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Wyszukujesz frazę "ship navigation" wg kryterium: Temat


Tytuł:
Risk analysis on ship wreck and container cargo to ship navigation
Autorzy:
Zaman, M.B.
Pitana, T.
Iswantoro, A.
Aryawan, W.D.
Powiązania:
https://bibliotekanauki.pl/articles/117044.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
ships manoeuvering
risk analysis
ship wreck
container
ship navigation
risk matrix
risk acceptance criteria
ship accidents
Opis:
Wreck of a ship is an incident that must be avoided. Ship accidents are generally caused by a several cases, such as human error, natural disaster, technical errors, missed communication, poor condition of the ship, and many more. Ship wreckage have huge impact for ship navigation, environment, economics, and others. Those impact have many disadvantages for the shipowners, and also for environment. For examples the fuel spills that pollute the environment, make disturbance to sailing ship because the track for those navigation is blocked by the ship wreck and their cargo especially on shallow location (<50 m). These research will discuss the effect the container when it is floats on the sea and its interference other ships. The main objective of this study is to present a risk assessment on the environmental impact of the wreck and container cargo. Wrecks on the seabed is likely to pose a risk to passing ships. container and its contents as well as the possibility of refloat, and also their environmental risks emanating from the wreck and container cargo, such as fuels, lubricants, and chemical cargo. Variations scenario is a collision between ships that pass by floating containers. The frequency of refloating container, and the consequences of the passing ship depends on several factors, which will be the subject of research. However, because of the frequency of refloating containers is unlikely, then the risk is low and does not pose a danger to navigation. These risk assessment using risk matrix 5x5 which is the combined value of the frequency and consequences of the incident. The results of this study indicate the level of risk, whether the risk is accepted, not accepted or received by considering the costs and benefits (ALARP). To consequence, there are two parameters which energy is absorbed and the penetration occurs. The absorbed energy is divided into two, namely the energy absorbed by ship and the energy absorbed by containers. In this study were taken 5 groups based on the size of the vessel. In this cases any 5 size group of vessels is based on the size of the ships that pass in the shipping lanes at the site of the sinking. Assumed these vessels have speed 10 knots at the location. As well as speed drifting containers having 0 to 3 knots.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2017, 11, 1; 71-77
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Using the FRAM to Understand Arctic Ship Navigation: Assessing Work Processes During the Exxon Valdez Grounding
Autorzy:
Smith, D.
Veitch, B.
Khan, F.
Taylor, R.
Powiązania:
https://bibliotekanauki.pl/articles/117308.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Arctic shipping
vessel grounding
grounding
Exxon Valdez
Arctic navigation
accident investigation
Functional Resonance Analysis Method (FRAM)
ship navigation
Opis:
Arctic shipping involves a complex combination of inter-related factors that need to be managed correctly for operations to succeed. In this paper, the Functional Resonance Analysis Method (FRAM) is used to assess the combination of human, technical, and organizational factors that constitute a shipping operation. A methodology is presented on how to apply the FRAM to a domain, with a focus on ship navigation. The method draws on ship navigators to inform the building of the model and to learn about practical variations that must be managed to effectively navigate a ship. The Exxon Valdez case is used to illustrate the model’s utility and provide some context to the information gathered by this investigation. The functional signature of the work processes of the Exxon Valdez on the night of the grounding is presented. This shows the functional dynamics of that particular ship navigation case, and serves to illustrate how the FRAM approach can provide another perspective on the safety of complex operations.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2018, 12, 3; 447-457
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Intelligent autonomous ship navigation using multi-sensor modalities
Autorzy:
Wright, R.G.
Powiązania:
https://bibliotekanauki.pl/articles/117337.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
maritime autonomous surface ships (MASS)
artificial intelligence (AI)
intelligent autonomous ship navigation
autonomous ship
autonomous ships navigation
multiSensor modalities
unmanned ship
maritime domain awareness (MDA)
Opis:
This paper explores the use of machine learning and deep learning artificial intelligence (AI) techniques as a means to integrate multiple sensor modalities into a cohesive approach to navigation for autonomous ships. Considered is the case of a fully autonomous ship capable of making decisions and determining actions by itself without active supervision on the part of onboard crew or remote human operators. These techniques, when combined with advanced sensor capabilities, have been touted as a means to overcome existing technical and human limitations as unmanned and autonomous ships become operational presently and in upcoming years. Promises of the extraordinary capabilities of these technologies that may even exceed those of crewmembers for decision making under comparable conditions must be tempered with realistic expectations as to their ultimate technical potential, their use in the maritime domain, vulnerabilities that may preclude their safe operation; and methods for development, integration and test. The results of research performed by the author in specific applications of machine learning and AI to shipping are presented citing key factors that must be achieved for certification of these technologies as being suitable for their intended purpose. Recommendations are made for strategies to surmount present limitations in the development, evaluation and deployment of intelligent maritime systems that may accommodate future technological advances. Lessons learned that may be applied to improve safety of navigation for conventional shipping are also provided.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 3; 503-510
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Conversion timing of seafarer’s decision-making for unmanned ship navigation
Autorzy:
Zhang, R. L.
Furusho, M.
Powiązania:
https://bibliotekanauki.pl/articles/116734.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
maritime safety
unmanned ship
unmanned ship navigation
on-board decision-making
decision-making algorithm
conversion timing
bayesian risk prediction
seafarers
Opis:
The aim of this study is to construct an unmanned ship swarms monitoring model to improve autonomous decision-making efficiency and safety performance of unmanned ship navigation. A framework is proposed to determine the relationship between on-board decision-making and shore side monitoring, the process of ship data detection, tracking, analysis and loss, and the application of decision-making algorithm, to discuss the different risk responses of specific unmanned ship types under various latent hazard environments, particularly in terms of precise conversion timing in switching over to remote control and full manual monitoring, to ensure safe navigation when the capability of automatic risk response inadequate. This frame-work makes it easier to train data and the adjustment for machine learning based on Bayesian risk prediction. It can be concluded that the automation level can be increased and the workload of shore-based seafarers can be reduced easily.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2017, 11, 3; 463-468
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Developing generative adversarial nets to extend training sets and optimize diiscrete actions
Autorzy:
Zhang, R. L.
Furusho, M.
Powiązania:
https://bibliotekanauki.pl/articles/116509.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Maritime Education and Training (MET)
Generative Adversarial Network (GAN)
discrete actions
MET System in Japan
Lifeboat
Monte Carlo Tree Search (MCTS)
learning methods
unmanned ship navigation
Opis:
This study proposes the use of generative adversarial networks (GANs) to solve two crucial problems in the unmanned ship navigation: insufficient training data for neural networks and convergence of optimal actions under discrete conditions. To achieve smart collision avoidance of unmanned ships in various sea environments, first, this study proposes a collision avoidance decision model based on a deep reinforcement learning method. Then, it utilizes GANs to generate enough realistic image training sets to train the decision model. According to generative network learning, the conditional probability distribution of ship maneuvers is learnt (action units). Subsequently, the decision system can select a reasonable action to avoid the obstacles due to the discrete responses of the generated model to different actions and achieve the effect of intelligent collision avoidance. The experimental results showed that the generated target ship image set can be used as the training set of decision neural networks. Further, a theoretical reference to optimize the optimal convergence of discrete actions is provided.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 4; 875-880
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fundamental Study of Evaluation at Berthing Training for Pilot Trainees Using a Ship Maneuvering Simulator
Autorzy:
Inoue, K.
Okazaki, T.
Murai, K.
Hayashi, Y.
Powiązania:
https://bibliotekanauki.pl/articles/117099.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
pilot navigation
Ship Maneuvering Simulator
Maritime Simulation
Opis:
Use of the ship maneuvering simulator (SMS) is at the core of pilot trainees education and training, so it is desirable to have an evaluation method that can be completed shortly after each berthing training session. There are basically two methods of docking maneuvering that pilot trainees learn: one in which the ship enters from outside the port and is berthed directly at the target quay, and a second method in which the vessel carries out a turn in front of the target quay before berthing. The authors suggested an evaluation index in a previous study concerning the first docking method. In the present study, the authors propose an evaluation method for the case of berthing the vessel using the turning maneuver. Since the index obtained by this method offers a single numerical benchmark, it is an easy–to‐understand result of the training exercise. The authors carried out experiments using a SMS and confirmed that the proposed evaluation method is effective and helpful to improve the effectiveness of SMS training.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2013, 7, 1; 135-141
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship recognition and tracking system for intelligent ship based on deep learning framework
Autorzy:
Liu, B.
Wang, S. Z.
Xie, Z. X.
Zhao, J. S.
Li, M. F.
Powiązania:
https://bibliotekanauki.pl/articles/117419.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
intelligent ship
deep learning framework
ship recognition system
ship tracking system
ship recognition and tracking system
intelligent navigation
autonomous ship
maritime safety
Opis:
Automatically recognizing and tracking dynamic targets on the sea is an important task for intelligent navigation, which is the prerequisite and foundation of the realization of autonomous ships. Nowadays, the radar is a typical perception system which is used to detect targets, but the radar echo cannot depict the target’s shape and appearance, which affects the decision-making ability of the ship collision avoidance. Therefore, visual perception system based on camera video is very useful for further supporting the autonomous ship navigational system. However, ship’s recognition and tracking has been a challenge task in the navigational application field due to the long distance detection and the ship itself motion. An effective and stable approach is required to resolve this problem. In this paper, a novel ship recognition and tracking system is proposed by using the deep learning framework. In this framework, the deep residual network and cross-layer jump connection policy are employed to extract the advanced ship features which help enhance the classification accuracy, thus improves the performance of the object recognition. Experimentally, the superiority of the proposed ship recognition and tracking system was confirmed by comparing it with state of-the-art algorithms on a large number of ship video datasets.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 4; 699-705
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Verification of a deterministic ships safe trajectory planning algorithm from different ships’ perspectives and with changing strategies of target ships
Autorzy:
Lazarowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/2063957.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safe ship's trajectory
ship's trajectory
collision avoidance module
autonomous navigation system
maritime autonomous surface ships
Opis:
The paper presents results of a ship's safe trajectory planning method verification - the Trajectory Base Algorithm, which is a deterministic approach for real-time path-planning with collision avoidance. The paper presents results of the algorithm’s verification from different ships’ perspectives and with changing strategies of target ships. Results prove the applicability of the algorithm in the Collision Avoidance Module of the Autonomous Navigation System for Maritime Autonomous Surface Ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 623--628
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Intelligent Prediction of Ship Maneuvering
Autorzy:
Łącki, M.
Powiązania:
https://bibliotekanauki.pl/articles/116074.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
future of navigation
ship maneuvering
intelligent prediction
prediction of ship maneuvering
neuroevolution
navigational parameters
intelligent ship
autonomous control unit
Opis:
In this paper the author presents an idea of the intelligent ship maneuvering prediction system with the usage of neuroevolution. This may be also be seen as the ship handling system that simulates a learning process of an autonomous control unit, created with artificial neural network. The control unit observes input signals and calculates the values of required parameters of the vessel maneuvering in confined waters. In neuroevolution such units are treated as individuals in population of artificial neural networks, which through environmental sensing and evolutionary algorithms learn to perform given task efficiently. The main task of the system is to learn continuously and predict the values of a navigational parameters of the vessel after certain amount of time, regarding an influence of its environment. The result of a prediction may occur as a warning to navigator to aware him about incoming threat.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 3; 511-516
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of Satellite Navigation Techniques for Vessel’s Drift Determination in Piloting Areas
Autorzy:
Blokus-Roszkowska, A.
Jurdziński, M.
Powiązania:
https://bibliotekanauki.pl/articles/117034.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Satellite Navigation Technics
Global Navigation Satellite System (GNSS)
Pilot Navigation
Piloting Area
Vessel's Drift
satellite navigation system
Ship Control System
Global Positioning System GPS
Opis:
The paper deals with use the satellite navigation system for increase safety of navigation in difficult areas. There have been presented an algorithm to ship control procedure during environmental disturbances in narrow passages.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2013, 7, 3; 389-392
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modeling navigation, ecologic and economic results of planned voyage of ship on the Northern Sea Route
Autorzy:
Pastusiak, T.
Powiązania:
https://bibliotekanauki.pl/articles/24201325.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safety at sea
Northern Sea Route
voyage planning
ship's passage
arctic navigation
icebreaker
modeling
ship's voyage timetable
Opis:
Over the years, many publications have been published on planning ship’s passage through the NSR and input and output data modeling. Results were not considered in terms of errors of modeled output data. Basic research for the years 2008 - 2020 was carried out in the study on opening and closing dates of ice-free transit corridor on the NSR and probable number of tariff zones where paid assistance of icebreakers would be required. Mathematical relationships of average values and probable errors of navigational, ecological and economic ship voyage performance were developed. For this purpose, partial derivatives of functions were used. The outcomes of the study have shown that changes of total average cost of vessel’s transit voyage depends mostly on number of tariff zones where assistance of icebreakers is required. But navigation with icebreakers assistance ensures smaller standard deviation of total voyage time and thus more precise scheduling of ship's voyage timetable through the NSR. The higher probability of meeting requirements set by decision-maker when planning a long-term voyage of ship, the shorter time window for meeting these requirements. Outside the favorable time window, the navigational, ecological and economic results of voyage deteriorate very quickly.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 4; 611--623
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Autonomous ships concept and mathematical models application in their steering process control
Autorzy:
Melnyk, O.
Onishchenko, O.
Onyshchenko, S.
Voloshyn, A.
Kalinichenko, Y.
Rossomakha, O.
Naleva, G.
Powiązania:
https://bibliotekanauki.pl/articles/2211982.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous ship
steering process control
mathematical model
autonomous ship concept
accident-free navigation
automatic steering system
ship automatic movement
ship automatic movement control system
Opis:
Advances in computer systems and innovative technologies along with their implementation into the shipping industry not only enabled efficient data exchange between the ship and the shore, but also created a single integrated information network linking all participants of the process and all elements of the maritime sector. Development of the concept of autonomous ships and automated control facilities for their functionality became the next stage in the evolution of innovations. The process of software adaptation, additional electronic steering systems, optical and digital means of monitoring as well as satellite communication facilities for autonomous ships are among the tasks which require search and development of the solutions. Provision of reliable and safe functioning of such ships in the autonomous mode requires development of models and methods for ensuring their accident-free navigation both in relation to the process of ships divergence and improvement of automatic steering systems of movement and course steadiness. In the given work, the analysis of realization of the crewless navigation and possibility of ship automatic movement control systems advancement on the basis of application of mathematical model for the purpose of enhancement of process of the autonomous ship steadiness on the set course is proposed.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 3; 553--559
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Scan pattern for the maritime navigator
Autorzy:
Hareide, O.S.
Ostnes, R.
Powiązania:
https://bibliotekanauki.pl/articles/117578.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
integrated navigation
High Speed Craft (HSC)
maritime navigator
Integrated Navigation System (INS)
littoral combat ship
scan pattern
Multi-Function Display (MFD)
electronic navigation
Opis:
The maritime high speed craft navigators` ultimate aim has for decades been to safely and efficient navigate the vessel to its destination. The last decade an increased use of technology has arrived at the maritime ship bridge. The use of Electronic Charts and Integrated Navigation Systems has revolutionized much of the work of the navigator, with the aim of enhancing the safety of navigation. The amount of information has drastically increased, and the need for a proper information management and an efficient visual scan pattern has been identified. Looking to other industries this has been introduced with success, and in this paper the authors present a proposed scan pattern for the maritime navigator. The analysis is based on an eye tracking data set collected from simulator- and field studies on board the world’s fastest littoral combat ship.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2017, 11, 1; 39-47
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ensuring cyber resilience of ship information systems
Autorzy:
Onishchenko, O.
Shumilova, K.
Volyanskyy, S.
Volyanskaya, Y.
Volianskyi, Y.
Powiązania:
https://bibliotekanauki.pl/articles/2086300.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
ship Information systems
cyber resilience
ship information systems
cyber security
cyber attack
COVID-19
cyber threats
autonomous navigation
Opis:
The Covid-19 pandemic brought a problem related to the inability to timely update security systems on ships during a voyage and the need to encrypt data stored in ship information systems (SISs) and shipping company information systems. The analysis of new types of worldwide cyberattacks showed that they were set off by an increase in the use of remote-controlled autonomous technologies and a spread of telework. It was proved that on ships: a) there are no cybersecurity specialists; b) there is no means of identification of cyber threats and no response plans; c) there is a lack of cybersecurity training for crews; d) encryption of confidential ship data is barely used; e) crew is a vulnerability factor in ship's security. The analysis of cyber incidents allowed us to develop a basic response plan to protect ship control systems. It was demonstrated that the basic plan can be continuously updated and improved in accordance with: a) the real state of ship systems; b) the results of performance analysis of crew actions; c) the emergence of new types of cyberattacks. To improve the security of confidential data in ship information networks theoretical framework for the development of encrypted data search engines with the identification of “dangerous” keywords for the ship information systems (SISs) was proposed. A data exchange protocol, basic requirements for SISs, and an algorithm for detecting “dangerous” keywords in messages were developed. A test search engine on encrypted data was presented, and the main components of the system were highlighted. The functionality of the system was experimentally proved, and the accuracy and speed of search on encrypted data were determined.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 1; 43--50
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Experimental Study of Forces Exerted on Ships Due to the Vertical Walls of Navigation Channels
Autorzy:
Fathi-Kazerooni, M.
Seif, M. S.
Powiązania:
https://bibliotekanauki.pl/articles/117379.pdf
Data publikacji:
2015
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Navigation Channels
Vertical Walls
Hydrodynamics
Turning Moment
Ship Stability
Simulation of Ship Maneuvering
Experimental Study
Forces Exerted on Ships
Opis:
Ship maneuvering in restricted waters of harbor basins and navigation channels had been the main concern in recent years due to sudden increase of ship’s size. When the ship enters a navigation channel the lateral boundary of the channel exerts a transverse force and turning moment on the ship hull. These forces are so important in the analysis of safety of ship navigation in the channels. Ship model test in the towing tank is a reliable method to evaluate these forces. Therefore systematic model tests are held for modeling of the forces exerted on the tanker ship and dhow model traveling alongside a vertical wall. A database of the interaction forces is developed and the specific hydrodynamic effects related to the phenomena are discussed. The results can be used for simulation of ship maneuvering and assessment of safety limits for navigation of ships alongside the quay walls and breakwaters.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2015, 9, 2; 199-203
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł

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