumen mixes were applied.
This paper presents the results of an extensive investigation of asphalt concrete beams with geosynthetics interlayer. The subject of the research is an evaluation of infl uence of geosynthetics interlayer applied to bituminous samples on their fatigue life. The results of the tests evidences that when geosynthetics are used, the fatigue life depends mainly on the type of bituminous mixture, the type of geosynthetics, and the type and the amount of bitumen used for saturation and sticking. The amount of bitumen used to saturate and fix the geosynthetic signifi cantly changes the samples fatigue properties. Essential positive correlation between fatigue and parameters of interlayer bonding (shear strength, shear stiffness) occurs in both testing temperatures.
The paper presents the results of an extensive investigation of asphalt concrete specimens with geosynthetic interlayer. The subject of this research is evaluation of influence of geosynthetics interlayer applied to bituminous pavements on interlayer bonding of specimens. The results of the tests proves that when geosynthetic is used, the bonding of interlayer depends mainly on the type of bituminous mixture, the type of geosynthetic, and the type and amount of bitumen used for saturation and sticking of geosynthetic. The amount of bitumen used in order to saturate and fix the geosynthetic significantly changes the interlayer bonding of specimens.
The paper presents the dependence of ITS results at the elevated temperature (40°C) on rutting parameters, i.e. proportional rut depth (PRDAIR) and wheel tracking speed (WTSAIR), obtained at the temperature of 60°C. The asphalt mixture samples were prepared in the gyratory compactor, but ITS tests were conducted with typical Marshall press, at a loading rate of 50 mm/min. Correlation analyses show a strong relationships between ITS results and rutting parameters, whereby the correlation coefficients obtained are higher for the PRDAIR parameter (r = -0.88) than WTSAIR (r = -0.81). Using the obtained regression functions, the prediction limits as well as confidence limits were calculated, which allowed to develop criteria for assessing resistance to rutting on the basis of ITS test, and taking into account the technical requirements in Poland.
The “Sulmierzyce-Odolanów” study area analyzed in the present paper constitutes an example of the presence of deep Zechstein metallic mineralization in the Fore-Sudetic Monocline. Unlike the shallow deposits which are being mined nowadays, these types of areas were not previously considered in terms of their possible extraction. However, in recent years, due to the development of modern mining technologies, this situation has changed and these areas have become prospective for the future documenting of mineral deposits. The threshold parameters delimiting an ore deposit, recommended for use when preparing geological documentation and not compulsory, have been established by the regulation of the Minister of Environment. In the case of stratabound Zechstein deposits they take the equivalent percentage and productivity of only two metals, i.e. copper, as the main useful component, and silver into account. This leads to the underestimation of the resources of ore which also contains other metals, including zinc and lead, which is particularly disadvantageous in the case of deep deposits, which from an economic standpoint, it is advisable to focus on their richest parts and to document, and in the future to extract all the useful metals. Also, the regulation of the Minister of Environment does not take into account the fluctuations of the market prices of metals over time, the impact of which on the equivalent content and productivity of these elements in the deposit is considerable. This paper presents the authors’ own formulas intended to calculate polymetallic equivalent content and productivity taking the share of four elements in the ore into account: copper, silver, zinc and lead. They also enable determining these values for arbitrarily selected time intervals and tracing their changes over time. Apart from the quality parameters it is also possible to calculate the value of mineral resources in the deposit expressed in American dollars per one square meter of its area for each selected time interval. The calculations used the results of chemical analyses of historical drill cores originating from the studied area. A total of 135 historical holes located within its boundaries were analyzed. Based on the obtained figures, the time-varying resources of the polymetallic equivalent (Cu-Ag-Zn-Pb) were estimated along with their market value expressed in American dollars for each year in the time interval of 2012–2016.
Microporous carbon molecular sieves of extremely narrow pore size distribution were obtained by carbonization of a novel raw material (Salix viminalis). The precursor is inexpensive and widely accessible. The pore capacity and specific surface area are upgradable by H3PO4 treatment without significant change of narrowed PSD. The dominating pore size indicates that these molecular sieves are a potential competitor to other nanoporous materials such as opened and purified carbon nanotubes.
This overview paper presents and compares different methods traditionally used for estimating damped sinusoid parameters. Firstly, direct nonlinear least squares fitting the signal model in the time and frequency domains are described. Next, possible applications of the Hilbert transform for signal demodulation are presented. Then, a wide range of autoregressive modelling methods, valid for damped sinusoids, are discussed, in which frequency and damping are estimated from calculated signal linear self-prediction coefficients. These methods aim at solving, directly or using least squares, a matrix linear equation in which signal or its autocorrelation function samples are used. The Prony, Steiglitz-McBride, Kumaresan-Tufts, Total Least Squares, Matrix Pencil, Yule-Walker and Pisarenko methods are taken into account. Finally, the interpolated discrete Fourier transform is presented with examples of Bertocco, Yoshida, and Agrež algorithms. The Matlab codes of all the discussed methods are given. The second part of the paper presents simulation results, compared with the Cramér-Rao lower bound and commented. All tested methods are compared with respect to their accuracy (systematic errors), noise robustness, required signal length, and computational complexity.
Hard bitumens are used in the construction industry primarily in it’s unmodified form, for instance for the production of the so-called traditional roofing felt. Due to the low price of these types of membranes, the use of a popular but expensive modifying agent, SBS copolymer, is not justified economically. Research carried out by the authors has shown that chemical organic compounds belonging to a group of imidazolines may potentially be used as much cheaper bitumen modifier. It was demonstrated that a new type of modifier based on oleic imidazoline, developed by the authors, has a significant impact on improving the physical properties of bitumen. The use of this modifier results in a significant increase in the bitumen plasticity range, both before and after laboratory ageing .In addition, there was a considerable increase of bitumen’s resistance to aging. Its use can help improve the quality and durability of popular waterproofing products manufactured with the use of hard bitumen.