On Fast State-Space Algorithms for Predictive Control

A Riccati-equation-based solution to a class of receding-horizon predictive control problems for an explicit-delay state-space model of an ARMAX system is found and the corresponding vector Chandrasekhar-type equations are derived for both filter and controller gains to improve the computational efficiency

Age and growth-rate of grayling Thymallus thymallus (L.) in the rivers of Pomerania (NW Poland)

The studies were carried out on the material of 308 individuals from 18 upland river of moraine character, in north-western Poland. The growth rate, growth intensity, condition factor and the dependence between body weight and total length were estimated. It has been found that the graylings from north-western Poland live longer and grow quicker than those from mountain rivers in southern regions of the country, and also in other parts of Europe

Changes of gonadosomatic index (GSI) and egg diameter in the grayling Thymallus thymallus (L.) in annual cycle

The most intense growth of grayling ovaries takes place in autumn and winter (September-March), of testes-in summer (July-September). Older females and males all seasons have a higher GSI, and the diameter of developing eggs is higher

Robust quasi NID aircraft 3D flight control under sensor noise

summary:In the paper the design of an aircraft motion controller based on the Dynamic Contraction Method is presented. The control task is formulated as a tracking problem for Euler angles, where the desired decoupled output transients are accomplished under assumption of high-level, high-frequency sensor noise and incomplete information about varying parameters of the system and external disturbances. The resulting controller has a simple form of a combination of a low-order linear dynamical system and a matrix whose entries depend nonlinearly on certain measurable flight variables

Changes of gonadosomatic index (GSI) and egg diameter in the grayling Thymallus thymallus (L.) in annual cycle

The most intense growth of grayling ovaries takes place in autumn and winter (September-March), of testes-in summer (July-September). Older females and males all seasons have a higher GSI, and the diameter of developing eggs is higher

Heavy metals and chlorinated hydrocarbons in some fish species from Odra river

Jednymi z wielu zanieczyszczeń, które z całego obszaru dorzecza Odry trafiają do jej ujścia są metale ciężkie oraz chlorowane węglowodory, w tym pestycydy i polichlorowane bifenyle. Substancje te są powszechnie znanym wskaźnikiem zanieczyszczenia środowiska. Porównanie stężeń metali ciężkich w badanych materiałach i porównanie ich z wartościami naturalnymi pozwala oszacować stopień skażenia ekosystemów, a w tym żyjących w nich organizmów (Johnels et al., 1967; Portmann, 1972). Z drugiej strony obecność substancji chloroorganicznych takich jak lindan, DDT czy polichlorowane bifenyle, które w środowisku są substancjami obcymi pokazuje nam w jakim stopniu w poszczególnych obszarach istotny jest problem antropopresji (Falandysz, 1982; Schneider, 1982; Zitko i in., 1976). Badania zawartości tych substancji w rybach i innych organizmach wodnych żyjących w wodach estuarium Odry podjęto na początku lat 70-tych (Chodyniecki i in., 1975). Wyniki badań wskazują, że poziom zanieczyszczenia hydrobiontów w estuarium Odry był bardzo zróżnicowany, co jest szczególnie widoczne w przypadku planktonu, w którym poziom kontaminantów obniżał się w miarę oddalania się od Szczecina w kierunku Bałtyku. Pewne różnice notowano także na podstawie badania tkanek ryb (Protasowicki, 1991; Ciereszko, 1993). Analiza wyników wieloletnich badań pozwoliła stwierdzić, że w tym czasie poziom rtęci, cynku i DDT w niektórych hydrobiontach wykazywał trend spadkowy. Rosła natomiast zawartość kadmu, ołowiu i PCB. Pozostałe badane ksenobiotyki (Cu i gamma-HCH) nie wykazywały istotnych tendencji zmian (Protasowicki, 1991; Ciereszko, 1993). Ryby są często wykorzystywane jako bioindykatory zanieczyszczenia środowiska metalami ciężkimi i innymi substancjami toksycznymi czy szkodliwymi (Johnels i in., 1967; Portmann, 1972; Statham i in., 1976). Celem niniejszych badań było określenie poziomu bioakumulacji niektórych metali ciężkich i substancji chloroorganicznych w wybranych gatunkach ryb z Odry.Heavy metals and chlorinated hydrocarbons, in this pesticides and polychlorinated biphenyls are among many pollutants which from the whole area of Odra riverbasin flow to its outlet. These substances are universally well-known coefficient of environment pollution. Level of the contamination of ecosystems and living in them organisms may be estimated by comparison of concentrations of heavy metals in studied materials and comparison them with natural values. On the other hand presence of chloroorganic substances such as lindane, DDT or polychlorinated biphenyls, which are alien substances in the environment, shows us in what level in individual areas atropopression problem is significant. Fish are often used as bioindicators of environment pollution with heavy metals or other toxic or harmful substances. Bioaccumulation of some heavy metals (Hg, Cd, Pb, Cu, Zn) and chlororganic substances (?-HCH, ?DDT, PCB) in muscles, liver, kidneys, and gills of the selected fish species from the Odra River were determined. Fish for studies were caught in years 1996 - 2000 in Międzyodrze and Wrocław area: roach - Rutilus rutilus, rudd - Scardinius erythrophtalmus, bream - Abramis brama, white bream - Blicca bjoerkna, blue bream - Abramis ballerus, carp - Cyprinus carpio, asp - Aspius aspius and perch - Perca fluviatilis. Content of heavy metals and chlororganic substances in studied tissues differed depending on fish species, kind of organ and fishing area (the last conclusion concerns heavy metals content only). The higher contents of mercury and lead were fund fish organs caught in Międzyodrze than these coming from Odra in Wrocław area. In the case of copper and zinc relations were opposite. While relation among contents of cadmium was not so explicit and depended from organ in considerable measure - the higher content of this element occurred in fish kidneys and gill while its concentration was lower in muscles in Wroclaw area and in livers these differences changed in dependence on species. Analysed chlorinated hydrocarbons in biggest quantities usually were accumulated in livers, and in far order in muscles and gills. Accumulation of lindane in asp organs was an exceptio