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Model Predictive Control based Motion Cueing Algorithm for Driving Simulator

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Journal of Systems Science and Systems Engineering 2024年第5期33卷 607-626页

作者： Ayesha Hameed Ali Soltani Sharif Abadi Andrzej Ordys Institute of Automatic Control and Robotics Warsaw University of TechnologyWarsawPoland Institute of Electronic Systems Warsaw University of TechnologyWarsawPoland

Thanks to the emerging integration of algorithms and simulators, recent Driving Simulators (DS) find enormous potential in applications like advanced driver-assistance devices, analysis of driver’s behaviours, research and development of new vehicles and even for entertainment purposes. Driving simulators have been developed to reduce the cost of field studies, allow more flexible control over circumstances and measurements, and safely present hazardous conditions. The major challenge in a driving simulator is to reproduce realistic motions within hardware constraints. Motion Cueing Algorithm (MCA) guarantees a realistic motion perception in the simulator. However, the complex nature of the human perception system makes MCA implementation challenging. The present research aims to improve the performance of driving simulators by proposing and implementing the MCA algorithm as a control problem. The approach is realized using an actual vehicle model integrated with a detailed model of the human vestibular system, which accurately reproduces the driver’s perception. These perception motion signals are compared with simulated ones. A 2-DOF stabilized platform model is used to test the results from the two proposed control strategies, Proportional Integrator and Derivative (PID) and Model Predictive Control (MPC).

关键词： Driving simulator motion cueing algorithm control theory model predictive control PID

Open data in spatial data infrastructure:the practices and experiences of Poland

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International Journal of Digital Earth 2021年第11期14卷 1547-1560页

作者： Waldemar Izdebski Agnieszka Zwirowicz-Rutkowska Joanna Nowak da Costa warsaw University of Technology WarsawPoland Military University of Technology WarsawPoland

As an important facilitator in e-government and society in general,Open SDI merits an assessment of its characteristics and the monitoring of its *** aim of the study was the proposal of the SDI openness assessment approach based on existing openness assessment frameworks,as well as the presentation of the Polish Spatial Data Infrastructure(PSDI)development towards *** results indicated that ten geodetic and cartographic databases fulfilled ten out of eleven criteria of data openness,according to the methodological assumptions,and reached a 3-star level of *** need for further development of the infrastructure towards sharing public administration data is recognized,as well as non-governmental data that meet the open data criteria,thus contributing to the openness of the *** proposed assessment method,referenced to a five-level data openness system and providing clear scoring benchmarking for assessing SDI openness,may be used for comparative analysis of SDI openness in different countries,including eu Member States that draw on the experience of the implementation of the INSPIRE Directive.

关键词： Open government data(OGD) openness assessment geospatial data information society open spatial data infrastructure(open SDI)impact

Diffusion Carbide Layers, Formed on the Surface of Steel in the Vacuum Titanizing Process

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材料热处理学报 2004年第05B期25卷 646-648页

作者： KASPRZYCKA Ewa SENATORSKI Jan NAKONIECZNY Aleksander BABUL Tomasz Institute of Precision Mechanics Warsaw PolandInstitute of Precision Mechanics Warsaw PolandInstitute of Precision Mechanics Warsaw PolandInstitute of Precision Mechanics Warsaw Poland

Diffusion layers produced on carbon steel surface in vacuum titanizing process were investigated. Studies of layers thickness, their morphology, titanium, carbon and iron concentration depth profiles in the diffusion zone of titanized layers were carried out. The effect of process parameters such as time and temperature on the kinetics of layer growth on steel surface was investigated. Tribocorrosion resistance of titanized layers was determined.

关键词：扩散层热化学处理真空镀钛耐蚀性抗磨损性

Data-driven human and bot recognition from web activity logs based on hybrid learning techniques

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Digital Communications and Networks 2024年第4期10卷 1178-1188页

作者： Marek Gajewski Olgierd Hryniewicz Agnieszka Jastrzębska Mariusz Kozakiewicz Karol Opara Jan Wojciech Owsiński Sławomir Zadrozny Tomasz Zwierzchowski Systems Research Institute Polish Academy of SciencesWarsawPoland Faculty of Mathematics and Information Science Warsaw University of TechnologyWarsawPoland EDGE NPD Ltd.Co WarsawPoland

Distinguishing between web traffic generated by bots and humans is an important task in the evaluation of online marketing *** of the main challenges is related to only partial availability of the performance metrics:although some users can be unambiguously classified as bots,the correct label is uncertain in many *** calls for the use of classifiers capable of explaining their *** paper demonstrates two such mechanisms based on features carefully engineered from web *** first is a man-made rule-based *** second is a hierarchical model that first performs clustering and next classification using human-centred,interpretable *** stability of the proposed methods is analyzed and a minimal set of features that convey the classdiscriminating information is *** proposed data processing and analysis methodology are successfully applied to real-world data sets from online publishers.

关键词： Web logs Classification Clustering Web traffic Bots Interpretability

Endoscopic ultrasound-guided drainage of peripancreatic fluid collections: What impacts treatment duration?

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Hepatobiliary & Pancreatic Diseases International 2023年第3期22卷 310-316页

作者： Adam Przybyłkowski Piotr Nehring Department of Gastroenterology and Internal Medicine Medical University of WarsawWarsawPoland

Background:Peripancreatic fluid collections(PFCs)are complications resulting from acute or chronic pancreatitis and require treatment in certain clinical *** present study aimed to identify the factors influencing the duration of endoscopic ultrasound(euS)-guided drainage of symptomatic pancreatic pseudocysts(PPCs),walled-off necrosis(WON),and acute necrotic collections(ANCs).Methods:This was a retrospective cohort study of 68 patients with PFCs who underwent euS-guided *** timing and duration of euS-guided drainage of various PFCs(ANC,WON,and PPCs)were compared,and the factors influencing the duration of endoscopic treatment were ***:The mean time to first euS-guided PFC drainage since the acute pancreatitis episode was 372.0,505.0,and 18.7 days for WON,PPC,and ANC,respectively,and the mean duration of treatment was 90,60,and 63 days,respectively.A disconnected pancreatic duct,a history of percutaneous drainage,and an infected PFC were identified as factors influencing the treatment duration.A positive correlation was observed between the treatment duration and patients’*** with a disconnected pancreatic duct had to undergo more *** patients with PPC,clinically successful drainage was more frequently achieved after a single procedure without the need for repeated procedures than in those with WON(90%vs.59%,P=0.01).Conclusions:Patients with a history of percutaneous drainage,disconnected pancreatic duct,or PFC infection may require longer endoscopic treatment.

关键词： Cyst Drainage Endoscopy Pancreas Pancreatitis

Performance analysis of IEEE 802.11 DCF networks

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2008年第10期9卷 1309-1317页

作者： Krzysztof SZCZYPIORSKI Józef LUBACZ Institute of Telecommunications Warsaw University of Technology Nowowiejska 15/19 Warsaw 00-665 Poland

This paper presents an analytical saturation throughput model of IEEE 802.11 DCF (distributed coordination function) with basic access in ad hoc mode. The model takes into account freezing of the backoff timer when a station senses busy channel. It is shown that taking into account this feature of DCF is important in modeling saturation throughput by yielding more accurate and realistic results than models known from literature. The proposed analytical model also takes into account the effect of transmission errors. All essential features of the proposed analytical approach are illustrated with numerical results. The presen-tation of the model is proceeded by an overview of approaches to IEEE 802.11 network performance evaluation presented in the literature.

关键词： IEEE 802.11 Distributed coordination function (DCF) CSMA/CA Modeling

Spontaneous rupture of a mucinous cystic neoplasm of the liver resulting in a huge biloma in a pregnant woman:A case report

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World Journal of Clinical Cases 2021年第30期9卷 9114-9121页

作者： Artur Kośnik Anna Stadnik Benedykt Szczepankiewicz Waldemar Patkowski Maciej Wójcicki Liver and Internal Medicine Unit Medical University of WarsawWarsaw 02-097Poland Department of Radiology Medical University of WarsawWarsaw 02-097Poland Department of Pathology Medical University of WarsawWarsaw 02-097Poland Department of General Transplantand Liver SurgeryMedical University of WarsawWarsaw 02-097Poland

BACKGROUND Mucinous cystic neoplasm of the liver(MCN-L)and intraductal papillary neoplasm of the bile duct(IPN-B)are two different types of mucin-producing bile duct tumour that may complicate the course of *** the best of our knowledge,we describe herein the first case of MCN-L with spontaneous rupture during pregnancy necessitating complex surgical *** SUMMARY A 24-year-old woman was initially admitted to another hospital in October 2018 with signs of jaundice(serum bilirubin level 12 mg/dL)and upper abdominal pain radiating to the left *** magnetic resonance imaging(MRI)of the abdominal cavity revealed a multilocular cystic tumour of the liver hilum(37 mm×40 mm in diameter)located between segments 3 and 4 of the left liver *** weeks later(December 2018),the patient was found to be 12 wk pregnant and was referred to our institution for further diagnostics and *** admission,a soft,palpable,and tender mass in the left upper abdomen was *** was determined via MRI(with no intravenous contrast in view of the first-trimester pregnancy)to be a large collection of fluid(19 cm×17 cm×10 cm)located close to the liver hilum and below the left liver *** patient did not undergo any diagnostic or therapeutic procedures nor did they have any abdominal trauma in the preceding *** fluid collection proved to be of biliary origin following percutaneous ***,we concluded this was a spontaneous rupture of an MCN-L with the formation of a *** MRI study also revealed the previously found cystic tumour of the liver hilum communicating with the left hepatic duct,which,together with left hepatic duct dilatation,suggested the diagnosis of *** follow-up MRI with intravenous gadolinium contrast performed in the second trimester of pregnancy(week 14)showed,in turn,some features of MCN-L,including enhancement of the internal septations within the cystic liver mass.A precise preoperative differential diagnos

关键词： Biliary tract neoplasms Liver neoplasms Hepatectomy Anastomosis,Rouxen-Y Pregnancy Case report

Saccharomyces cerevisiae in neuroscience:how unicellular organism helps to better understand prion protein?

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Neural Regeneration Research 2021年第3期16卷 489-495页

作者： Takao Ishikawa Department of Molecular Biology Institute of BiochemistryFaculty of BiologyUniversity of WarsawWarsawPoland

The baker's yeast Saccharomyces(S.)cerevisiae is a single-celled eukaryotic model organism widely used in research on life *** a unicellular organism,*** has some evident limitations in application to ***,yeast prions are extensively studied and they are known to share some hallmarks with mammalian prion protein or other amyloidogenic proteins found in the pathogenesis of Alzheimer's,Parkinson's,or Huntington's ***,the yeast *** has been widely used for basic research on aggregation properties of proteins in cellulo and on their ***,a yeast-based study revealed that some regions of mammalian prion protein and amyloidβ1–42 are capable of induction and propagation of yeast *** is one of the examples showing that evolutionarily distant organisms share common mechanisms underlying the structural conversion of prion proteins making yeast cells a useful system for studying mammalian prion *** has also been used to design novel screening systems for anti-prion compounds from chemical *** assays are cheap in maintenance and safe for the researcher,making them a very good choice to perform preliminary screening before further characterization in systems engaging mammalian cells infected with *** this review,not only classical red/white colony assay but also yeast-based screening assays developed during last year are *** analysis and research carried out using yeast prions force us to expect that prions are widely present in ***,the last few years brought us several examples indicating that the mammalian prion protein is no more peculiar protein–it seems that a better understanding of prion proteins nature-wide may aid us with the treatment of prion diseases and other amyloid-related medical conditions.

关键词： amyloid artificial prion baker's yeast budding yeast drug screening fusion protein neurodegenerative diseases prion protein yeast-based assay

Study on Statistical Out lier Det ection and Labelling

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International Journal of Automation and computing 2020年第6期17卷 788-811页

作者： Pawel D.Domanski Institute of Control and Computation Engineering Warsaw University of TechnologyWarsaw 00-665Poland

Outliers accompany control engineers in their real life *** trial reality is much richer than eleme ntary linear,quadratic,Gaussian *** appear due to various and varying,often unknown,*** meet research interest in statistical and regression analysis and in data *** are a lot of interesting algorithms and approaches to outlier detection,labelling,filtering and finally ***,their impact on control systems has not been found sufficient attention in *** influence is frequently unnoticed,ignored or not *** work focuses on the subject of outlier detection and labelling in the cont ext of control system performance *** ted statistical data-driven approaches are analyzed,as t hey can be easily implemented with limited a priori *** study consists of a simulation study followed by the analysis of real control *** nt generation mechanisms are Simula ted,like overlapping Gaussian processes,symmetric and asymmetric,artificially shifted points and fat-tailed *** observations are confronted with industrial control loops *** work concludes with a practical procedure,which should help practitioners in dealing with outliers in control engineering temporal data.

关键词： Outlier detection control loop quality statistical analysis robust estimation heavy tails.