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Tytuł:
Application of Plasma Actuator with Two Mesh Electrodes to Active Control of Boundary Layer at 50 Hz Power Supply
Autorzy:
Gnapowski, Ernest
Pytka, Jarosław
Gnapowski, Sebastian
Józwik, Jerzy
Tomiło, Paweł
Powiązania:
https://bibliotekanauki.pl/articles/2201893.pdf
Data publikacji:
2023
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
plasma actuator
DBD
lift coefficient
mesh electrode
Opis:
Numerous studies are conducted to improve the flow in the boundary layer to ensure laminar flow and in particular to increase flight safety. A new solution used to improve the laminar flow is the plasma actuator. The classic configuration of DBD plasma actuators is commonly used with the asymmetric electrode system. The manuscript describes the results of tests with a plasma actuator. Experimental tests were carried out on the built model of the wing with the SD 7003 profile, a plasma actuator was mounted on the upper surface. In contrast to the commonly used solution with solid tape copper electrodes, the novelty in the described research in the manuscript is the use of a large GND electrode (covering 70% of the upper surface of the wing) and a HV mesh electrode. The use of a plasma actuator on the upper surface of the wing affects the air flow in the boundary layer as a result of air ionization. The tests were carried out for a supply voltage from V = 7.0 kV to 12 kV and Reynolds number, Re = 87500 to 240000, flow velocity during the tests in the tunnel was in the range of U = 5-15 m/s and the angle of attack α = 5 -15 degrees. On the basis of the results experimental tests, the percentage change in the lift coefficient was calculated for the switched on and off DBD system. The obtained results indicate a maximum 17% increase in the lift coefficient for the plasma actuator activated for air flow U = 5 m/s and angle of attack α = 5 degrees. In the remaining configurations, changes in the lift coefficient amounted to 4%.
Źródło:
Advances in Science and Technology. Research Journal; 2023, 17, 1; 58--63
2299-8624
Pojawia się w:
Advances in Science and Technology. Research Journal
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Flywheel proof mass actuator for active vibration control
Autorzy:
Kras, Aleksander
Gardonio, Paolo
Powiązania:
https://bibliotekanauki.pl/articles/27311402.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
inerter
proof mass actuator
velocity feedback
siłownik z masą próbną
sprzężenie zwrotne prędkości
falownik
Opis:
This paper presents the experimental results of a new proof mass actuator for the implementation of velocity feedback control loops to reduce the flexural vibration of a thin plate structure. Classical proof mass actuators are formed by coil–magnet linear motors. These actuators can generate constant force at frequencies above the fundamental resonance frequency of the spring–magnet system, which can be used to efficiently implement point velocity feedback control loops. However, the dynamics of the spring–magnet system limit the stability and control performance of the loops when the actuators are exposed to shocks. The proof mass actuator investigated in this paper includes an additional flywheel element that improves the stability of the velocity feedback loop both by increasing the feedback gain margin and by reducing the fundamental resonance frequency of the actuator. This paper is focused on the stability and control performance of decentralized velocity feedback control loops.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e144605
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Model‐free sliding mode control for a nonlinear teleoperation system with actuator dynamics
Autorzy:
Abdelwaheb, Henni Mansour
Abderrahmane, Kacimi
AEK, Belaidi
Powiązania:
https://bibliotekanauki.pl/articles/27314234.pdf
Data publikacji:
2023
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
model free sliding mode controller
teleoperation robotic system
actuator dynamics
time-varying delay
model uncertainty
Opis:
Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional‐Derivative Slid‐ ing Mode Controller (MFPDSMC) is devoted to the syn‐ chronization problem of teleoperation systems subject to actuator dynamics, time‐varying delay, model uncer‐ tainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple mea‐ surement of inputs and outputs to enhance the system’s performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov func‐ tion under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2023, 17, 1; 69--77
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Motion tracking of a rigid-flexible link robotic system in an underactuated control mode
Autorzy:
Jarzębowska, Elżbieta
Augustynek, Krzysztof
Urbaś, Andrzej
Powiązania:
https://bibliotekanauki.pl/articles/27311387.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
manipulator
actuator failure
optimization
computational procedure for constrained dynamics
method CoPCoD
awaria siłownika
optymalizacja
metoda CoPCoD
procedura obliczeniowa dla dynamiki z ograniczeniami
Opis:
The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well-researched and controller designs are well-developed for them as well. However, due to costs, weight, design, and performance regimes or due to an actuator failure, the underactuated control mode is required in applications. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three-link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e144620
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonsmooth optimization control based on a sandwich model with hysteresis for piezo-positioning systems
Autorzy:
Yang, Sen
Tan, Yonghong
Dong, Ruili
Tan, Qingyuan
Powiązania:
https://bibliotekanauki.pl/articles/24200686.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
optimization control
hysteresis
piezoelectric actuator
sandwich system
histereza
siłownik piezoelektryczny
układ warstwowy
Opis:
A nonsmooth optimization control (NOC) based on a sandwich model with hysteresis is proposed to control a micropositioning system (MPS) with a piezoelectric actuator (PEA). In this control scheme, the hysteresis phenomenon inherent in the PEA is described by a Duhem submodel embedded between two linear dynamic submodels that describe the behavior of the drive amplifier and the flexible hinge with load, respectively, thus constituting a sandwich model with hysteresis. Based on this model, a nonsmooth predictor for sandwich systems with hysteresis is constructed. To avoid the complicated online search for the optimal value of the generalized gradient at a nonsmooth point, the method of the so-called weighted estimation of generalized gradient is proposed. In order to compensate for the model error caused by model uncertainty, a model error compensator (MEC) is integrated into the online optimization control strategy. Afterwards, the stability of the control system is analyzed based on Lyapunov’s theory. Finally, the proposed NOC-MEC method is verified on an MPS with a PEA, and the corresponding experimental results are presented.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2023, 33, 3; 449--461
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
PZT Asymmetrical Shape Optimization in Active Vibration Reduction of Triangular Plates
Autorzy:
Brański, Adam
Kuras, Romuald
Powiązania:
https://bibliotekanauki.pl/articles/31339818.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
triangular plate
actuator (PZT)
active vibration reduction
vibration reduction coefficient
effectiveness coefficient
Opis:
The article presents the new 2D asymmetrical PZT (a-PZT) and its effectiveness in the active reduction of triangular plate vibrations. The isosceles right triangular plate with simply supported edges was chosen as the research object. To determine the a-PZT asymmetry and its distribution on the plate, a maximum bending moment criterion for the beam was used. First of all, this criterion points out exact center location of the a-PZT. It was at the point, at which the plate bending moment has reached its maximum value. Next, at this point, it was assumed that the piezoelectric consists of active fibers located radially from the center. Each fiber acted on the plate as a separate actuator. Next, at each direction, the actuator asymmetry was found mathematically by minimizing the amplitude of the vibrations. By connecting the outer edges of individual fibers, the 2D a-PZT was obtained. It was quantitatively confirmed that the effectiveness of the new a-PZT was the best compared with the effectiveness of the standard square and the circular PZTs, adding the same exciting energy to the PZTs.
Źródło:
Archives of Acoustics; 2023, 48, 3; 425-432
0137-5075
Pojawia się w:
Archives of Acoustics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of unscented Kalman filter for clutch position control of automated manual transmission
Autorzy:
Soltani, Abbas
Arianfard, Milad
Jazar, Reza Nakhaie
Powiązania:
https://bibliotekanauki.pl/articles/2172774.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
automated clutch
actuator
adaptive sliding mode control
estimator
unscented Kalman
filter
automatyczne sprzęgło
sterowanie trybem ślizgowym
taksator
Kalman
filtr
Opis:
In this paper, an adaptive sliding mode controller (ASMC) is proposed for an electromechanical clutch position control system to apply in the automated manual transmission. Transmission systems undergo changes in parameters with respect to the wide range of driving condition, such as changing in friction coefficient of clutch disc and stiffness of diaphragm spring, hence, an adaptive robust control method is required to guarantee system stability and overcome the uncertainties and disturbances. As the majority of transmission dynamics variables cannot be measured in a cost-efficient way, a non-linear estimator based on unscented Kalman filter (UKF) is designed to estimate the state valuables of the system. Also, a non-linear dynamic model of the electromechanical actuator is presented for the automated clutch system. The model is validated with experimental test results. Numerical simulation of a reference input for clutch bearing displacement is performed in computer simulation to evaluate the performance of controller and estimator. The results demonstrate the high effectiveness of the proposed controller against the conventional sliding mode controller to track precisely the desired trajectories.
Źródło:
Archive of Mechanical Engineering; 2022, LXIX, 2; 319--339
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Asymmetrical PZT Applied to Active Reduction of Asymmetrically Vibrating Beam – Semi-Analytical Solution
Autorzy:
Brański, Adam
Kuras, Romuald
Powiązania:
https://bibliotekanauki.pl/articles/31339957.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
beam
actuator (PZT)
active vibration reduction
vibration reduction coefficient
effectiveness coefficient.
Opis:
The article extended the idea of active vibration reduction of beams with symmetric modes to beams with asymmetric modes. In the case of symmetric modes, the symmetric PZT (s-PZT) was used, and the optimization of the problem led to the location of the s-PZT centre at the point with the greatest beam curvature. In the latter case, the asymmetric modes that occur due to the addition of the point mass cause an asymmetric distribution of the bending moment and transversal displacement of a beam. In this case, the optimal approach to the active vibration reduction requires both new asymmetric PZT (a-PZT) and its new particular distribution on the beam. It has been mathematically determined that the a-PZT asymmetry point (a-point), ought to be placed at the point of maximum beam bending moment. The a-PZT asymmetry was found mathematically by minimizing the amplitude of the vibrations. As a result, it was possible to formulate the criterion of the maximum bending moment of the beam. The numerical calculations confirmed theoretical considerations. So, it was shown that in the case of asymmetric vibrations, the a-PZTs reduced vibrations more efficiently than the s-PZT.
Źródło:
Archives of Acoustics; 2022, 47, 4; 555-564
0137-5075
Pojawia się w:
Archives of Acoustics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults
Autorzy:
Kantue, Paulin
Pedro, Jimoh O.
Powiązania:
https://bibliotekanauki.pl/articles/2172129.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
fault tolerant control
quadrocopter
incipient actuator fault
radial basis function
neural network
sterowanie tolerujące uszkodzenia
kwadrokopter
radialna funkcja bazowa
sieć neuronowa
Opis:
An integrated approach to the fault-tolerant control (FTC) of a quadcopter unmanned aerial vehicle (UAV) with incipient actuator faults is presented. The framework is comprised of a radial basis function neural network (RBFNN) fault detection and diagnosis (FDD) module and a reconfigurable flight controller (RFC) based on the extremum seeking control approach. The dynamics of a quadcopter subject to incipient actuator faults are estimated using a nonlinear identification method comprising a continuous forward algorithm (CFA) and a modified golden section search (GSS) one. A time-difference-of-arrival (TDOA) method and the post-fault system estimates are used within the FDD module to compute the fault location and fault magnitude. The impact of bi-directional uncertainty and FDD detection time on the overall FTC performance and system recovery is assessed by simulating a quadcopter UAV during a trajectory tracking mission and is found to be robust against incipient actuator faults during straight and level flight and tight turns.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2022, 32, 4; 601--617
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Iterative learning fault-tolerant control for the networked control systems with initial state disturbance
Autorzy:
Xingjian, Fu
Qianjun, Zhao
Powiązania:
https://bibliotekanauki.pl/articles/2173682.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
networked control systems
initial state disturbance
iterative learning
actuator failure
fault-tolerant control
sieciowe systemy sterowania
zakłócenie stanu początkowego
uczenie iteracyjne
awaria siłownika
kontrola odporna na awarie
Opis:
The iterative learning fault-tolerant control strategies with non-strict repetitive initial state disturbances are studied for the linear discrete networked control systems (NCSs) and the nonlinear discrete NCSs. In order to reduce the influence of the initial state disturbance in iteration, for the linear NCSs, considering the external disturbance and actuator failure, the iterative learning fault-tolerant control strategy with impulse function is proposed. For the nonlinear NCSs, the external disturbance, packet loss and actuator failure are considered, the iterative learning fault-tolerant control strategy with random Bernoulli sequence is provided. Finally, the proposed control strategies are used for simulation research for the linear NCSs and the nonlinear NCSs. The results show that both strategies can reduce the influence of the initial state disturbance on the tracking effect, which verifies the effectiveness of the given method.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 3; art. no. e140934
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Non-intrusive current-based fault detection of electro-mechanical actuators with brushed DC motors
Autorzy:
Hanuš, Ondřej
Smid, Radislav
Powiązania:
https://bibliotekanauki.pl/articles/2173890.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Electro-mechanical Actuator
EMA
Fault Detection and Diagnostics
FDD
jam
winding short
Opis:
This paper proposes data-based fault detection methods for an electromechanical actuator (EMA) with a brushed DC motor. The jam and winding short faults are considered in the study as the most prominent EMA faults. The fault detection is based on evaluating the properties of the motor current, considering the basic electromechanical parameters of EMAs. The main advantages are a non-intrusive approach utilising a commonly accessible motor current measurement, simple configurability, and the ability to detect faults under varying operation modes of EMA, including changes of speed, load, or movement profiles. The proposed methods have been evaluated with a custom testing system, and the results have proven the performance of the proposed approach to detect faults under varying operating conditions in industrial applications.
Źródło:
Metrology and Measurement Systems; 2022, 29, 3; 505--523
0860-8229
Pojawia się w:
Metrology and Measurement Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Pitch and yaw motion control of 2 DoF helicopter subjected to faults using sliding-mode control
Autorzy:
Raghappriya, M.
Kanthalakshmi, S.
Powiązania:
https://bibliotekanauki.pl/articles/2134893.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
fault tolerant control
sliding mode control
reaching law
super-twisting
sensor
actuator faults
component faults
Opis:
This paper presents a fault-tolerant control scheme for a 2 DOF helicopter. The 2 DOF helicopter is a higher-order multi-input multi-output system featuring non-linearity, cross-coupling, and unstable behaviour. The impact of sensor, actuator, and component faults on such highly complex systems is enormous. This work employs sliding mode control, which is based on reaching and super-twisting laws, to handle the problem of fault control. Simulation tests are carried out to show the effectiveness of the algorithms. Various performance metrics are analyzed and the results show SMC based on super-twisting law provides better control with less chattering. The stability of the closed-loop system is mathematically assured, in the presence of faults, which is a key contribution of this research.
Źródło:
Archives of Control Sciences; 2022, 32, 2; 359--381
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Standalone brushless motor module optimized for legged robots
Autorzy:
Wasilewski, Piotr
Gradzki, Rafal
Powiązania:
https://bibliotekanauki.pl/articles/2173669.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
brushless motor
quadruped robot
actuator module
silnik bezszczotkowy
robot czworonożny
moduł wykonawczy
Opis:
The main focus of the article is an advanced actuator, designed and optimized for small dynamic legged robots. The presented actuator prototype is unique, as the market lacks similar solutions when dimensions and weight of the module are considered. The actuator has a modular structure, which makes it easy to replace in case of malfunction and simplifies the overall structure of the robot. High torque bandwidth, achieved by the module, is crucial to agile locomotion, obstacle avoidance and push recovery of the quadrupedal robot. The Authors have conducted a solution review aimed at similar small-size modules. It was found that there are no advanced actuators suitable for sub 5 kg quadruped robots. The unique design presented in this paper is described in all three aspects: mechanical, electrical and software. The mechanical section depicts the solutions implemented in the module, especially the low gear ratio gearbox. The custom brushless motor driver is presented in the electrical section, together with detailed diagrams and hardware descriptions. The last section depicts solutions implemented in the software, the main motor control algorithm and auxiliary modules such as automatic motor parameter identification and encoder misalignment correction. Tests performed in the last part of this paper validated the design goals established for the actuator. The results confirmed the high torque capability and exhibited the motor saturation region. Continuous and peak torque were measured based on the thermal characteristics of the module. Moreover, the automatic motor parameter identification process carried out by the controller itself was validated by manual measurements.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 3; art. no. e141008
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Study on the ankle rehabilitation device
Autorzy:
Dao, Minh Duc
Tran, Xuan Tuy
Pham, Dang Phuoc
Ngo, Quoc Anh
Le, Thi Thuy Tram
Powiązania:
https://bibliotekanauki.pl/articles/2065763.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
ankle
rehabilitation
stroke
slide mode controller
linear actuator
kostka
rehabilitacja
udar
siłownik liniowy
Opis:
This study developed an ankle rehabilitation device for post-stroke patients. First, the research models and dynamic equations of the device are addressed. Second, the Sliding Mode Controller for the ankle rehabilitation device is designed, and the device's response is simulated on the software MATLAB. Third, the ankle rehabilitation device is successfully manufactured from aluminum and uses linear actuators to emulate dorsiflexion and plantarflexion exercises for humans. The advantages of the device are a simple design, low cost, and mounts onto rehabilitative equipment. The device can operate fast through experiments, has a foot drive mechanism overshoot of 0°, and a maximum angle error of 1°. Moreover, the rehabilitation robot can operate consistently and is comfortable for stroke patients to use. Finally, we will fully develop the device and proceed to clinical implementation.
Źródło:
Archive of Mechanical Engineering; 2022, LXIX, 1; 147--163
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Accuracy in force estimation applied on a piezoelectric fine positioning system for machine tools
Autorzy:
Uhlmann, Eckart
Polte, Mitchel
Triebel, Florian
Overbeck, Rasmus
Thom, Simon
Powiązania:
https://bibliotekanauki.pl/articles/1428949.pdf
Data publikacji:
2021
Wydawca:
Wrocławska Rada Federacji Stowarzyszeń Naukowo-Technicznych
Tematy:
force estimation
piezoelectric actuator
machine tool deflection
online compensation
Opis:
In order to improve the accuracy of machine tools, the use of additional active modules meeting the requirements of the “Plug & Produce” approach is focused. In this context one approach is the installation of a high precision positioning table for online compensation of machine tool deflections. For the model-based determination of the deflection, the knowledge of the effecting process force is crucial. This article examines the use of displacement sensors for force estimation in a piezoelectric system. The method is implemented on a high precision positioning table applicable in milling machine tools. In order to compensate nonlinear effects of piezoelectric actuators, a hysteresis operator is implemented. Experimental investigations are carried out to quantify the influence of preload stiffness, preload force and workpiece weight. Finally, a resolution d ≤ 78 N could be achieved and further improvements to meet the requirements for online compensation of machine tool deflection are discussed.
Źródło:
Journal of Machine Engineering; 2021, 21, 2; 24-34
1895-7595
2391-8071
Pojawia się w:
Journal of Machine Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł

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