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    Tytuł:
    Interval analysis for certified numerical solution of problems in robotics
    Autorzy:
    Merlet, J. P.
    Powiązania:
    https://bibliotekanauki.pl/articles/930119.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    analiza interwałowa
    niepewność
    robotyka
    interval analysis
    uncertainties
    robotics
    Opis:
    Interval analysis is a relatively new mathematical tool that allows one to deal with problems that may have to be solved numerically with a computer. Examples of such problems are system solving and global optimization, but numerous other problems may be addressed as well. This approach has the following general advantages: (a) it allows to find solutions of a problem only within some finite domain which make sense as soon as the unknowns in the problem are physical parameters; (b) numerical computer round-off errors are taken into account so that the solutions are guaranteed; (c) it allows one to take into account the uncertainties that are inherent to a physical system. Properties (a) and (c) are of special interest in robotics problems, in which many of the variables are parameters that are measured (i.e., known only up to some bounded errors) while the modeling of the robot is based on parameters that are submitted to uncertainties (e.g., because of manufacturing tolerances). Taking into account these uncertainties is essential for many robotics applications such as medical or space robotics for which safety is a crucial issue. A further inherent property of interval analysis that is of interest for robotics problems is that this approach allows one to deal with the uncertainties that are unavoidable in robotics. Although the basic principles of interval analysis are easy to understand and to implement, this approach will be efficient only if the right heuristics are used and if the problem at hand is formulated appropriately. In this paper we will emphasize various robotics problems that have been solved with interval analysis, many of which are currently beyond the reach of other mathematical approaches.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 3; 399-412
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Aktywizacja w czasach niepewności. Między przymusem zmiany a stymulowaniem zmian
    Activation in times of uncertainty. Between the compulsion for change and change stimulation
    Autorzy:
    Iwanowski, Michał
    Powiązania:
    https://bibliotekanauki.pl/articles/551224.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    aktywizacja
    postęp
    zmiana
    płynność
    niepewność
    activation
    progress
    change
    fluidity
    uncertainty
    Opis:
    Strategie aktywizacji społecznej zdają się mówić swoim adresatom: będziecie postępowi wówczas, gdy będziecie gotowi na zmianę; bądźcie elastyczni, przystosowujcie się do zmieniającej się rzeczywistości; jeśli poprzestaniecie na tym, co macie, zatrzymacie się w rozwoju. Koresponduje to z menadżerskim podejściem do zarządzania, którego elementem jest zmiana sama w sobie, opisana przez prof. Zygmunta Baumana. Menadżerowie hołdują bowiem zasadzie, że istnieją tylko dwa rodzaje firm: te, które się zmieniają, i te, które wypadają z biznesu. W zarządzaniu sferą publiczną (nieuwarunkowaną względami stricte komercyjnymi) ta prosta zasada na szczęście nie obowiązuje. Przymus zmiany miałby pewne uzasadnienie w przypadku aktywizacji zawodowej, w obliczu zjawisk nazywanych współczesnym „koczownictwem zawodowym”, a także w kontekście zasady dyferencjacji opisanej przez Piotra Sztompkę – nie ma bowiem innego wyjścia. Od przymusu zmiany nie uciekniemy, zwłaszcza że uczestnictwo w aktywizacji jest z zasady uwarunkowane potrzebą artykułowaną przez samych jej uczestników. Jednakże z drugiej strony zmiana nie może być kryterium samym w sobie, nie może naruszać indywidualizmu jednostki. Przymus zmiany (wykazywanie się zdolnością do zmian) nie powinien być jedynym celem aktywizacji. Konieczne jest skrupulatne zdiagnozowanie rzeczywistości społecznej w obszarze objętym strategią aktywizacji, by wiedzieć, co takiego upośledza, paraliżuje lub ogranicza zawodową i obywatelską aktywność. Dociekając przyczyn, można przewidzieć skutki i wybrać najlepsze narzędzia aktywizacji w płynnym, niepewnym i nieokreślonym świecie, charakterystycznym dla późnej nowoczesności.
    Strategies of social activation seem to be saying to their recipients: you will progress when you are ready for a change; be flexible to changing reality; if you stop at what you have, you will stop the development. This corresponds to the managerial approach to management, one element of which is the change itself described by prof. Zygmunt Bauman. Managers follow the principle claiming that there are only two types of companies: those that undergo changes and those that fall out of the business. This simple principle fortunately does not apply to the managing of public sphere (that is not conditioned by purely commercial grounds). Coercion changes would have certain justification in case of professional activation, as facing contemporary phenomena called “professional nomadism” or the principle of differentiation described by Piotr Sztompka – there is no other choice. We cannot escape from coercion changes, especially since participating in the mobilization process is principally conditioned by the need articulated by the participants themselves. On the other hand, the change cannot be the criterion in itself, in order not to violate a person’s individualism. Coercion changes (demonstrating the ability to change) – cannot be the sole purpose of activation. There is a need for meticulous diagnose of social reality in the area covered by the strategy of activation in order to find out what impairs, paralyzes or restricts professional and civic activity. Inquiring the causes, one may predict the effects and choose the best tools of activation in the world of fluidity, uncertainty and indefiniteness, characteristic for late modernity. Keywords: activation, progress, change, fluidity, uncertainty
    Źródło:
    Relacje. Studia z nauk społecznych; 2016, 1; 83-96
    2543-5124
    Pojawia się w:
    Relacje. Studia z nauk społecznych
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    RGB-D terrain perception and dense mapping for legged robots
    Autorzy:
    Belter, D.
    Łabecki, P
    Fankhauser, P.
    Siegwart, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/330144.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    RGB-D perception
    elevation mapping
    uncertainty
    legged robots
    RGB-D
    niepewność
    robot nożny
    Opis:
    This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map. The model for the uncertainty of the stereo vision camera is based on uncertainty propagation from calibration, through undistortion and rectification algorithms, allowing calculation of the uncertainty of measured 3D point coordinates. The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors. We provide experimental verification of the proposed mapping method, and a comparison with another recently published terrain mapping method for walking robots.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 81-97
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Uses of new sensitivity and DAE solving methods in SMARTMOBILE for verified analysis of mechanical systems
    Autorzy:
    Auer, E.
    Luther, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/930091.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    układ wieloczłonowy
    weryfikacja wyników
    wrażliwość
    niepewność
    multibody systems
    result verification
    sensitivity
    DAE
    uncertainty
    Opis:
    Software for modeling and simulation (MSS) of mechanical systems helps to reduce production costs for industry. Usually, such software relies on (possibly erroneous) finite precision arithmetic and does not take into account uncertainty in the input data. The program SMARTMOBILE enhances the existing MSS MOBILE with verified techniques to provide a guarantee that the obtained results are correct and measure the influence of data uncertainty. In this paper, we outline the main features and functionalities of SMARTMOBILE. In particular, we focus on its use of newly developed methods for sensitivity analysis and DAE solving for several practically relevant mechanical systems.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 3; 455-467
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Fuzzy diagnostic reasoning that takes into account the uncertainty of the relation between faults and symptoms
    Autorzy:
    Kościelny, J. M.
    Syfert, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/908470.pdf
    Data publikacji:
    2006
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    lokalizacja uszkodzeń
    logika rozmyta
    relacje diagnostyczne
    niepewność
    fault isolation
    fuzzy logic
    diagnostic relation
    uncertainty
    Opis:
    Knowledge about the relation between faults and the observed symptoms is necessary for fault isolation. Such a relation can be expressed in various forms, including binary diagnostic matrices or information systems. The paper presents the use of fuzzy logic for diagnostic reasoning. This method enables us to take into account various kinds of uncertainties connected with diagnostic reasoning, including the uncertainty of the faults-symptoms relation. The presented methods allow us to determine the fault certainty factor as well as certainty factors of the normal and unknown process states. The unknown process state factor groups all the states with unknown and multiple faults with the states with improper residual values, while the normal state factor indicates similarity between the observed state and the pattern fault-free state.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2006, 16, 1; 27-35
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    How to secure a high quality knowledge base in a rule-based system with uncertainty?
    Autorzy:
    Jankowska, B. M.
    Powiązania:
    https://bibliotekanauki.pl/articles/908411.pdf
    Data publikacji:
    2006
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    systemy regułowe
    niepewność
    baza wiedzy
    rule-based systems
    uncertainty
    knowledge base
    truth maintenance module
    Opis:
    Although the first rule-based systems were created as early as thirty years ago, this methodology of expert systems designing still proves to be useful. It becomes especially important in medical applications, while treating evidence given in an electronic format. Constructing the knowledge base of a rule-based system and, especially, of a system with uncertainty is a difficult task because of the size of this base as well as its heterogeneous character. The base consists of facts, ordinary rules and meta-rules, which differ from each other regarding both the syntax structure and the semantics. Having no tool to aid designing and maintaining the knowledge base of a rule-based system with uncertainty, we propose the algebra of rules with uncertainty which gives us theoretical foundations to build such a tool. Using the tool, it will be possible to indicate the facts and rules of a redundant character, as well as the pairs of facts and the pairs of rules which are contradictory to each other. The above tool is used in designing and maintaining the knowledge base of a system intended to prognosticate the effects of a medical treatment of the bronchial asthma disease.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2006, 16, 2; 251-262
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Criteria for Stability of Uncertain Linear Systems With Time-Varying Delay
    Autorzy:
    Han, Q. L.
    Gu, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/911198.pdf
    Data publikacji:
    2000
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    stabilność
    niepewność
    funkcja Lapunowa
    stability
    time-varying delay
    uncertainty
    linear matrix inequalities
    Lyapunov functional
    Opis:
    This paper focuses on the stability problem for uncertain linear systems with time-varying delays. Based on a discretized Lyapunov functional approach, delay-dependent criteria that are formulated in terms of linear matrix inequalities are proposed to guarantee asymptotic stability for such systems. Numerical examples are also included to show the effectiveness of the method.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2000, 10, 2; 205-225
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An unscented transformation approach to stochastic analysis of measurement uncertainty in magnet resonance imaging with applications in engineering
    Autorzy:
    Rauh, Andreas
    John, Kristine
    Wüstenhagen, Carolin
    Bruschewski, Martin
    Grundmann, Sven
    Powiązania:
    https://bibliotekanauki.pl/articles/1838185.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    magnet resonance imaging
    compressed sensing
    stochastic uncertainty
    unscented transformation
    rezonans magnetyczny
    próbkowanie oszczędne
    niepewność stochastyczna
    Opis:
    In the frame of stochastic filtering for nonlinear (discrete-time) dynamic systems, the unscented transformation plays a vital role in predicting state information from one time step to another and correcting a priori knowledge of uncertain state estimates by available measured data corrupted by random noise. In contrast to linearization-based techniques, such as the extended Kalman filter, the use of an unscented transformation not only allows an approximation of a nonlinear process or measurement model in terms of a first-order Taylor series expansion at a single operating point, but it also leads to an enhanced quantification of the first two moments of a stochastic probability distribution by a large signal-like sampling of the state space at the so-called sigma points which are chosen in a deterministic manner. In this paper, a novel application of the unscented transformation technique is presented for the stochastic analysis of measurement uncertainty in magnet resonance imaging (MRI). A representative benchmark scenario from the field of velocimetry for engineering applications which is based on measured data gathered at an MRI scanner concludes this contribution.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2021, 31, 1; 73-83
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Set membership estimation of parameters and variables in dynamic networks by recursive algorithms with a moving measurement window
    Autorzy:
    Duzinkiewicz, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/908402.pdf
    Data publikacji:
    2006
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    zbiór estymacyjny
    niepewność
    sieć komputerowa
    sieć wodociągowa
    set membership estimation
    uncertainty
    complexity
    networks
    water distribution
    Opis:
    The paper considers a set membership joint estimation of variables and parameters in complex dynamic networks based on parametric uncertain models and limited hard measurements. A recursive estimation algorithm with a moving measurement window is derived that is suitable for on-line network monitoring. The window allows stabilising the classic recursive estimation algorithm and significantly improves estimate tightness. The estimator is validated on a case study regarding a water distribution network. Tight set estimates of unmeasured pipe flows, nodal heads, tank level and pipe resistances are obtained.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2006, 16, 2; 209-217
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust stabilization of discrete linear repetitive processes with switched dynamics
    Autorzy:
    Bochniak, J.
    Gałkowski, K.
    Rogers, E.
    Kummert, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/908381.pdf
    Data publikacji:
    2006
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    proces powtarzalny
    system 2D
    stabilizacja
    niepewność
    repetitive processes
    2D systems
    switched dynamics
    stabilization
    uncertainty
    Opis:
    Repetitive processes constitute a distinct class of 2D systems, i.e., systems characterized by information propagation in two independent directions, which are interesting in both theory and applications. They cannot be controlled by a direct extension of the existing techniques from either standard (termed 1D here) or 2D systems theories. Here we give new results on the design of physically based control laws. These results are for a sub-class of discrete linear repetitive processes with switched dynamics in both independent directions of information propagation.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2006, 16, 4; 441-462
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Set-membership identifiability of nonlinear models and related parameter estimation properties
    Autorzy:
    Jauberthie, C.
    Travé-Massuyès, L.
    Verdière, N.
    Powiązania:
    https://bibliotekanauki.pl/articles/331411.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    identifiability
    bounded uncertainty
    set membership estimation
    nonlinear dynamic model
    identyfikowalność
    niepewność ograniczona
    zbiór estymacyjny
    model dynamiczny nieliniowy
    Opis:
    Identifiability guarantees that the mathematical model of a dynamic system is well defined in the sense that it maps unambiguously its parameters to the output trajectories. This paper casts identifiability in a set-membership (SM) framework and relates recently introduced properties, namely, SM-identifiability, μ-SM-identifiability, and ε-SM-identifiability, to the properties of parameter estimation problems. Soundness and ε-consistency are proposed to characterize these problems and the solution returned by the algorithm used to solve them. This paper also contributes by carefully motivating and comparing SM-identifiability, μ-SM-identifiability and ε-SM-identifiability with related properties found in the literature, and by providing a method based on differential algebra to check these properties.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2016, 26, 4; 803-813
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Adaptive Predictive Controller Using Orthonormal Series Functions
    Autorzy:
    Oliveira, G. H. C.
    Amaral, W. C.
    Favier, G.
    Powiązania:
    https://bibliotekanauki.pl/articles/908308.pdf
    Data publikacji:
    1999
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie predykcyjne
    adaptacyjny układ sterowania
    niepewność
    model-based predictive control
    adaptive control
    uncertain process
    orthonormal series functions
    Opis:
    A constrained adaptive predictive control method that uses uncertain process modelling based on orthonormal series functions is considered. Such unstructured modelling is described as a weighted sum of orthonormal functions using approximate information about the time constant of the process. The orthonormal series functions model can thus be used to derive a j-step-ahead output prediction according to the constrained adaptive predictive control law. In relation to predictive controllers based on structured models, this approach presents the advantage of not requiring prior knowledge of the order or time delay, which decrease prediction errors and lead to a better closed loop performance when these parameters are not well known. Stability issues of the proposed control scheme are discussed and, finally, a simulation example is given to show the performance of the algorithm.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 175-191
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A computationally inexpensive algorithm for determining outer and inner enclosures of nonlinear mappings of ellipsoidal domains
    Autorzy:
    Rauh, Andreas
    Jaulin, Luc
    Powiązania:
    https://bibliotekanauki.pl/articles/2055165.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    bounded uncertainty
    guaranteed enclosures
    ellipsoidal enclosures
    inner approximations
    outer approximations
    nonlinear system
    confidence interval
    niepewność ograniczona
    układ nieliniowy
    przedział ufności
    Opis:
    A wide variety of approaches for set-valued simulation, parameter identification, state estimation as well as reachability, observability and stability analysis for nonlinear discrete-time systems involve the propagation of ellipsoids via nonlinear functions. It is well known that the corresponding image sets usually possess a complex shape and may even be nonconvex despite the convexity of the input data. For that reason, domain splitting procedures are often employed which help to reduce the phenomenon of overestimation that can be traced back to the well-known dependency and wrapping effects of interval analysis. In this paper, we propose a simple, yet efficient scheme for simultaneously determining outer and inner ellipsoidal range enclosures of the solution for the evaluation of multi-dimensional functions if the input domains are themselves described by ellipsoids. The Hausdorff distance between the computed enclosure and the exact solution set reduces at least linearly when decreasing the size of the input domains. In addition to algebraic function evaluations, the proposed technique is-for the first time, to our knowledge-employed for quantifying worst-case errors when extended Kalman filter-like, linearization-based techniques are used for forecasting confidence ellipsoids in a stochastic setting.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2021, 31, 3; 399--415
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust stability of positive continuous-time linear systems with delays
    Autorzy:
    Busłowicz, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/908143.pdf
    Data publikacji:
    2010
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    czas ciągły
    system liniowy
    opóźnienie
    stabilność odporna
    niepewność liniowa
    positive continuous-time linear system
    delay
    robust stability
    linear uncertainty
    interval system
    Opis:
    The paper is devoted to the problem of robust stability of positive continuous-time linear systems with delays with structured perturbations of state matrices. Simple necessary and sufficient conditions for robust stability in the general case and in the case of systems with a linear uncertainty structure in two sub-cases: (i) a unity rank uncertainty structure and (ii) nonnegative perturbation matrices are established. The problems are illustrated with numerical examples.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2010, 20, 4; 665-670
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Architectures of Granular Information and Their Robustness Properties: a Shadowed Sets Approach
    Autorzy:
    Pedrycz, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/908294.pdf
    Data publikacji:
    1999
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    informacja szczegółowa
    zbiór rozmyty
    dane zaszumione
    niepewność
    multiplekser
    information granulation and information granules
    fuzzy sets
    shadowed sets
    noisy data
    uncertainty
    generalized multiplexer
    switching mechanisms
    Opis:
    This paper addresses an important issue of information of granulation and relationships between the size of information granules and the ensuing robustness aspects. The use of shadowed sets helps identify and quantify absorption properties of set-based information granules. Discussed is also a problem of determining an optimal level of information granulation arising in the presence of noisy data. The study proposes a new architecture of granular computing involving continuous and granulated variables. Numerical examples are also included.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 1999, 9, 2; 435-455
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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